Design And Development Of Pneumatic Gripper For Comau Robot

Mohd Nazili , Yaacob (2009) Design And Development Of Pneumatic Gripper For Comau Robot. Project Report. UTeM, Melaka,Malaysia. (Submitted)

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Abstract

Gripper is an important component for an industrial robot because the application of the robot is verified according to the type of gripper utilized as its end effector. The aim of the project is to design and develop a new and improved pneumatic gripper for pick and place applications to be integrated with the COMAU robot available in the Robotics Laboratory at Faculty of Manufacturing Engineering (FKP). This project is focused in producing a pneumatic gripper that can grasp object of various sizes and shapes effectively. Knowledge in computer aided design (CAD) and fluid power are vital in order to complete this project. In this project, 4 types of gripper design were suggested and the best design was selected to be fabricated. Solidworks 2005 software had been used for detail design and documentation of the gripper. The new improved gripper is parallel type which utilizes a double acting cylinder as a driver for the jaw movement only has one movable jaw. The other jaw is fixed and acts as a supporter for the object to be gripped. To analyze its functionality and effective, the gripper had been tested to grasp several shapes of object such as spherical shape, block shape, and cylindrical shape. Results confirmed that the improved gripper is able to grasp bigger object with various shapes compare to the current gripper available with COMAU robot.

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