Design and analysis of the robot gripper mechanism for a specific operation in the industry have been an active research area recently. This research study was focused on design, analysis, and prototype development of an automatic robot gripper mechanism to hold coated materials in the electroplating industry. The specific workpieces which are handled by the gripper mechanism are vertical pin, horizontal pin, and phase ring hinge pin which are the components of the center rotor hub in the aircraft system. In this study, six-bar robot gripper mechanism was developed using concept generation method based on the evaluation criteria relative to the other mechanisms. Analytically, the entire design computations have been done using the vector loop method for the position, velocity, and acceleration analysis and newton’s law approach for static force analysis. The capability of the gripper robot to hold the specified workspace has been proved using the finite element method. Von Mises stress, directional deformation, and elastic strains for the gripper mechanism have been done using Ansys Workbench R19.2. The results which are obtained numerically showed that, the calculated total stresses for the three workpieces are lower than the tensile yield strength of the specified material. In addition to this, the total deformations for the three workpieces are also lower than the estimated percent of elongation of the specified material. Physical prototype for an automatic robot gripper mechanism has been developed in this study to show the functionality of the gripper mechanism. Performing simulation and prototype for the gripper robot is not enough, it needs further work like performing experimental validation, change the actuation system, improve the mechanism, and develop a control system for the mechanism to increase the quality and accuracy for the six-bar gripper mechanism.


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    Titel :

    Design & development of A Hard Surface six Bar robot Gripper Mechanism


    Beteiligte:

    Erscheinungsdatum :

    2020-09-21


    Anmerkungen:

    doi:10.20372/nadre/19760



    Medientyp :

    Hochschulschrift


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629




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