This Slide was created and used as a material by me during I was giving a Three Days workshop with IEEE SVU Student Branch about gripper robot design. It covers the following terms: - Spur Gear equations - Gear trains Calculations - Gripper parts design on SolidWorks - Gripper parts assembly on SolidWorks - Gripper motion study on SolidWorks - Servo holding torque calculations - Generate DXF files for the laser cutter and STL files for the 3D printer

1. GRIPPER DESIGN WORKSHOP
USIND SOLIDWORKS

2. References
 Machines and mechanisms applied – David H.Myszka
(Textbook)
 Mechanical design of a Robot’s Gripper - Álvaro Meneses
Martínez (Final Project paper – Warsaw University of
Technology)

3. CONTENT - Introduction to mechanisms
- Kinematic Diagram
- Degree Of Freedom (DOF)
- Gripper mechanism types
- Gripper Kinematic diagram training
First DAY

4. CONTENT - Spur Gear equations
- Gear trains Calculations
- Gripper parts design on SolidWorks
Second DAY

5. CONTENT - Gripper parts assembly on SolidWorks
- Gripper motion study on SolidWorks
- Servo holding torque calculations
- Generate DXF files for laser cutter and STL files for
3D printer
Third DAY

6. - SPUR GEAR EQUATIONS

7. Terms used in Gears

9. Law of Gearing

10. Forms of Teeth
Cycloidal Teeth
Involute Teeth

11. Systems of Gear Teeth
14 1/2° composite involute system
20° full depth involute system
20° stub involute depth
14 1/2° full involute system

12. Standard Proportions of Gear Systems

13. Minimum Number of Teeth on the
Pinion in Order to Avoid Interference

14. Time For SolidWorks