Design and analysis of robot

gripper
By,
15261A0358 - Yash Mohta
15261A0330 – Md Zahaan Khan
16265A0302 – Akkenpalli Saikiran
16265A0310 – Shivnuri Anil Kumar

GUIDE – Mr. B.Govinda Reddy

What is an end-effector?
• In robotics, an end effector is the device at the end of
a robotic arm, designed to interact with the environment.
• The exact nature of this device depends on the application of the
robot. (either a gripper or a tool)
• If a robot needs to pick something up, a type of robot hand called
a gripper is the most functional end effector. If a robot needs to
be able to tighten screws, however, then the robot must be fitted
with an end effector that can spin.
• It is attached at the wrist end of the robot.
Types of robot end effector
1. Gripper – to grasp and manipulate object in space.
• Impactive – jaws or claws which physically grasp by direct
impact upon the object.
• Astrictive – attractive forces applied to the objects surface
(whether by vacuum, magneto).
• Contigutive – requiring direct contact for adhesion to take
place (such as glue or surface tension).
2. Tool - to perform a work on the part.
• Example welding, spray painting, machining.
Robot grippers
End-effector that holds or grasps an object (in assembly, pick and place
operation and material handling) to perform some task.

Four major types of gripper-

1. Mechanical
2. Vacuum cups or suction
3. Magnetic (electromagnet or permanent magnet)
4. Adhesive
5. Hooks and ladles
Mechanical Gripper
• It uses mechanical fingers actuated by a mechanism.
Two ways of constraining object in gripper –
1. Designing the contact surface of finger to be approximate shape of part geometry.
2. Grasping the part by friction between fingers.
 Mechanical gripper mechanism
1. Linkage actuated 2. Gear and rack actuated 4.Screw actuated 3. Cam actuated
 Design of gripper
Features:
Gear Mechanism
Gripper Contact Area: 770mm^2

Materials for Analysis

• Al-5052
• Carbon Fiber

And comparison between them.

Al-5052 Properties Carbon Fiber Properties
Analysis of Al-5052 (Total Deformation)
Analysis of Al-5052 (Strain on gear)
Analysis of Al-5052 (Stress on gear)
Analysis of Carbon Fiber (Total Deformation)
Analysis of Carbon Fiber (Strain on gear)
Analysis of Carbon Fiber (Stress on gear)
Final Comparison and conclusion
Economic Consideration:
Price of Al-5052: ~Rs.300/Kg

Price of Carbon Fiber sheet:

~Rs.2000/m^2

Carbon Fiber dominates over Al-5052 :

• Total Deformation is less
• Stress and Strain are also less.

Therefore, Carbon Fiber is the better choice in terms of Structural Rigidity. But, Al-5052 is more economical
compare to carbon fiber. So there is a compromise between price and structural property.