This is kind of robotic project, can be categorized in SPM (special perpous machine)

1. Design &Development of End Effector For
Pick and Place Application
Guided By,
Prof. Asmita Bagade
Technical Support by,
Bhagyalakshmi Engineering
Presented By ,
Datta Jadhav Kedar Pailwan
Hrishikesh Mahajan Omkar Wandre

2. Introduction
 An end effector is device that attaches to the wrist of the robot arm
and enables the robot to perform specific task. It is sometimes
referred to as robots hand.
 The main component of gripper are linkages, gears, actuators etc.
 Mainly mechanical, vacuum, magnetic, adhesive type of gripper are
available.
 These grippers can be actuate by hydraulics, pneumatics, electric
and electro-pneumatic systems

3.  Mechanisms involved
Pivoting movement
Transitional movement
 Sensors used
Tactile sensors
Machine vision
Proximity and range sensors
Miscellaneous sensors.
 Power and signal transmission
Pneumatic
Electric
Hydraulic
mechanical

4. Bioloid gripper with two servos
bioloid grippergripper, dual motion
Single jaw parallel gripper
compact low profile
NXT simple gripper
Adaptive robot gripper, 3-
Finger
Adaptive robot gripper
Adaptive robot gripper

5. Problem Statement
Specifications
 Name- 1. Cross member crash.CECP-1928-0298
made by steel of grade JAC270CN-45/45
 REINF cross member crash.CECP-1928-0298 made
by reinforcement thermoplastic
 Total weight=42.065N
 Location: Transverse to the main structure of chassis
 Load Bearing Capacity: 260kg, 2570 N
Use
• To keep the body panel in alignment.
• To make the frame strong enough to cope
with the load applied on it.

7. Now a days this process is carried out with the help of manpower, which will
cause following problems:
 Sometimes there is threat to occur accidents.
 There is more time consumption during the movement of member
 Need to spend more cost for handling.
 Still the worker has done his job properly during handling , but there is always
chance to occur any kind of damage to the member.
 it reduces overall productivity.

8. Motivation
 In our project where the requirement is to develop such a system
which reduces human effort there by reducing the cost of final
product while handling the panel.
 The automation system is best suggestion which satisfies all such
conditions.
 The end effector plays important role.
 Hence we motivate through this practical problem and decided to
develop end effector.

9. Workpiece Handling procedure by End Effector
• pin cylinder locate the workpiece with the help of locating pins.
• Clamp arrangement clamps the workpiece by using clamp
cylinder and place it on fixture.
• Then locating pines match with the fixture locating pins and
workpiece is held properly on fixture.
• Remove the locating pins of pin cylinder.
• Seam welding procedure starts. During this end effector is not
in contact with workpiece.
• After welding process clamp arrangement grab the workpiece
and with carefully handling place the workpiece at storage
location.

10. Literature survey
Paper name Author name Description
“Method for supporting the
selection of robot grippers”
Gualtiero Fantoni, Saverio
Capiferri, Jacopo Tilli
The aim of the paper is to lay the basis for the
development of an expert system for the
selection of robot grippers
“Robot based system for the
automation of flow assembly
lines”
G. Reinhart, Jochen Werner, F.
Lange
In this paper a promising approach to the
automation of flow assembly lines is presented.
“Modeling of grasping force for a
soft robotic gripper with variable
stiffness”
Yin Haibin , Kong Cheng , Li
Junfeng , Yang Guilin
The purpose of this research is to present a
grasping force model for a soft robotic grip- per
with variable stiffness
“Design and Fabrication of
Robotic Gripper for Grasping in
Minimizing Contact Force”
Hamidreza Heidari1, Milad Jafary
Pouria, Shahriar Sharifi
This paper presents a new method to improve the
kinematics of robot gripper for grasping in
unstructured environments, such as space
operations.
“ Material and Cost Analysis of
Five Fingered Robot Gripper”
Dr.K.Rajagopal, V.A.Dheeraj Cost analysis is developing and analyzing cost
data from separate business and estimating
incremental and total resources indeed to support
current and future business strategies.

11. Objective
 Develop the end effector as per requirements.
 To enhance the overall productivity of chassis assembly line.
 Increase the panel handling accuracy.
 To reduce cost of final product and divert the employee effort towards
qualitative production.
 To avoid undesirable accidents which occur usually due to human
interruption there by focusing on employee safety and assured working
environment.
 As we are working on this project our main objective is to grab all practical
and theoretical knowledge about industry as well as automation system which
we are developing for the future concern point of view.

12. Methodology
 Workpiece analysis
 Process Analysis
 Design consideration
 Material selection
 General design practice
Define
problem
Literature Survey
specify
requirements
find options
for solution
choose best
solution
development
work
built a
prototype, test
and redesign
DESIGN
MATERIAL
Automation

13. Design

14. End effector design overlook

16. Design Consideration
 Design of the Clamp arm:
 Step 1- Assume constant pressure for cylinder 40,50,63 mm
 Step 2- Prepare free body diagram of clamp arm.
 step3 - Calculate force for each cylinder diameter.
 step4- verify the availability of force in table.
 Step 5 – Apply for lever calculation & Calculate distance from hinge point for
each.

17. assume d= 40 mm
⸫ f= P * A = 0.5* π/4 *40^2
= 628.3185 N
Apply lever calculation
M*x = y * f
50* 1.4617 * 152 = y * 628.3185
⸫ y = 17.68mm
⸫ y= 18 mm

18. A
B
C
D
Stroke Length Calculation-
Consider triangle ABC,
In which, AB=67.5& angle ABC=45deg
Therefore,
sin⁡45= AC/67.5
⸫ AC= 47.5mm
Also, AC=CD=47.5mm
⸫total stroke length AD is
AD=AC+CD
AD=95mm
⸫Standard selected stroke length is 100mm

19. The code generated for required design is: CKG1-
A40-100Y-4DWSC

20. selection of cylinder

21. Material Selection:
 Step 1: Identify the design requirements.
 Step 2: Identify the material selection criteria.
 Step 3 : Identify suitable options for required.
 Step 4 : Evaluate the candidate materials.
 Step 5 : Select Materials.
In our project clamp and rest mylar are the major component
from material point of view.

22. Material Selection
 Consider case of sudden load.
 σ=2*F/A
 Where F is applied force by cylinder on component through rest Mylar =630N
 A is contact cross section area = 16*16 mm^2
 σ =
2∗630
16∗16
σ =4.9218 N/mm^2
Now, assume FOS=4,
Syt =FOS*
= 4*4.9218
= 19.68 N/mm^2
Hence “impact stress in material is not a major factor.”

23. So from the study the material that we are
suggesting
1) EN 8
2) EN 24
3) D2
4) 20Mncr5

24. Control
Unit
Compressor/ Air
Tank
Interface
Feedback
Pneumatic
Actuation System
Handling Unit
Workpiece
Power
Supply Unit
End Effector
Automation
The conventional system

25. • Feedforward control is always used along with feedback
control system.
 track set point changes that are always present in any real
process.
• Feedback-based systems have the advantage of being
simple.
• The system measures a variable to make decisions.
• Feed forward systems, on the other hand, have the ability to
anticipate changes in the measured variable, working
proactively instead of reactively

26. General feed forward system
Feedforward system application
• Location Judgement/Alignment
• Applied Force adjustment

27. Effects on company earnings by implementing automation
 Wages to contractor will reduce. This factor is profitable to company.
 Electricity charges will increase by Rs. 40500. (approx.). This will reduce profit but in
marginable range.
 Assume previously 3 workers are assigned for the task, with installation for this project
only one worker as operator or observer is require. So cost will reduce to Rs. 1,52,344.
 Labor charges received will increased by Rs. 60,000 (approx.) as 2 out of 3 workers will
send to other company.
 Labor welfare charges will reduce to Rs. 17,797 as less hard work will require to complete
the task. So less motivation.
Cost estimation
Total cost of project is Rs.1,11,400/-

28. Future work
 In further development work, the analysis of end effector and ideal
development by trial and error method will be done.
 Automation needs further details to be carried in feed forward control
system. Logical program development for actual operation will done
in next development.
 As the concept of building industrial robotic end effector is very vast
and needs further research, so updating will be done time to time, but
whatever work we till completed on end effector is ready to install for
basic operation as per requirement.

29. Conclusion
 In this way we design the end effector.
 We also select the material for end effector.
 We design the procedure which is used to operate mechanism of end
effector.

30. Thank You