Design and development of robot grippers
Chen, Ka Wee
Date of Issue2017
School of Mechanical and Aerospace Engineering
Robotics Research Centre
Grippers in automation industries are often expensive and difficult to modify. There are many machines that specialized in bolt assembly, but there are not many for a robot gripper to perform a bolt assembly. This report presents the design of a low-cost, simple, compact, lightweight gripper that is able to grip and turn the bolt. This project establishes the design of two-fingers hand utilizing simple 3D-printed components, and off-the-shelf parts. Few researches were done for the assembly bolt machine and gripper. The gripper is able to grip the bolt weight of less than 50 grams and perform rotation motion. Few mechanisms and ideas were generated but after analyzing, a final mechanism which consist of a compact gripper and a simple 3D-printed case for the fingers is designed and fabricated. The rotation motion is achieved by the actuation of a micro DC motor through a pair of spur gears. In the automation industry, most of the gripper that use to grip cylindrical object are commonly simple jaw design, for example V-shaped jaw and flat jaw, both of the jaws normally grip cylindrical object by using parallel motion, whereas angular motion is being restricted by the design of the jaw. This report also presents a low-cost, simple and angular motion gripper that is able to grip cylindrical objects that are commonly found in our daily lives. 3D-printed components and off-the-shelf parts were used to establish the design of the gripper. Few researches were done and few ideas were generated, but after analyzing, a final mechanism was decided and put to test. A gripper is designed and fabricated with simple linkage and individual jaw. The opening and closing motion is achieved by a DC motor and a pair of spur gear. These grippers are still under conceptual phase, improvement can be done to the gripper to make it better. Further recommendations and improvements are included in the report.
Final Year Project (FYP)
Nanyang Technological University