1. Team Members~
Adarsh Raj
Balaji B
Kudum Sunil Kumar
Tadimalla Karteek
Manjunath H S
Nitish Israpu
Design a gripper for a COBOT arm that will do the gripping part
TERMINAL BOX ASSEMBLY AUTOMATION
2. CONTENTS
01
Introduction
Introduction to the basics of
COBOT arm, and its gripper
Procedural/Sequential steps
of the gripping mechanism
02
Flow Chart
03
S i m u l a t i o n
Simulation Video of the 3D
modelled gripper
Advantages and Applications
of the gripper in the real life
04
Applications
4. Add title text
COBOT
DEFINITION
Cobots, or collaborative robots, are robots
intended to interact with humans in a shared
space or to work safely in close proximity.
Gripper
Definition
grippers are devices that enable robots to
pick up and hold objects. When combined
with a collaborative robot (or 'cobot') arm,
grippers enable manufacturers to automate
key processes,
INTRODUCTION
5. A collaborative robot is a robot that works with with humans in
some way – either as an assistant in a task or process, or as a guide.
7. Add title text Pneumatic Gripper - How They Work
A pneumatic gripper is a pick-and-place device that uses compressed air to operate gripper jaws,
also called fingers. These fingers, similar to human fingers, help in grasping, holding and releasing
the work pieces. Commonly, they have 2 fingers (parallel or angular) or 3 fingers with a single or
double acting cylinder for control. They are mostly used in automated manufacturing processes to
grip a work piece. The work pieces can range from small objects like circuit boards or chips to large
objects like an engine block.
Pneumatic gripper working principle
The gripper is connected to the compressed air supply system. As the compressed air is introduced into the
cylinder, it powers the piston rod. The piston rod is connected to the gripping fingers. As the air pressure
moves the piston up and down, the fingers open or close in a parallel or angular manner. This mechanism can
be used in pick-and-place operation or to change the orientation of the object.
Figure 2 shows the operating principle for a pneumatic 2 finger angular gripper. This is a double cylinder
design. Therefore, when compressed air is connected to the back cylinder (Figure 2 Top) it pushes the piston
forward, which opens the pneumatic gripper’s fingers. When compressed air is connected to the front cylinder
(Figure 2 Bottom) it pushes the piston backward, which closes the pneumatic gripper’s fingers.
The pneumatic grippers can be categorized based on motion of gripping fingers, gripping mechanism and
configurations.
8. Add title text Pneumatic Gripper - elaboration
To further elaborate on this concept, imagine that the gripper is two pneumatic actuators placed in opposite directions. Referring
to the figure below. When the robot program asks the gripper to close against the part, first the valve (colored in green) is
moving right to let the air pressure enter into the left portion of the pneumatic actuator (colored in pink). As the pressure builds
up in this section, the piston moves in the ''x'' direction. The piston will then apply a force according to the pressure on the piston
(Force = Pressure * Surface). To keep a constant force on the part, the valve can be closed or remains open and must keep a
constant air pressure on the piston.
When the program requests the release of the part, the valve then moves left and the air pressure goes into the right section of
the cylinder (colored in blue), at the same time the air in the left section is released. This operation brings the piston back to its
initial position. This way, the part is also released.
As both actuators are attached to each individual finger in direct opposition to each other, the piston controlling the fingers will
close against each other in perfect synchronization. This example is a simple representation of how it works, however, a lot of
different design exist.
9. Add title text Gripping force
Gripping force is the force exerted by the gripper fingers on the workpiece. This force can differ depending upon the air pressure,
coefficient of friction and gripping conditions between fingers and the work piece. The gripping force for just frictional holding
when the work piece does not drop when gripped is calculated as:
Where:
•F = Gripping force of a single finger (N)
•m= Mass of the workpiece (kg)
•g = Gravitational acceleration (9.81 m/s²)
•a = Acceleration from dynamic movement (m/s2)
•n = Number of fingers (n=2 for two-finger gripper; n=3 for three finger gripper)
•μ = Coefficient of friction
•S = Safety factor
11. Add title text
Detect Pick Fix Tighten
Detect for empty screw
slot
Open Gripper and pick
the screw
Fix the screw at empty
screw slot
Tighten the screw with internal
screw driver
16. Add title text
•Robotics
•Medical device manufacturing
•Pharmaceutical and biotech industry
•Plastic molding and injection
•Laboratory processing
•Automation
Applications
The pneumatic grippers are commonly used in following industries:
1 2
3
17. Add title text
Thousands of
Repetition per hour
Cost effective
Adjustable gripping force
Light weight
Pneumatic gripper advantages
Time = Money
