Design Of The Robust Gripper Control For Hoisting Mechanism

Abd Razak, Muhammad Hafiz (2009) Design Of The Robust Gripper Control For Hoisting Mechanism. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

The present work aims to describe the “Design of the Robust Gripper for Hoisting Mechanism”. As an overview, this project is developed the gripper for handling or transporting delicately the Nata de Coco jelly blocks, this type of gripper commonly found in the food industry. This project consists of two main parts, which is software and hardware. The goal of this project is to design, build and control a automation robust gripper in small scale and thus, experimentally analyze the load and stability of the robust gripper for handling the Nata de Coco’s steel basket approximately 50 kg as a real implementation in the Nata de Coco processing. Additionally, the overall system was controlled by using the FPO Panasonic Programmable Logic Controller in order to move the gripper linearly. Generally, to perform the mechanism movement for robust gripper, the Induction Motor being implemented as a transmission power in order to move the gripper for forward and backward operation from Platform A (Unload Platform) to water tank for leaching process and lastly to the ending point at Platform B (Loading Platform). The pneumatic system was applied to control the gripper mechanism for act as a hoisting mechanism by in stroke and outstroke condition of Single Rod Double Acting Cylinder to handling the steel basket. The cage conceptual being implemented for Nata de Coco placement on the leaching tank for neutralization process. Besides that, gripper allow to be lifted indirectly contacted the jelly block surface. It can prevent and reduced the possibilities of damaging the jelly block surface. It was discovered the developed a prototype model and experimentally test the reliability of the gripper to handling the load capacity. As a result of this, it was capable to handling the load until 3kg.

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