International Research Journal of Engineering and Technology (IRJET)
e-ISSN: 2395 -0056
Volume: 04 Issue: 03 | Mar -2017
p-ISSN: 2395-0072
www.irjet.net
Design and Analysis of a Multi Fingered Gripper for Grasping Irregular Objects 1,2,3,4Assistant
A.Sathishkumar1, R.Chandiran2, D.Venkatesa Prabu 3, M.Sakthivel 4
Professor, Department Of Mechatronics Engineering, Mahendra College of Engineering, Salem, Tamilnadu, India ---------------------------------------------------------------------***--------------------------------------------------------------------1. INTRODUCTION Abstract - This project deals with design and development of an advanced multi-fingered gripper designed by using Pro- E and ANSYS. In this research work are motivated by the requirement for grasping of the objects of arbitrary shape and size. The key issues consider here are: the gripper should be able to grasp the object of any shape, size, and weight (with a maximum limit); stability of the object held during the manipulations; should not dependent on the frictional forces between gripper and object; synchronization in fingers motion; and employment of the minimum number of the actuators to manipulate the grippers.
1.1 Robot Vs Robotics A robot was a mechanical or virtual artificial agent, usually an electro-mechanical machine that is guided by a computer program or electronic circuitry. The Robot can be autonomous, semi-autonomous or remotely controlled and the range from humanoids such as ASIMO and TOPIO to the Nanorobots, 'swarm' robots and industrial robots. By the mimicking a lifelike appearance or automating movements, a robot may be conveying a sense of the intelligence or thought of its own. The branch of technology that deals with robots was called robotics.
Kinematic and dynamic analyses of the gripper are made to support this novel design. The gripper was successfully designed, Analyzed hence can find many applications, e.g., as a robot end effectors, prosthetic hands etc. The robotics, end effectors are a device at the end of a robotic arm, designed to the interact with the environment. Gripper was ending effectors or tool to grasp any physical thing that may be a human hand or any instruments. This type of gripper designed is an impactive type which uses jaws or claws to the physically grasp by direct impact upon the object. A pneumatic pressure was used to actuate the fingers of the gripper. In this project, a simple mechanism is developed for grasping irregular object shapes by using a four-fingered robotic gripper. To the achieve this goal we intend to the incorporate a simple linkage actuation mechanism. The gripper can perform the basic function of picking, holding and grasping of the irregularly shaped objects. The grippers are simple in construction, minimum complexity, and easy manufacturability. The focuses of this project are to achieve four-finger grasp of the irregularly shaped objects.
It is the branch of technology with deals the design, construction, operation and the application of robots the computer systems for their control, sensory feedback, and information processing. These technologies deal with the automated machines that can take the place of humans, in hazardous or manufacturing processes, or simply just resemble humans. Many of the today's robots are inspired by nature contributing to the field of robotics. The word robotics is derived from the word robot, which was introduced to the public by Czech writer Karel ÄŒapek in his play Rossum's Universal Robots, which premiered in 1921. The word is robot comes from the Slavic word robota, which are used to refer forced labor. Actuators were like the "muscles" of a robot, the parts which convert stored energy into the movement. By far the most popular actuators were electric motors that spin a wheel or gear, and linear actuators that control industrial robots in factories. But there were some recent advances in alternative types of the actuators, powered by electricity, chemicals, or compressed air.
Key Words: Design and Development, Robotics, Multi
The robots need to manipulate objects; pick up, modify, destroy, or otherwise has an effect. Thus the "hands" of a robot were often referred to as end effectors while the "arm" was referred to as a manipulator. Most of the robot arms have replaceable effectors, the each allowing them to perform some small range of tasks. Some have a fixed manipulator which cannot replace, while a
fingered Gripper.
Š 2017, IRJET
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