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5.3.2 Low Cost
58 5.3.3
Minimum Gripper Weight 58
5.3.4 Flexibility
59 5.3.5
Easy of Assembly or Disassembly 59
5.4 Parts and Function of New Design
60 5.5
Cylinder Selection 62
5.6 Design Analysis
66 5.6.1
Force Acting on Parts 66
5.6.1.1 Moment Inertia of Holder with Jaws 67
5.6.1.2 Force Acting on Robot Mount 69
5.6.1.3 Force Acting on Gripper Mount 70
5.6.1.4 Force Acting on Bracket 70
5.6.1.5 Force Acting on Support 70
5.6.1.6 Force Acting on Base 71
5.6.1.7 Force Acting on Holder 71
5.6.1.8 Force Acting on Slider 72
5.6.1.9 Force Acting on Jaw 72
5.6.1.10 Force Acting on Rod 72
5.6.2 Design Analysis Using Software
73 5.7
Design Simulation 80
5.8 Conclusion on Result Obtain
80
6. CONCLUSION 84
6.1 Further Improvement Works and Suggestion
85
REFERENCES 86
ix
APPENDICES A
Engineering Drawing For Gripper B
Stress analysis on Gripper Parts C
Data Sheet for Pneumatic Cylinder
x
LIST OF TABLES
Table 2.1. Summarize of part characteristics and associated end
effector solutions. 14 Table 2.2a.
Lower Power Actuator Principles. 20 Table 2.2 b.
Comparison between common actuators. 21
Table 4.1 Existing griper parts and function.
39 Table 4.2
Combination scheme for different solution principle. 41
Table 4.3 Technical rating for variants.
43 Table 4.4
Economic rating for variants. 43
Table 4.5 Operation sequence for existing gripper design.
50 Table 4.6
Operation sequence for new gripper’s jaw design. 52
Table 5.1 New gripper parts and function.
60 Table 5.2
Parts quantities and weights. 61
Table 5.3 Cylinders characteristic and specification.
64 Table 5.4
Evaluation on cylinders. 65
Table 5.5 Result of base design analysis.
77 Table 5.6
Summarize result of design analysis for griper parts. 78
Table 5.7 Simulation of gripper attached on Comau robot.
80
xi
LIST OF FIGURES
Figure 2.1. Types of gripper action. 6
Figure 2. 2. External griping action. 8
Figure 2.3. A classification of the basic end effectors types. 8
Figure 2.4. A noncontact end effector for acquiring and transporting
delicate wafers. 9 Figure 2.5.
Compliant pneumatic gripper executes a gentle wrap grasp. 10 Figure 2.6.
A gripper with pivoted fingers designed. 11 Figure 2.7.
Two- finger servo gripper with force sensing and
changeable fingertips. 12 Figure 2.8.
Type of power driven shown in force versus speed. 21 Figure 2.9.
Gripper classification for selection process. 23 Figure 2.10a.
Two-jaw grippers. 24 Figure 2.10b.
Three-jaw grippers. 24 Figure 2.11.
Flexible gripper material handling. 25 Figure 2.12.
Multifingers gripper material handling. 26 Figure 2.13.
The flexible gripping action of the soft gripper. 27 Figure 2.14.
Pulley-and-wire mechanism for soft finger. 27 Figure 2.15.
Bladder Clamps handle fragile products gently. 28 Figure 2.16.
a Adjustable jaw with laminated plate cams. b Flexibility of jaw stacks arrangement.
c Gripping odd shaped work piece. 29 Figure 2.17.
Magnetic gripper, handling ferromagnetic workpieces. 30 Figure 2.18.
Type of vacuum gripper. 30 Figure 2.19.
Adhesive gripper for fabric handling. 31
xii
Figure 3.1 Flow of Work for Design and Analysis Process.
34
Figure 4.1 Existing gripper design.
38 Figure 4.2
Comparison of the technical and economic rating of the concept variants.
44 Figure 4.3
Selection of combinations of solution principles variants. 46 Figure 4.4
Optimization on gripper’s jaw. 51
Figure 4.5 Bottom view of gripper’s jaw arrangement.
52 Figure 4.6
Optimized gripper operates with roller conveyor. 53
Figure 4.7 Holder.
54 Figure 4.8
Rubber pad. 55
Figure 5.1 Conceptual design.
57 Figure 5.2
Forces acting on gripper. 62
Figure 5.3 Rotation of holder.
67 Figure 5.4
Force acting on robot mount. 69
Figure 5.5 Force acting on gripper mount.
70 Figure 5.6
Force acting on bracket. 70
Figure 5.7 Force acting on support.
70 Figure 5.8
Force acting on base. 71
Figure 5.9 Force acting on holder.
71 Figure 5.10
Force acting on slider. 72
Figure 5.11 Force acting on jaw.
72 Figure 5.12
Force acting on rod. 72
Figure 5.13 Forces acting at the base.
73 Figure 5.14
Stress occur on base due to applied forces. 74
Figure 5.15 Displacement changes due to applied forces.
75 Figure 5.16
Strain analyses due to applied forces. 76
Figure 5.17 Design check on factor of safety.
77
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Figure 5.18 Graph of stress analysis results.
79
1
CHAPTER 1
INTRODUCTION
1.1 Overview
