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1. KNOWLEDGE INSTITUTE OF TECHNOLOGY
DEPARTMENT OF MECHANICAL ENGINEERING
ME8811 – PROJECT REVIEW
DESIGN AND DEVELOPMENT OF TWO FINGERED ROBOT GRIPPER
Student Members
Year/Sec Register No. Name of the Student
IV/A 611214114028 S.DHATCHINAMOORTHY
IV/A 611214114057 N.GUNASEKARAN
IV/A 611214114095 G.MANIKANDAN
IV/A 611214114318 M.KARTHICK
PROJECTTITLE
FINALREVIEW
Guided by: Prof.J.Prakash,B.E.,M.E.,
1

2. CONTENT
2
Sl. No. TOPIC Slide No.
01 Literature Review 3
02 Problem Identification 4
03 Objective 5
04 Abstract 6
05 Description about end effectors 7
06 Different types of actuation mechanisms 8
07 Tools Applied 14
08 Design Details 15
09 Fabricated Model 16
10 Working Principle 17
11 Student Contribution 18
12 Cost Estimation 19
13 Results & Discussion 20
14 Conclusion 21

3. Literature Review
 A STUDY BY MAJID AND PETER.
This authors focused the force sensors based four bars gripper prototype was made and final
design was developed by 3D printing method (RPT). In this project first a prototype version of
the sensor-based friction gripper has been made and subjected to various tests for evaluation of
performance and reliability. Then, on the basis of result improvements were made and
eventually the finalized gripper has been designed and manufactured. This involved developing
all mechanical and electronic parts of the prototype and the final gripper.
 A STUDY BY MATTHEW AND MOREHOUSE
In general, close part orientation tolerance in a gripping system can be accomplished in two
ways. The first method is to present the part in its fully oriented state to the gripper, which
assumes that during and after the grasp, there is no relative motion of the part in the gripper.
Any errors in initial orientation will remain, and still be present when the part reaches its
destination. A second methodology involves presenting a part to the gripper in a loosely
oriented state and using the grasping process to bring the part to its final state of orientation.
3

4. Problem Identification
 In industry, design of actuation mechanism is an important problem. It
should be compact, robust, light in weight and must possess high
mechanical advantage. Here with this project various five conceptual
design of actuation mechanism are attempted with single degree of
freedom. Out of which best gripper mechanism selected.
• The various actual mechanism are,
• Cam Operated Actuation Mechanism
• Toggle Linkage Based Actuation Mechanism
• Wedge Cam Operated Gripper
• Actuation Mechanism With Sliding Slotted Piston-Ball Joint
Arrangement
• Rack and Pinion Actuated Four bar Based Gripper
4

5. Objective
• The objective of this project was to analyzing of different types of actuation
mechanism such as gripping force, gripper weight, cost and other aspects,
then select the best one for grasp and ungrasp the objects with high
efficiency, low cost, light in weight.
• The selected gripper is used to reduce the human work in industry.
5

6. Abstract
For robot grippers, design of actuation mechanism is an important problem. It should be
compact, robust, light in weight and must possess high mechanical advantage. In this
project, five different actuation mechanisms are designed based on Cam Actuation, Gear
Actuation and pneumatically actuated toggle based linkage. Initially, the gripper force
required for grasping an object with pre –specified weight and coefficient of friction
between contact surfaces is determined using analytical approach. Then various conceptual
designs of actuation mechanism are attempted for generating the necessary gripping force.
The corresponding actuation force/pressure/ torque required for various grippers are
determined using static force analysis. Finally, based on the criteria’s namely effort required,
weight, compactness, robustness, mechanical advantage, cost of operation, accuracy,
capability of grasping objects of varying geometry and dimension, and manufacturing cost,
the various actuation mechanisms are compared, and an effective actuation mechanism is
selected.
6

7. Description about end effectors
• End effector is a device that attaches to the wrist of the robot arm and enables the
general-propose robot to perform a specific task. Most production machines require
special-purpose fixture and tools designed for a particular operation, and a robot is no
exception.Theendeffectorispartofthatspecial-purposetoolingfora robot.
The various types can be divided into two major categories,
• Grippers
• Tools
7

8. Different types of actuation mechanisms
 DIFFERENT TYPES OF ACTUATION MECHANISMS
 Cam Operated Actuation Mechanism
 Toggle Linkage Based Actuation Mechanism
 Wedge Cam Operated Gripper
 Actuation Mechanism With Sliding Slotted Piston-Ball Joint
Arrangement
 Rack and Pinion Actuation Gripper
8

9. Cam Operated Actuation
Mechanism
9

10. Toggle Linkage Based Actuation
Mechanism
10

11. Wedge Cam Operated Gripper
11

12. Actuation Mechanism With Sliding Slotted
Piston-Ball Joint Arrangement
12

13. Rack and Pinion Actuation Gripper
13

14. Tools Applied
(A) Software Used
 CATIA
 NX-CAD
(B) FabricationModel / ExperimentalSetup Details
 Rack & pinion actuation mechanism
(C) StatisticalApproach
 ForceAnalysis
14

15. Design Details
15

16. Fabricated Model
16

17. Working Principle
• In this project we designed and developed the two fingered robotic gripper
by using rack and pinion mechanism. In this we used two motors for
functioning of the gripper. One motor is used for the rotation purpose of the
gripper hand and another one is used to grasp and ungrasp the fingers of the
robotic gripper.
• The motor are operated with the help of batteries. Each motor is connected
with an individual battery. The motor is controlled by using switches. When
a power supply is given to the motor it will rotate and as it is connected
with the robot gripper it will help for the movement of the gripper hand.
• When it rotates clockwise the gripper hand will grasp a object where as it
rotates in anticlockwise it will un grasp an object and as like this the motor
which connected at the end of the gripper hand, it will helps to rotates the
gripper hand in order to posses a rotational moment.
17

18. Student Contribution
STUDENT MEMBERS
Sl.No. Name of the Student Contribution for Project Work
01 S.DHATCHINAMOORT
HY
Performance Analysis
02 N.GUNASEKARAN Design & Documentation
03 G.MANIKANDAN Fabrication
04 M.KARTHICK Design & Material Selection
18

19. Sl.
No.
Description
Amount
(Rs)
01 Material cost Rs.3000 Rs.3000
02 Labor cost Rs.2500 Rs.2500
03 Overhead Charges Rs.1100 Rs.1100
Total amount Rs.6600
Cost Estimation
19

20. Results & Discussion
Experimental Results:
20
S.No
Actuation
Mechanism
Type
Actuation
Force(N)
Compactness Reliability
Weight
(kg)
Ease of
operatio
n
Capability to
accommodate
dimensional
variation
Remark
s
1.
Edge Cam
Operated
Actuation
Mechanism
11.45 Good High 14 - 15 Normal Not possible Poor
2.
Toggle Linkage
Based
Actuation
Mechanism
4.607 High High 8 – 8.5 Good Possible Good
3.
Wedge Cam
Operated
Gripper
2.8 Normal High 9 Normal Possible Good
4.
Sliding Slotted
Pin Ball Joint
Arrangement
6.25 High Low 10 – 11.5 Good Possible
Satisfac
tory
5.
Rack and
Pinion
Operated Four
Bar linkage
1.677 High High 13 Good Possible Best

21. 21
Conclusion
• In this paper five different single degree of freedom gripper actuation
mechanisms have been designed and analyzed.
• Rack and pinion based actuation mechanism requires the least effort
compared to all other mechanism and also, it is stroke adjustable,
simple in construction, any linear actuator can be used for its operation.
• Therefore, we suggest that this mechanism is best suited for robot
grippers. To conclude, excepting the first one, the remaining four
actuation mechanisms are found to be promising and can be used in
robots.
• Shortly, physical models of the above mechanisms will be constructed
and their effectiveness will be tested.

22. Thank you..
22