| Title |
Design and development of robotic gripper with microelectromechanical system / |
| Translation of Title |
Roboto griebtuvo su mikroelektromechanine sistema kūrimas ir tyrimas. |
| Authors |
Jayaraman Kanthimathi, Hemchander |
| Full Text |
|
| Pages |
61 |
| Keywords [eng] |
robotic gripper ; modelling ; MEMS ; control ; simulation |
| Abstract [eng] |
This thesis is a continuation of design automation studies focusing on impact research of Robotic gripper and the smart material MEMS technology in it. A research was carried on several types of gripper and its mechanism the main objective to implement the Capacitive Pressure Sensor(MEMS) to demonstrate the performance of grippers end effector when holding or picking the objects from the assembly process by applying the pressure required according to the object or the material performance in multi-disciplinary design environment. The context of this thesis is to design and development of two jaw parallel gripper to a smart gripper technology and the several studies, i.e. static, pressure, force etc. are carried concurrently to assemblage the knowledge between the end effectors relations. The thesis contributes to the goal of fully integrated robotics gripper to support in assembly process and manufacturing unit. Complete case study models on types of electromechanical pressure sensors were made and designed few pressure sensors using the COMSOl physics. All models were executing through the system to extract their geometric entities, domains and boundary conditions. After the study and design of sensor all the data was been simulated to find the diverse types of results. All obtained data was integrated with multi-disciplinary study results and various study response was generated. The problem encountered during the thesis execution involved the designing of mechanical gripper according to the standard size and the selection of material for the end effector the hold the weight of the object and the analysis of static like stress, strain and displacement was been considered for the pressure and relating product design to its manufacturing aspects. The work as led to more improvements like implementing part detection sensors, MEMS capacitive pressure sensor and the precision of pressure required to grasp an object according to the material. The presented system is just a simulation part of promising results to support the design of two jaw gripper with smart technology considering its performance and vitality. |
| Dissertation Institution |
Kauno technologijos universitetas. |
| Type |
Master thesis |
| Language |
English |
| Publication date |
2017 |
