Robotic Gripper
Fall 2018
Task: Build a gripper capable of securing and holding on to an object
Challenges: Dynamic testing, manufacturing, high speed, low torque motor
Accomplishments:
- Developed key relationships between electrical power and gripper force
- Constructed and implemented new design in 1 week
- Gripper completed the assigned task
Lessons Learned:
- Simplicity in design allows for deeper analysis
- Doesn't matter how you start. Just analyze, improve, and repeat
Initial Design
Design & Analysis
Key Features:
- 3-D printed claws designed for a secure grip
- 6 gear system to increase torque ratio
- Attachable bearing blocks for stability
- 4-bar linkage to maximize the contact surface with the object
- Dycem material for a high coefficient of friction
Design Issues:
- ALS (3-D printing material) experienced numerous stress failures
- Not enough contact force to stop slippage during testing
- Tolerances on gear shaft weren't tight enough
Final Design
Key Features:
- 2 Stationary arms to reduce the number of moving parts
- Higher gear ratio to maximize torque
- 5/8" acrylic material to handle bending stresses