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sirod_gxl

sirod_gxl

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Published by Ram Sharma
robotics
robotics

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Categories:Topics, Art & Design
Published by: Ram Sharma on Mar 30, 2013
Copyright:Attribution Non-commercial

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03/30/2013

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Diameter = 8cm friction coefficient= 0.

3
Mass (kg) N (Load1) comp of N
0.1 0.41 0.29
0.2 0.82 0.58
0.3 1.23 0.87
0.4 1.63 1.15
0.5 2.04 1.44
0.6 2.45 1.73
0.7 2.86 2.02
0.8 3.27 2.31
0.9 3.68 2.60
1 4.08 2.89
1.5 6.13 4.33
2 8.17 5.77
2.5 10.21 7.22
3 12.25 8.66
3.5 14.29 10.11
4 16.33 11.55
AISI 1020
4.5 18.38 12.99
5 20.42 14.44
5.5 22.46 15.88
6 24.50 17.32
6.5 26.54 18.77
7 28.58 20.21
7.5 30.63 21.66
8 32.67 23.10
8.5 34.71 24.54
9 36.75 25.99
9.5 38.79 27.43
10 40.83 28.87
D=20cm 10
D=30cm 10
D=14 cm Mass (kg) N (Load1) comp of N
0.1 0.41 0.29
0.2 0.82 0.58
0.3 1.23 0.87
0.4 1.63 1.15
0.5 2.04 1.44
0.6 2.45 1.73
0.7 2.86 2.02
0.8 3.27 2.31
0.9 3.68 2.60
1 4.08 2.89
1.5 6.13 4.33
2 8.17 5.77
2.5 10.21 7.22
AISI 1020
3 12.25 8.66
3.5 14.29 10.11
4 16.33 11.55
4.5 18.38 12.99
5 20.42 14.44
5.5 22.46 15.88
6 24.50 17.32
6.5 26.54 18.77
7 28.58 20.21
7.5 30.63 21.66
8 32.67 23.10
8.5 34.71 24.54
9 36.75 25.99
9.5 38.79 27.43
10 40.83 28.87
Friction(Load 2) t(mm) FOS
0.1225 2 15.71
0.245 9.81
0.3675 6.75
0.49 4.23
0.6125 3.73
0.735 2 2.5
0.8575 2.5 4.07
0.98 2.5 3.89
1.1025 2.5 3.76
1.225 2.5 3.67
1.8375 3 3.55
2.45 3 2.83
3.0625 3.5 2.51
3.675 4 2.91
4.2875 4.5 3.04
4.9 5 3.24
5.5125 2 3.22
6.125 2 2.64
6.7375 2.5 3.94
7.35 2.5 3.62
7.9625 3 3.08
8.575 3 2.88
9.1875 3 2.71
9.8 3 2.51
10.4125 3.5 3.48
11.025 3.5 3.31
11.6375 3.5 3.19
12.25 3.5 3.08
5 3.342857
5 1.546256
Friction(Load 2) t FOS
0.1225 2 11.33
0.245 2 8.17
0.3675 2 5.77
0.49 2 3.24
0.6125 2.5 3.53
0.735 2.5 2.60
0.8575 3 3.22
0.98 3 2.91
1.1025 3 2.5
1.225 3.5 2.93
1.8375 4 2.55
2.45 4.5 3.24
3.0625 5 3.01
3.675 2 2.79
4.2875 2 2.48
4.9 2.5 3.43
5.5125 2.5 3.05
6.125 2.5 2.74
6.7375 2.5 2.50
7.35 3 3.45
7.9625 3 3.13
8.575 3 2.96
9.1875 3 2.76
9.8 3 2.58
10.4125 3.5 3.46
11.025 3.5 3.24
11.6375 3.5 3.10
12.25 3.5 2.92
Feedback Form
SiRoD 1.0 (Simple Robot Designer) for Grippers
(developed by IIT Delhi)
Steps to operate SiRoD
1) After opening the excel sheet, click on "Options..." icon above the sheet and under "Macros and
ActiveX", click on "Enable this content" and under "Links", click on "Enable this content" and then click
"OK" and then click on "Continue"
2) Choose the shape of object for which you need to design the gripper
3) Please note that software provides design for 0.1kg < Mass < 10 kg
a) For spherical & cylindrical: 2cm < Diameter < 20cm
b) For cuboidal: 4cm < Side < 27cm
4) Fill in the required data and then press enter and click the "GO" Button
5) The design appears giving the required dimensions
6) Click "Back to Main Window" to go to the home screen
7) When exitting the software, please DO NOT SAVE the changes done
Thank You for using SiRoD
For any suggestions or complaints please fill the feedback form (Internet connection required) or email
your suggestions at rohitkushwaha89@gmail.com or saha@mech.iitd.ac.in
Choose the shape of the object
Cylindrical
Spherical
Cuboidal
Feedback Form
SiRoD 1.0 (Simple Robot Designer) for Grippers
(developed by IIT Delhi)
Steps to operate SiRoD
1) After opening the excel sheet, click on "Options..." icon above the sheet and under "Macros and
ActiveX", click on "Enable this content" and under "Links", click on "Enable this content" and then click
"OK" and then click on "Continue"
2) Choose the shape of object for which you need to design the gripper
3) Please note that software provides design for 0.1kg < Mass < 10 kg
a) For spherical & cylindrical: 2cm < Diameter < 20cm
b) For cuboidal: 4cm < Side < 27cm
4) Fill in the required data and then press enter and click the "GO" Button
5) The design appears giving the required dimensions
6) Click "Back to Main Window" to go to the home screen
7) When exitting the software, please DO NOT SAVE the changes done
Thank You for using SiRoD
For any suggestions or complaints please fill the feedback form (Internet connection required) or email
your suggestions at rohitkushwaha89@gmail.com or saha@mech.iitd.ac.in
Choose the shape of the object
Cylindrical
Spherical
Cuboidal
Dia 0 cm
Mass 0 Kg
D1 -0.0212 m
D2 0.0150 m
D3 45 degrees
D4 #REF! degrees
D5 (Strip Thickness) #REF! m
D6 (Strip Thickness) #REF! m
D7 #REF! m
D8 0.0000 m
D9 (Hole Diameter) #REF! m
D10 #REF! m
D11 #REF! m
D12 #REF! m
D13 0.0254 m
D14 0.0254 m
Thickness of Channel #REF! mm
Material #REF!
SPHERE
Input Data
Outputs
Back to Main
Window
D8
D3
D5
D6
D1
D2
D10
D4
A
D14
D14
D13
Back to Main
Window
Detail A
D10
D12
D7
D9
D11
Dia (cm) 0 cm
Mass (Kg) 0 Kg
D1 (Hole Diameter) #REF! m
D2 0.0025 m
D3 -0.0212 m
D4 (Box Width/2) 0.0127 m
D5 0.0000 m
D6 (Radius of fillet) 0.0010 m
D7 45 degrees
D8 45 degrees
D9 0.0254 m
D10 0.0254 m
Thickness of Channel #REF! m
Material #REF!
Input Data
SPHERE
Outputs
D9
D10
D9
Back to Main
Window
D1
D3
D5
D4
D2
D6
D7
D8

Side 0 cm
Mass 0 Kg
Height 0 cm
D1 (Object Side) 0.0000 m
D2 0.1750 m
D3 0.1250 m
D4 0.0400 m
D5 (Shaft diameter) #REF! m
D6 (Shaft length) 0.1350 m
D7 0.0050 m
D8 (Shaft-pin distance) -0.0133 m
D9 0.0080 m
D10 0.0100 m
D11 (Fillet radius) R12 mm
D12 (Pin diameter) #REF! m
D13 (Pin length) 0.0354 m
D14 0.0500 m
D15 0.0100 m
D16 0.0000 m
D17 (Length of arm) 0.0000
D18 (Height of arm) 0.0722 m
D19 0.0000 m
D20 41.1913 degrees
D21 (Channel dimension) 0.0127 m
D22 (Channel dimension) 0.0254 m
12.7x25.4 mmxmm
0.5x1.0 inchxinch
Thickness of Channel #REF! mm
Material #REF!
Input Data
SPHERE
Outputs
Channel dimensions
A
Back to Main
Window
Section AA
A
D21
D2
D3
D6
D21 D7
D4
D21
D14
D17
D9
D12
D10
D8
D16
D15
D22
D15
D5
D1
D11
D20
A
D21
D21
D21
D19
D13
D22
D18 D22
D22

1.5 2 2.5 3 3.5 4 4.5 5 5.5 6 6.5 7 7.5 8 8.5 9 9.5 10

6.13 8.17 10.21

4.33 5.77 7.22

AISI 1020
12.25 14.29 16.33 18.38 20.42 22.46 24.50 26.54 28.58 30.63 32.67 34.71 36.75 38.79 40.83 8.66 10.11 11.55 12.99 14.44 15.88 17.32 18.77 20.21 21.66 23.10 24.54 25.99 27.43 28.87

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