robotic gripper design

2022.07.31
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robotic gripper design

Some of the key concepts are outlined below to give a basic overview of considerations when designing gripping components. The gripper module is an actuator with jaws that grasps an object and allows the workpiece to be picked up, transferred and placed by the robot. This works well unless they need to be transported at the same time like in a machine tending operation or the component geometry is so different they require an alternate style of gripper such as a vacuum cup. Mechanical grippers can be grouped into three main categories when describing how the gripper actuates and can aid when selecting which gripper module will best suit your application. xZMssS^gD +kSy3 -T X}J,\IRWya\o_}:W2 J(dYzu]CU7*CWeG7X ;A[mLDCU_n[e\i4@7?}tR^}s9yhgO[0nAD*:T:^U]grZUQfJL4qVRj3t!_gsA|NW[tn-aUh>(L?[qk}\P&oCVve_W%={gvSwuU6Q<5H n|0{27n>w_ a= +JbMC'r],\1"f (aA(LgA]iz~GO6s0VQ=zio=p.bS7V$ 6ncm6=#2 >vj>uYo>#`']*V&]U0-e1li\uivy-j6a^0cyZhqpWY+|%\.G Hyrt`KEUp8MW *C>d(OQ$~WZvo4an3Rka! Stabilizing the Workpieceduring the movement of the robot is very important and can ensure proper placement in the final position. Creating the perfect robotic gripper to compliment your application perfectly is a capability that HMK can supply. << /Filter /FlateDecode /S 88 /O 135 /Length 123 >> This acts as a mechanical guide and helps locate the part correctly during placement. Minimized Weightin the gripper finger design is critical as robot arms have a fixed payload which could be further reduced by other components attached to the arm like actuators, tool changers, vision systems, etc. 29 0 obj gripper robot mechanical linkage bar effector end animation arm gears mechanism robotic engineering robots solidworks types robotics gear worm rc endstream The result is a bespoke robotic gripper that complements our customers TM5 Collaborative robots faultlessly. Auxiliary Functionscan be performed by the robot gripper finger by designing features that go beyond grasping the workpiece. Having a secure grip ensures the efficiency of the robot and increases safety. This can be accomplished by creating multiple gripping surfaces in the same gripper finger set. Recently Fairlane has developed a web-based design application aimed at the end of arm tooling industry. simple gripper robot mechanical mechanisms animations gears kinds animation linkages diseo engineering 3d robots popularmechanics artculo 26 0 obj Determining Where to Gripa part is a function of where the part will be going. By increasing the mass at the end of the arm, the robot will be forced to move at slower speeds when trying to move the load with the same amount of torque being applied. There are certain situations that would call for longer fingers to maneuver around geometries when picking up a part or for inserting parts deep into cavities, but extra design consideration should be taken to make sure the gripping force is calculated correctly and the gripper will not be overstressed.

Ensuring a Secure Graspis important to offset the speeds at which robots can move by designing the correct contact points into the gripper. These types of actuators are much less expensive than others that use more complex ranges of motion. Select your gripper module and let GripShapes advanced configurator go to work generating the finger geometry for you. Need a custom gripper? This could lead to damaging the gripper finger or the object it is coming in contact with. stream Momentum can also be affected by increased mass. Designing functional robot gripper fingers can be complex and sensitive. Gripper Finger Mountingshould be designed in a way that provides secure, aligned positioning of the gripper finger. 25 0 obj stream % Rubber material can be added to the contact surface to give the grip a small amount of compliance and create the friction needed to maintain a secure grasp when transporting the workpiece. xcbd`g`b``8 ";xLH^%)LH=@f`bM l(9rIQr H *)-(XodPT(bv L[I7 [NXG{47jXBk\jY-P Vu?m=$I'GA g|({L&}nWTCq0wtS`Qn:%#9{w{cU>~_4ut(Vm5c=<9bEW9{8E`93?2Gz|kh /r),S ;a&7a{:v?( Zj'Gk)'j#^lMI y-m HTzwVsl6?SGq7#$l{EkL7Ae)muFckF'*h}qnp-\[W$Y[6 Ref Material: GREGORY CARYLEE CAUSEY, ELEMENTS OF AGILITY IN MANUFACTURING, Thesis, Case Western Reserve University, January, 1999. Minimize Gripper Finger Lengthswhenever possible to reduce the amount of bending momentum (flex) which causes the gripping force transferred to be reduced. The fingers should be just long enough to grasp the workpiece without causing interference with the gripper jaws or body of the gripper module. $8\|,&dbVH4'tBpuT[c@sa!!R:Gn:ZMK=iLYn:QqUI`F>a=sOWI]UnU/ ]|A;v'-BM385prNTmPQIQxk7&B& %PDF-1.5 Not all applications will allow for this due to limitations or restrictions in how the part is being presented for grasping but should be included when it does not cause interface issues. Reduce your design time by up to 95%. Standard Componentssave time and money and readily available actuators should be used whenever possible. endobj Grasp Multiple Partswith a single gripper can significantly increase the efficiency of the gripping system. << /Contents 29 0 R /MediaBox [ 0 0 612 792 ] /Parent 53 0 R /Resources 156 0 R /Type /Page >> Weight can affect the speed of the robot arm in two ways. If a flat grip must be used there are ways to increase the coefficient of friction by designing rubber pads into the gripping area. When the load is set into motion, the increased inertia could cause unwanted movement in the arm or even overshooting to occur. Interested in our standard parts or just want more information on how our experts can help with your design project? By staying within the recommended finger lengths of the manufacturer, it ensures the designed gripping force will be transferred to the part and not lost due to displacement of the finger caused by unnecessary deflection. The material in which the customers products are made of; for example, the hardness. Designing the gripper system to perform more than one task while maintaining contact with the workpiece simply reduces the number of times the robot must pick an object up, therefore reduces the possibilities of a grasping error. It allows a positive, mechanical grip without relying on friction of the grip alone to secure the part. The finger geometry should encompass the jaws of the actuator when possible to secure the finger in all three axis and to help located. It is important to make sure the percent of stroke at contact allows the fingers enough stroke to open wide enough to approach the part without interference. The best way to prevent interference is to design the gripper finger with the smallest profile possible while maintaining good structural strength for the application. endstream Chamfering Exterior Surfacesincluding the leading edge of the gripper can help when workpieces are being presented close together. 28 0 obj By eliminating the need for another operation, the system efficiency and throughput is increase while reducing costs associated with having another machine to do the work. << /Names 122 0 R /OpenAction 155 0 R /Outlines 108 0 R /PageMode /UseOutlines /Pages 107 0 R /Type /Catalog >> If this is the only option, the assembled components should be verified at a previous step to ensure the geometry is there for the gripper to grab on to. Machine tending applications are a great place to use multiple grippers as the finished part can be removed and a blank inserted in a single operation from the robot. In order to supply the perfect gripper, we take into consideration a variety of factors such as: Getting this right, on time,on specification, every time; we invest resources to fully understand the project and get to know our customers and their application needs.

Avoiding Tool Changescan reduce cycle times and free up valuable real-estate within the robots working environment. If you have any questionsplease give the team a call on01260 279411, About HMKTerms & ConditionsPrivacy PolicyCookies, Vaccine production machine shortlisted for Irish Times Innovation Award, Siemens and Neugart team up to launch new motor range, HMK achieves quality accreditation once again, New extra-low voltage MICRO-DRIVE launched, HMK launches remote training programme during lockdown, Cobots lead the way at Robotics & Automation, HMK Nominated for Distributor of the Year at this Years Motion Control Industry Awards, HMK supports automation industry to keep moving, HMK Team Leader Jenny achieves a Distinction, Neugart unveils new powerful solutions for rack and pinion drives, Safety acceptance test integrated into Sinamics Startdrive, TAIT get glimpse into the future at Siemens tour, HMK flies the flag for engineering during National Careers Week, Leading Neugart NCP software just got better, Multi-million pound management buyout for HMK, HMK Automation helps Ventilator Challenge UK step up a gear, HMK announced as exclusive UK distribution partner for German manufacturer Koch, HMK demonstrates commitment to environment, Register now for free access to Europes largest automation exhibition SPS Connect 2020, HMK teams up with leading Industrial IoT solutions provider IXON, Exclusive offer Motion Control Starter Pack, Applications Engineer Nathan achieves a Distinction, IXON launches new IXON Cloud 2 platform with major upgrade, Vaccine production machine wins prestigious award, HMK supports National Apprenticeship Week 2021, Siemens launches new distributed drive system to UK market, HMK takes part in Covid-19 workplace testing scheme, New PSD direct drives out now offering even more benefits for machine builders, Improved ATLANTA rack range now available, HMK joins forces with leading linear technology manufacturer Schneeberger, Motion control at your fingertips with Siemens SIMATIC S7-1500, Discover the Neugart product range at their new training webinar series, Congleton Hydro Scheme supports Siemens green ambitions. They are typically mounted at the end of a robot arm and at the point of contact with the workpiece.

Adding Functionalityin grippers can increase throughput by reducing the risk of error associated with handling the parts multiple times. In most cases, a system that uses two grippers or a rotary device can be eliminated by designing the gripper fingers to handle multiple parts. 24 0 obj When an encompassing grip is not possible and a flat contact surface must be used, the coefficient of friction needs to be higher because the grip is relying on the friction to keep the part secure. Details of the full application and the industry where the solution will be operating. The custom gripper finger should be designed to grasp the part on an area that will not interfere with the placement of the workpiece at the next step. When an encompassing grip is used, care should be taken to add reliefs or chamfers to areas that may cause stiction and not allow the part to be dislodged from the gripper finger. stream Copyright 2022 Gripshape Terms & Conditions Privacy Policy, Fairlane Products Launches New Standard Robot Tooling, Fairlane Products Design and Manufacturing for Automation, Fairlane Products Expands GripShape Services. The rubber will provide a compliant surface that can prevent damage to parts and help increase the holding force of the gripper. 7@E !|Wv`{D!xGWS-U*>rRb68z To learn more visitwww.FairlaneProducts.com. << /Type /XRef /Length 80 /Filter /FlateDecode /DecodeParms << /Columns 5 /Predictor 12 >> /W [ 1 3 1 ] /Index [ 24 193 ] /Info 22 0 R /Root 26 0 R /Size 217 /Prev 875788 /ID [<1356fb081b9404915ea2cf136e38ccf5>] >> endobj This type of grip also spreads the gripping force over a wider section of the parts surface instead of concentrating it on a single set of points where the gripper comes into contact with the workpiece. The mounting hardware itself is often times not enough to keep the finger in position and can cause issues when trying to grasp an object. Hooks to aid in opening doors on CNC machines before loading the parts, air nozzles to blow chips away before grasping a workpiece, rotary devices to drive screws after placement of assembly components, and locating geometry to align parts are just a few ways to increase the functionality of the gripper. We utilise SolidWorks, industry standard 3D design software, along with mechanical expertise gained from over 35 years in industry so as to design grippers that can manipulate our customers parts flawlessly. An example of this could be large chamfers or other mating features that extend past the part being grasped to match up with existing parts on the subassembly prior to being inserted. Although there are times where a tool change must be made, there are some ways to avoid unnecessary slowdowns. L;e+CYnLIrW=0TUuPN/j>/yJ|/; OA3'8,~8._?4rNibfG$xjlBOqP4Xr4s. endobj Approach Clearanceskeep the gripper fingers from interfering with the workpiece it is trying to grasp and can be vital to the system performing reliably. Automation components such as robot arms and software are flexible enough to be programmed for a wide variety of tasks and therefore, can be reused to produce multiple variants of products. This is especially useful for cells that have vision capabilities. It uses intuitive CAD to help users design and purchase custom gripper finger tooling in minutes. If the previous part was broken or missing and the gripper is relying on this geometry to grasp the workpiece securely, it could cause issues with picking the object up or even damage the grippers. The first is due to the finite amount of torque that can be applied to each joint in the robot arm.

27 0 obj Fixtureworks, a related business, supplies an extended range of standard machine components and complete workholding solutions from work leading manufacturers. If the application requires the stiffness or wear properties of steel, care should be taken to minimize the size of the finger and to remove material in any non-structural areas. Multipurpose Gripper Fingersare a great way to reduce overall hardware costs. One key component of the configurability of the automation system is the robot gripper module. How they are to be picked and placed: orientation, speed of handling, accuracy of placement.

With an encompassing grip matching the profile of the workpiece, the coefficient of friction between the workpiece and the gripper material should be low to allow the part to center itself into the contoured grip. Assembly Specific Gripper Finger Toolingcan need special geometry to help align parts into subassemblies. << /Filter /FlateDecode /Length 3288 >>

This may be standard for parts that are presented in traditional methods, but with the advancement of vision systems, parts are now being presented in flexible feeding applications such as on a conveyor. endobj Features like chamfers along contact surfaces are designed into the gripper finger for situations where the part being picked needs a high error tolerance or may be off-center and the geometry of the gripper design can help shift the workpiece into position when the gripper is approaching ensuring that when the gripper closes, the workpiece is in position to be securely grasped. Minimizing Interferencebetween the gripper finger and other objects around the workpiece intended to be grasped can dramatically increase the effectiveness of the gripper system. However, the gripper module can be very specific to one task and is often specifically chosen and outfitted with gripper finger tooling to help adapt.

The most common actuation patterns are parallel, angular and translational. Multiple Gripperscan be added to the end of arm tooling allowing the robot to handle multiple parts at the same time. endobj The gripping component costs should be managed in a way that adds value to the overall cell design. Even if the gripper can grasp the workpiece properly, interference by having too large of a gripper finger can cause the robot pick attempt to fail potentially resulting in a reduction of throughput the system can handle. The spreading of the load will prevent deformation of the part due to the gripping forces being exerted on the part. Automation is geared towards increasing throughput and the impact of having gripper finger tooling that is designed to work efficiently is often underestimated. The matching geometry and increased surface area will help keep the part from shifting during high speeds of transportation. By doing this, the gripper can be used to pick up a variety of parts without the need to switch out the gripper tooling. Gripping Surfaceis the area of the gripper finger that comes into contact with the workpiece and can be critical in getting a secure grasp. Gripper fingers can then be designed around the actuator to further customize the gripper for the specific application. Moderate to advance engineering techniques and an iterative process is typically used to validate designs and arrive at an optimal solution. xc```b``i `63p Fj /``->5}jz,y a2 By doing this, it will ensure that the gripper finger was not implemented in such a way that will cause more expense in operator costs due to excessive dropping of the workpiece or in downstream operations through time or additional hardware needed in the cell. Being more creative with the finger design can often result in the same effect without the need of the more expensive unit. By having the edges angled, it allows the gripper finger to push and move other parts out of the way giving the clearance needed to grasp properly. To help decrease weight, gripper fingers could be made of a lighter weight material such as aluminum, composites or even 3D printed polymers. Actuator Selectionis a simple way to reduce costs by designing around actuators that have simple linear or rotary motions. It is also important in assembly operations to grasp the workpiece on a feature where parts will be added instead of relying on areas of the workpiece where parts have already been placed into the assembly. Fairlane was established in 1957 in Fraser, MI and designs, manufactures and stocks a wide range of standard components used in positioning and workholding applications. If this is not possible, the dowel or centering pins should be used to maintain an accurate position increasing the reliability of the gripper. An encompassing grip, where the gripper finger matches the contours of the workpiece and overlaps a portion of the geometry, should be used whenever possible. "Fgn;9Q3C&%-3# %V One benefit to using standard actuators is the repair and maintenance process is much easier than with custom components. The materials of the workpiece and the gripper should be considered when determining if the grasp will be sufficient. As suggested in the sections above, an encompassing grip should be used. << /Linearized 1 /L 876200 /H [ 2017 209 ] /O 28 /E 87146 /N 7 /T 875787 >>