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    P. E. S'S Modern College of Engineering, Shivajinagar Pune-5 Department of Mechanical Engineering

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    Raja Gosh
    This document discusses the design of a gripper for a pick and place robot. It defines the objectives as learning how to select a proper gripping mechanism and understanding design factors. It states that the required actuating force to deliver a gripper force of 200N needs to be computed. Various types of grippers are classified, including single/double grippers, external/internal grippers, and mechanical/other grippers. Mechanical grippers use fingers to grip objects, and equations are provided to determine the required gripping force based on factors like coefficient of friction, number of contact surfaces, weight of the part, and acceleration. Different mechanisms to actuate finger movement are also described.

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    P. E. S'S Modern College of Engineering, Shivajinagar Pune-5 Department of Mechanical Engineering

    Uploaded by

    Raja Gosh
    108 views3 pages
    This document discusses the design of a gripper for a pick and place robot. It defines the objectives as learning how to select a proper gripping mechanism and understanding design factors. It states that the required actuating force to deliver a gripper force of 200N needs to be computed. Various types of grippers are classified, including single/double grippers, external/internal grippers, and mechanical/other grippers. Mechanical grippers use fingers to grip objects, and equations are provided to determine the required gripping force based on factors like coefficient of friction, number of contact surfaces, weight of the part, and acceleration. Different mechanisms to actuate finger movement are also described.

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    Expt 9

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    This document discusses the design of a gripper for a pick and place robot. It defines the objectives as learning how to select a proper gripping mechanism and understanding design factors. It states that the required actuating force to deliver a gripper force of 200N needs to be computed. Various types of grippers are classified, including single/double grippers, external/internal grippers, and mechanical/other grippers. Mechanical grippers use fingers to grip objects, and equations are provided to determine the required gripping force based on factors like coefficient of friction, number of contact surfaces, weight of the part, and acceleration. Different mechanisms to actuate finger movement are also described.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
    108 views3 pages

    P. E. S'S Modern College of Engineering, Shivajinagar Pune-5 Department of Mechanical Engineering

    Uploaded by

    Raja Gosh
    This document discusses the design of a gripper for a pick and place robot. It defines the objectives as learning how to select a proper gripping mechanism and understanding design factors. It states that the required actuating force to deliver a gripper force of 200N needs to be computed. Various types of grippers are classified, including single/double grippers, external/internal grippers, and mechanical/other grippers. Mechanical grippers use fingers to grip objects, and equations are provided to determine the required gripping force based on factors like coefficient of friction, number of contact surfaces, weight of the part, and acceleration. Different mechanisms to actuate finger movement are also described.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
    of 3

    P. E.

    S’s MODERN COLLEGE OF ENGINEERING, SHIVAJINAGAR PUNE-5


    Department of Mechanical Engineering
    BE Mechanical Subject-CAD/CAM and Automation

    Practical No. 09

    Aim: To Design Gripper for Pick and Place Robot


    Objectives:
    1. To learn how to select proper mechanism for gripping the component
    2. To understand different factors to be considered during gripper design
    Problem Definition
    Figure shows the linkage mechanism and dimensions of a gripper used to handle a work-part for a
    machining operation. Suppose it has been determined that the gripper force is to be 200N. What is
    required to compute the actuating force to deliver this force of 200N.

    The end effector is a device to wrist of the robot arm and invokes the general purpose robot to perform to
    perform a specific task. There are wide assessments of the end effectors which are required to perform
    variety of different work functions
    There are 1. Grippers 2. Tools
    1. Grippers –
    There are end effectors used to graph and hold the object. Objectives are usually loading and unloading.
    Racing path form a conveyer and arranging port is a pulley. The objects handled by the robot grippers
    include cartoon battles, raw materials and mechanical tools. Objects are also held using magnets, suction
    caps, etc.
    Classification –
    1. Single gripper and double gripper.

    CAD/CAM and Automation Mechanical Engineering Department


    P. E. S’s MODERN COLLEGE OF ENGINEERING, SHIVAJINAGAR PUNE-5
    Department of Mechanical Engineering
    BE Mechanical Subject-CAD/CAM and Automation

    2. External and internal


    3. Mechanical and other
    1. Single or double gripper –
    Only one gripper is mounted on robots wrist where as in double grippers two devices are mounted
    on wrist of robots, and it handles two separate objects.
    2. External or Internal Grippers –
    Classification depends upon whether the part is gripped on the exterior surface or interior surface.
    3. Mechanical or other –
    It consists of vacuum cups, magnetic gripper, and adhesive gripper
    Mechanical Grippers –
    A mechanical gripper is an end effector that uses mechanical finger attached by mechanism to grip an
    object. There are two ways of constraining parts in grippers.
    a) Physical construction method of gripper design
    b) Force against part parallel to finger surface tending to full ports
    In the approach fingers must apply the force that is sufficient for friction to retain the port against
    gravitation acceleration.
    Following equation can be used ot determine the required magnitude of gripper force.
    μ . nf . fg=ω
    µ = coefficient of friction
    nf = no of contacting surface
    fg = gripping force
    w = weight of part
    The force of acceleration would be significant factor in part handling cycle.
    Case I Faces of acceleration is applied in same direction of gravity force
    μ . nf . fg=Iω
    max accln
    g=1+
    grav accln
    Case II force of acceleration is applied in opposite direction as that of gravity force
    μ . nf . fg=ω
    g = 2 x wt. of part due to acceleration x wt. of part due to gravity
    Case III the acceleration is applied in direction,
    CAD/CAM and Automation Mechanical Engineering Department
    P. E. S’s MODERN COLLEGE OF ENGINEERING, SHIVAJINAGAR PUNE-5
    Department of Mechanical Engineering
    BE Mechanical Subject-CAD/CAM and Automation

    μ . nf . fg=2 ω

    Types of gripper mechanism –


    They are classified according to type of kinematic devices used to actuate finger movement
    a) Linkage actuation
    b) Gear actuation
    c) Cam actuation
    d) Screw actuation
    e) Rope and pulley actuation
    f) Miscellaneous
    2) Cam operated grippers-

    3) Screw grippers –
    In this screw is rotated in direction. This causes threaded block to translate in or direction opposite
    to that of screw direction. The threaded gripper cause opening and closing action.

    CAD/CAM and Automation Mechanical Engineering Department

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