Abstract
Robot gripper is a common construction that requires design work during customized robotics delivery projects. Notable amount of variation between different gripper designs is apparent between different projects, because the customer workpiece is always the basis for the gripper design process. A wide variety of workpieces inevitably results in a wide variety of solution-specific grippers.
A gripper for a robot cell attached to an automotive industry component manufacturing system is designed in this thesis. The robot cell is introduced to define the design problem. Different gripper technologies and common characteristics of the gripper design process are described. The design work proceeds from conceptual design to a more detailed mechanical design. Alternative solutions for the gripping functionalities are formed, and the suitability of different options is evaluated through further design and simulation. Finding out the design requirements for the gripper is difficult in the beginning of the project and the design of the gripper is characterized by the iterative nature of machine design. By repeatedly studying the effects of variations in the concept properties, boundary conditions and properties of the system are learned.
Using a magnetic gripper is found out to be the most plausible gripping method during the design process. When a magnetic gripper is used, it is important for the gripper to adapt to the gripping surface to ensure a successful and controlled gripping. In addition the random orientations of the workpieces require gripper adaptation. One of the focuses of this thesis is to develop the adaptation mechanism for the gripper. Using key pieces and a pneumatic cylinder turn out to be functional solutions for the mechanism. A gripper construction is formed according to the choices made. Mechanical loads are defined and applicable sizes for the actuators and other components are calculated. A CAD – model of the gripper is formed and the stresses and strains of the construction are simulated using the finite element method.
After the design work is complete, manufacturing and assembly drawings are made for the gripper components. The components are manufactured and purchased and the gripper is assembled. Functionality of the gripper is evaluated by testing and the appeared deficiencies are improved by corrective actions.
A gripper for a robot cell attached to an automotive industry component manufacturing system is designed in this thesis. The robot cell is introduced to define the design problem. Different gripper technologies and common characteristics of the gripper design process are described. The design work proceeds from conceptual design to a more detailed mechanical design. Alternative solutions for the gripping functionalities are formed, and the suitability of different options is evaluated through further design and simulation. Finding out the design requirements for the gripper is difficult in the beginning of the project and the design of the gripper is characterized by the iterative nature of machine design. By repeatedly studying the effects of variations in the concept properties, boundary conditions and properties of the system are learned.
Using a magnetic gripper is found out to be the most plausible gripping method during the design process. When a magnetic gripper is used, it is important for the gripper to adapt to the gripping surface to ensure a successful and controlled gripping. In addition the random orientations of the workpieces require gripper adaptation. One of the focuses of this thesis is to develop the adaptation mechanism for the gripper. Using key pieces and a pneumatic cylinder turn out to be functional solutions for the mechanism. A gripper construction is formed according to the choices made. Mechanical loads are defined and applicable sizes for the actuators and other components are calculated. A CAD – model of the gripper is formed and the stresses and strains of the construction are simulated using the finite element method.
After the design work is complete, manufacturing and assembly drawings are made for the gripper components. The components are manufactured and purchased and the gripper is assembled. Functionality of the gripper is evaluated by testing and the appeared deficiencies are improved by corrective actions.
| Translated title of the contribution | Design of an Adaptive Robot Gripper |
|---|---|
| Original language | Finnish |
| Qualification | Master Degree |
| Awarding Institution |
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| Supervisors/Advisors |
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| Award date | 7 May 2014 |
| Publisher | |
| Publication status | Published - 7 May 2014 |
| MoE publication type | G2 Master's thesis, polytechnic Master's thesis |
Keywords
- robotics
- robot cell
- adaptive gripper
- magnetic gripper
- gripping
- gripper design
- design process