v
TABLE OF CONTENT
Abstract i
Abstak ii
Dedication iii
Acknowledgement iv
Table of Content v
List of Tables ix
List of Figures x
1. INTRODUCTION 1
1.1 Background
1 1.2
Problem Statement 2
1.3 Project Aim and Objective
2 1.4
Project Scope 3
1.5 Benefit of Project
3 1.6
Project Planning 4
2. LITERATURE REVIEW 6
2.1 Definition of Robot
6 2.2
Industrial Robot 7
2.2.1 Industrial Robot Anatomy
8 2.2.2
Types of Industrial Robot 10
2.2.2.1 Cartesian Robot 10
2.2.2.2 Cylindrical Robot 11
2.2.2.3 Spherical Robot 11
2.2.2.4 Articulated Robot 12
2.2.3 Robot Kinematics
12 2.2.4
Robot Programming 14
2.2.4.1 Robot Programming Method 15
2.2.4.2 Robot Programming Languages 18
2.2.5 Robot Manufacturer
20
vi 2.3
End Effector 21
2.4 Tools
23 2.4.1
Definition of Tools 23
2.4.2 Types of Tools
23 2.5
Grippers 28
2.5.1 Definition and Conceptual Basics
29 2.5.2
Gripper Flexibility 32
2.5.3 Gripper Classification.
33 2.5.4
Gripper Selection 35
2.5.5 Gripper Types
41 2.5.5.1 Impactive Gripper
41 2.5.5.2 Ingressive Gripper
44 2.5.5.3 Astrictive Prehension
45 2.5.5.4 Contigutive Prehension.
46 2.5.6
Gripper Mechanism 47
2.5.6.1 Linkages Actuation 47
2.5.6.2 Rack-pinion Actuation 47
2.5.6.3 Cam Actuation 48
2.5.6.4 Screw actuation 48
2.6 Design Tools Software
49 2.6.1
AutoCAD 50
2.6.2 CATIA
50 2.6.3
SolidWorks 50
2.7 Pneu matic Gripper in FKP’s Robotic Laboratory 52
2.7.1 Gripper Characteristics
53 2.7.2
Gripper Mechanism 54
2.8 Previous Studies on Gripper Design for Industrial Robot 54 2.9
Summary 56
3. METHODOLOGY 57
3.1 Project Understanding and Planning
57 3.2
Research and Literature 59
3.2.1 Internet
59 3.2.2
Books, Journals, and Articles 59
vii 3.3
Study the Current Gripper 59
3.4 Define Problems and Suggest Improvement
60 3.5
Conceptual Design of a New Gripper 60
3.5.1 Procedures to used Solidwork 2005 for 3D Modeling
63 3.6
Process Planning and Tools Selection 65
3.7 Material Selection
65 3.8
Fabrication and Assembly 65
3.9 Testing and Analysis
66 3.10
Result and Troubleshooting 66
4. DESIGN AND DEVELOPMENT 67
4.1 Design Stage
67 4.1.1
First Design 68
4.1.2 Second Design
69 4.1.3
Third Design 70
4.1.4 Forth Design
71 4.1.5
Choosing the Best Design 72
4.1.6 Detail Design and Documentation
72 4.2
Development Stage 74 4.2.1
Device Selection 75 4.2.2
Material Selection for Mechanical Parts 76 4.2.3
Cutting Material into Desired Parts 76 4.2.4
Dimension Marking 78 4.2.5
Produce Shaft Turning Process 79 4.2.6
Milling Process 80 4.2.7
Drilling and Tapping Process 82 4.2.8
Gripper Assembly 84 4.2.9
Cost Breakdown of the Improved Gripper 87 4.2.10 Integration of the New Gripper with COMAU Robot 88
4.2.10.1 Procedure on Programming Using Teach Pendant 90 4.2.10.2 New Gripper Operation 93
5. TESTING, RESULT AND DISCUSSION 95
