Design and finite element analysis of material handling manipulator
Wang, Yiran (2026)
Kandidaatintyö
2026
School of Energy Systems, Konetekniikka
Kaikki oikeudet pidätetään.
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi-fe2026050337138
https://urn.fi/URN:NBN:fi-fe2026050337138
Tiivistelmä
This thesis proposes a three-degree-of-freedom manipulator with a soft gripper as the end-effector. The aim of this design is to provide an automated solution for lightweight food pick-and-place tasks. This system has a simple, reliable structure with sufficient flexibility. The introduction of a soft gripper enables the system to adaptively grasp and place fragile, irregularly shaped food objects.
The feasibility of the proposed manipulator system is evaluated through 3D modelling, motion simulation, and finite element analysis. The performance of this manipulator is analysed and assessed in terms of motion capability, structural design, and material selection based on the obtained results. As a result, the proposed design can accomplish the intended tasks under the specified operating conditions without structural failure. The manipulator is capable of carrying a design payload of 1 kg, and the soft gripper achieves the expected bending deformation. Although the wrist joint of the three-degree-of-freedom manipulator has limited flexibility, the adaptability of the soft gripper can compensate for this limitation effectively. This study is able to provide a reference for the design of robotic manipulators in food automation handling applications.
The feasibility of the proposed manipulator system is evaluated through 3D modelling, motion simulation, and finite element analysis. The performance of this manipulator is analysed and assessed in terms of motion capability, structural design, and material selection based on the obtained results. As a result, the proposed design can accomplish the intended tasks under the specified operating conditions without structural failure. The manipulator is capable of carrying a design payload of 1 kg, and the soft gripper achieves the expected bending deformation. Although the wrist joint of the three-degree-of-freedom manipulator has limited flexibility, the adaptability of the soft gripper can compensate for this limitation effectively. This study is able to provide a reference for the design of robotic manipulators in food automation handling applications.