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Table Of Contents

1 Introduction
1.1 Context
1.1.2 Centre for Renewable Electric Energy Conversation at Uppsala University
1.2 Purpose
1.2.1 Criteria for the gripper tool
1.3 Methodology for the solution of this thesis
1.4 Delimitations
2 Gripper types and choice of gripper type
2.1 Gripper types
2.1.1 Single-surface grippers
2.1.2 Clamping grippers
2.1.3 Flexible grippers
2.2 Conclusion for selection of gripper type
Table 1 The round parts
Table 2 Remaining parts
3 Pre-study and system overview
3.1 Survey of use
3.2 System overview
3.3 Study of the parts
Table 3 Round parts
Table 4 Remaining parts
3.4 Comparison with other systems
4 Concept generation for the gripper tool
4.1 Concept 1
4.2 Concept 2
4.3 Concept 3
4.4 Concept 4
5 Evaluation and comparison of the concepts
5.1 Evaluation
Table 5 Evaluation of the concepts
5.2 Comparison
Table 6 comparison and rating functions of the concepts
6 Final construction for the gripper tool
6.1 An overview of the gripper tool
6.2 The included parts of the gripper tool
6.3 Solid Mechanics
Table 8 Mechanical properties of AW-EN 6063 T6
Figure 20 Calculation for displacement
6.4 Economic calculation
Table 9 Economic calculation
7 Experiment in ABB Robot Studio
7.1 Information about the Laser cutter and the industrial robot
Table 10 Specification for the industrial robot
Table 11 Laser cutter specification
7.2 An overview of the structured system
Figure 23 An overview of the structured system
8 Discussion and conclusions
8.1 Recommendation for future work
9 Acknowledgements
10 References
11 Appendix
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robot gripper design

robot gripper design

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Published by Dug McCallum

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Published by: Dug McCallum on Mar 14, 2011
Copyright:Attribution Non-commercial


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