Diameter = 8cm

friction coefficient= 0.3

Mass (kg)

N (Load1)
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
1.5
2
2.5
3
3.5
4

comp of N
0.41
0.82
1.23
1.63
2.04
2.45
2.86
3.27
3.68
4.08
6.13
8.17
10.21
12.25
14.29
16.33

0.29
0.58
0.87
1.15
1.44
1.73
2.02
2.31
2.60
2.89
4.33
5.77
7.22
8.66
10.11
11.55

AISI 1020
4.5
5
5.5
6
6.5
7
7.5
8
8.5
9
9.5
10

D=20cm
D=30cm
D=14 cm

18.38
20.42
22.46
24.50
26.54
28.58
30.63
32.67
34.71
36.75
38.79
40.83

12.99
14.44
15.88
17.32
18.77
20.21
21.66
23.10
24.54
25.99
27.43
28.87

10
10
Mass (kg)

N (Load1)
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1

comp of N
0.41
0.82
1.23
1.63
2.04
2.45
2.86
3.27
3.68
4.08

0.29
0.58
0.87
1.15
1.44
1.73
2.02
2.31
2.60
2.89

1.5
2
2.5

6.13
8.17
10.21

4.33
5.77
7.22

AISI 1020
3
3.5
4
4.5
5
5.5
6
6.5
7
7.5
8
8.5
9
9.5
10

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

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
6.125
6.7375
7.35
7.9625
8.575
9.1875
9.8
10.4125
11.025
11.6375
12.25

2
2
2.5
2.5
3
3
3
3
3.5
3.5
3.5
3.5

3.22
2.64
3.94
3.62
3.08
2.88
2.71
2.51
3.48
3.31
3.19
3.08

5 3.342857
5 1.546256
Friction(Load 2)
t
0.1225
0.245
0.3675
0.49
0.6125
0.735
0.8575
0.98
1.1025
1.225

FOS
2
2
2
2
2.5
2.5
3
3
3
3.5

11.33
8.17
5.77
3.24
3.53
2.60
3.22
2.91
2.5
2.93

1.8375
2.45
3.0625

4
4.5
5

2.55
3.24
3.01

3.675
4.2875
4.9
5.5125
6.125
6.7375
7.35
7.9625
8.575
9.1875
9.8
10.4125
11.025
11.6375
12.25

2
2
2.5
2.5
2.5
2.5
3
3
3
3
3
3.5
3.5
3.5
3.5

2.79
2.48
3.43
3.05
2.74
2.50
3.45
3.13
2.96
2.76
2.58
3.46
3.24
3.10
2.92

SiRoD 1.0 (Simple Robot Designer) for Grippers

(developed by IIT Delhi)

Choose the shape of the object

Cylindrical

Spherical
Cuboidal
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

Feedback Form

Designer) for Grippers

y IIT Delhi)

ape of the object

cal

al

al

SiRoD

on above the sheet and under "Macros and

s", click on "Enable this content" and then click

sign the gripper

< Mass < 10 kg
0cm

ck the "GO" Button

een
e changes done

ck form (Internet connection required) or email

ha@mech.iitd.ac.in

k Form

Input Data

SPHERE
Dia
Mass

0 cm
0 Kg

Outputs
D1
D2
D3
D4
D5 (Strip Thickness)
D6 (Strip Thickness)
D7
D8
D9 (Hole Diameter)
D10
D11
D12
D13
D14
Thickness of Channel
Material

-0.0212
0.0150
45
#REF!
#REF!
#REF!
#REF!
0.0000
#REF!
#REF!
#REF!
#REF!
0.0254
0.0254
#REF!
#REF!

m
m
degrees
degrees
m
m
m
m
m
m
m
m
m
m
mm

Back to Main
Window

ack to Main
Window

D8

D5

D6

D4
D3

A
D10
D1

D2

D14

D13

D14

Detail A

D12
D7

D9

D10

D11

Input Data

SPHERE
Dia (cm)
Mass (Kg)

0 cm
0 Kg

Outputs
D1 (Hole Diameter)
D2
D3
D4 (Box Width/2)
D5
D6 (Radius of fillet)
D7
D8
D9
D10
Thickness of Channel
Material

#REF!
0.0025
-0.0212
0.0127
0.0000
0.0010
45
45
0.0254
0.0254
#REF!
#REF!

m
m
m
m
m
m
degrees
degrees
m
m
m

Back to Main
Window

D9

D10

D9

D5
D8
D4
D7

D3

D1
D2

D6

Input Data

SPHERE
Side
Mass
Height

0 cm
0 Kg
0 cm

Outputs
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
Channel dimensions
0.5x1.0 inchxinch
Thickness of Channel
#REF! mm
Material
#REF!

Back to Main
Window

Section AA
D14

D1
D16
D22
D17
D15

D9

D21

D12

D15

D20

D8
D11

D5

D10

D2

D3

A
D6

D21
D4
D21

D7

D21
D19
A

D21

D21

D22

D13

D22

D22

D18