Design and simulation of a novel robot gripper
Myller, Jesse (2022)
Diplomityö
2022
School of Energy Systems, Konetekniikka
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Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi-fe2022122173022
https://urn.fi/URN:NBN:fi-fe2022122173022
Tiivistelmä
In this paper, a general overview on robotic grippers is made with the help of literary review. Both rigid industrial grippers and newer soft robotic grippers are researched and then compared with one another. And as soft grippers tend to have higher variety options in their designs, there is deeper reviews done into the most common types.
On the second part of the paper, a novel gripper design is realized. The design principle of the gripper is explained through 3D-models and kinematics analysis. Later, the dynamics of the system are calculated in the program Matlab. This design is then confirmed through calculations in Matlab and simulations using Simulink.
Finally, at the end of the paper, a prototype gripper based on the design was created. This gripper was then tested to see if the proposed design would work in real situations. The tests were done in the university laboratories.
On the second part of the paper, a novel gripper design is realized. The design principle of the gripper is explained through 3D-models and kinematics analysis. Later, the dynamics of the system are calculated in the program Matlab. This design is then confirmed through calculations in Matlab and simulations using Simulink.
Finally, at the end of the paper, a prototype gripper based on the design was created. This gripper was then tested to see if the proposed design would work in real situations. The tests were done in the university laboratories.