FINAL YEAR MAJOR PROJECT REPORT

ON

DESIGN AND FABRICATION OF MULTI FINGERED GRIPPER

(JAN 2011-MAY 2011) SUBMITTED FOR THE PARTIAL FULFILMENT OF THE AWARD OF THE DEGREE OF B.TECH (MECHANICAL & AUTOMATION ENGINEERING)

Prepared by: ANKUR CHAUHAN KANV GULATI K.V. SRIKANT ROHIT SINGH 058/BTechMAE/ASET/07 088/BTechMAE/ASET/07 042/BTechMAE/ASET/07 018/BTechMAE/ASET/07

UNDER THE SUPERVISION OF MR. RITESH KUMAR

AMITY SCHOOL OF ENGINEERING & TECHNOLOGY

BIJWASAN, NEW DELHI-110061 Affiliated to GURU GOBIND SINGH INDRAPRASTHA UNIVERSITY KASHMERE GATE, NEW DELHI-110006 DEPARTMENT OF MECHANICAL & AUTOMATION ENGINEERING

ACKNOWLEDGEMENT

Final year project is an indispensable part of any engineering curriculum. It provides the students with an opportunity to gain experience on the practical application of their technical knowledge. We express our gratitude to Prof. B.P.Singh, Senior Director, Amity school of Engineering & Technology, Dr. Rekha Aggarwal, Director, Amity school of Engineering & Technology, Professor Dr. Prem Prakash, HOD, Department of Mechanical and Automation Engineering and all the faculty members at Amity School of Engineering and Technology (ASET) who have helped us at every juncture of our project. We have no doubt that this project has helped us gain much practical knowledge and the experience has been unique. We would like to thank Mr. Ritesh Kumar, Lecturer, Department of Mechanical and Automation Engineering for giving us this opportunity to work under his guidance on this project. His technical help and goal oriented approach has been unique and a stepping stone towards the successful completion of our project. We would also like to thank Mr.Aditya K.Singh, Lab Superintendent, Mr. B.S. Mehta and Mr. Rakesh Dhariwal, lab. Attendant of the Mechanical Lab at ASET for guiding us and helping us on many occasions during the design and manufacturing of our project.

CERTIFICATE

This is to certify that the Final year Project entitled, Design & Fabrication of Multi -Fingered Gripper has been submitted to the Department of Mechanical & Automation Engineering of Amity School of Engineering & Technology, New Delhi, by Ankur Chauhan, Kanv Gulati, K.V. Srikant and Rohit Singh for partial fulfillment of the award of degree, Bachelor of Technology in Mechanical & Automation Engineering. The work is a record of genuine work carried out by them under our guidance and supervision and fulfills all requirements for the submission of the thesis, which has required standard. The matter embodied in this dissertation has not been submitted in part or full to any other university or institute for the award of any degree or diploma.

Mr. Ritesh Kumar

Project Guide Department of MAE

Prof. Prem Prakash

H.O.D Department of MAE

CONTENTS
TOPIC 1. INTRODUCTION 2. ABSTRACT 3. THEORY (a) GRIPPER TYPES (b) GRASP MECHANICS (c) MECHANISMS FOR GRIPPERS (d) GRIPPER DESIGN TYPES (e) FORCE AND TORQUE CONSIDERATIONS (f) MATERIAL AND COMPOSITION 4.GRIPPER DESIGN AND CALCULATIONS (a) TYPE OF GRIPPER USED (b) POWER TRANSMISSION (c) DESIGN OF GRIPPER LINKS (d) VELOCITY REDUCTION (e) DESIGN OF THREADED SHAFT 5. ADVANTAGES OF MULTI-FINGERED GRIPPER 6. DISADVANTAGES OF MULTI-FINGERED GRIPPER 7. REFERENCES PAGE NO. 1 3 4 6 7 8 12 14 15 17 18 21 23 27 28 29

INTRODUCTION

Gripper is a device that grasps, retains and eventually releases work piece. It can hold, tighten, handle and release an object just like a human hand. It can be attached to a robot or be part of a fixed automation system because this component handles the work piece. The increasing demand for robotic applications in dynamic unstructured environments is motivating the need for dexterous end-effectors, which can cope with a wide variety of tasks and objects encountered in these environment. Dexterous robotic devices namely grippers and hands find many applications in this advancing world. Human hand has always been a fascination for scientists. The study of human hand has long been an area of interest for hand surgery, for designing prosthetic devices and for quantifying the extent of disability in individuals with congenital defects or injuries. The ideal endeffectors for such an artificial arm or a humanoid would be able to use the tools and objects that a person uses when working on the same environment.Human hand is a very complex grasping tool that can handle objects of different sizes and shapes. Many research activities have been carried out to develop artificial robot hands with capabilities similar to the human hand, which remains as a highly complex structure that in many ways defies understanding. Despite the fact that development of robotic end effectors has been an active area of research for the robotics research community for quite a long time, we are still far from developing a Robotic End effector that can mimic the human hand completely in all respects. In this project we develop a simple mechanism for grasping irregular object shapes by using a four fingered Robotic Gripper. To achieve this goal we intend to incorporate a simple linkage actuation mechanism. A DC motor is used to actuate the fingers of the gripper, using bevel gears and a threaded shaft arrangement.The gripper can perform the basic function of picking, holding and grasping of irregularly shaped objects.The gripper is simple in construction, minimum complexity and easy manufacturability.

The human hand design forms the basis of this project of developing a robotic gripper and is the source of inspiration on the lines of which we intend to achieve the sufficient level of dexterity in the domain of grasping and manipulation if coupled with wrist and arm.The focus of this project has been to achieve four-finger grasp of irregular shaped objects. The anthropomorphism itself is not considered to be necessary for the robotic gripper that would be able to grasp the objects of various sizes and shapes without requiring the change of gripper to do the same.There would, however, be a limitation on the weight of the object being grasped and lifted, as the friction material used at the gripper fingers may not be able to produce a sufficient amount of force to lift heavy objects used in an industrial environment. Also, the size variation will directly depend upon the length of the threaded portion of the shaft.

ABSTRACT
In robotics, end effector is a device at the end of a robotic arm, designed to interact with the environment.Gripper is an end effector or tool to grasp any physical thing that may be a human hand or any instrument.The type of gripper designed is impactive type which uses jaws or claws to physically grasp by direct impact upon the object. In this project a simple mechanism is developed for grasping irregular object shapes by using a four fingered robotic gripper.To achieve this goal we intend to incorporate a simple linkage actuation mechanism.A DC motor is used to actuate the fingers of the gripper, using bevel gears and a threaded shaft arrangement.The gripper can perform the basic function of picking, holding and grasping of irregularly shaped objects.The gripper is simple in construction, minimum complexity and easy manufacturability.The human hand design forms the basis of this project of developing a robotic gripper and is the source of inspiration to achieve the sufficient level of dexterity in the domain of grasping and manipulation if coupled with wrist and arm.The focus of this project is to achieve four-finger grasp of irregular shaped objects.

THEORY
Gripper is a device that grasps, retains and eventually releases a work piece. It can hold, tighten, handle and release an object just like a human hand. The type of gripper designed is impactive type which uses jaws or claws to physically grasp by direct impact upon the object. A multi-fingered robotic gripper has potentiality to achieve dexterous manipulation. It has the functions of: 1) Stably grasping an object of any shape adaptably and 2) Manipulating the grasped object from the initial pose to the desired pose. (a)Gripper Types There are three primary types of standard grippers: 1) Parallel 2) Angular 3) Concentric The types vary according to the motion of the gripper jaws in relation to the gripper body. With a parallel gripper, the gripper jaws move parallel to the gripper body.The jaws come together at the same point when closed, and have external and internal gripping applications. Parallel grippers can pick up numerous part sizes with one set of jaws. However, parts to the gripped must be located accurately at the same place each time.These grippers are typically more accurate than angular or concentric grippers and are the most commonly used grippers. When part location varies, an asynchronous parallel gripper is a better choice for the use. The jaws on this gripper move independent of each other, making it suitable for applications where parts shift position, such as on conveyor. These grippers do not shift parts to center, as do synchronous parallel grippers. Instead, the fingers conform to the part's diameter. Parts picked up off center would be released off center. Parallel grippers come into basic technologies-direct acting piston and piston wedge-and offer external and internal gripping actions. The jaws of an angular gripper open and close around a central pivot point. They move in a sweeping or arcing motion and have external gripping capabilities.

Angular grippers are often used when space is limited or when the jaws need to move out of the way. They are usually dedicated to picking up only one part type.Therefore, angular grippers are not normally used for positioning or placement of many different parts. As the most simple of the gripper designs, angular grippers are usually the least expensive.The angular grippers come in two basic technologies-single acting spring return and double acting spring assist, and offer external gripping actions.

Concentric grippers are best suited for round parts.This gripper has external and internal gripping actions, and the force remains constant throughout the stroke.It has a high grip force to size ratio and a higher moment capacity compared with other designs.A center bore can be added to increase the flexibility of the gripper.The basic technology for this type is pistonwedge and direct-acting piston.

Classification of gripper on the basis of number of jaws : Grippers can also be classified on the basis of the number of jaws that they can use to hold a work piece. The two-jaw gripper is the most popular style.The gripper-either angular or parallel-provides two mounting locations for the fingers to contact the part. The jaws move in a synchronous motion, opening and closing towards the central axis of the gripper body. The three-jaw gripper is a more specialized style.These include parallel and concentric grippers and provide three mounting locations for the fingers that contact the part.The jaws move in a synchronous motion, opening and closing towards the central axis of the gripper body.Three jaws provide more contact and accurate centering with the part than two-jaw grippers do.

(b)Grasp Mechanics Grasp Mechanics becomes increasingly important when a robot needs to perform human-like grasping operations or employ tools designed to be used by humans as well as robots. Two separate issues are involved with the creation of an effective robotic hand. These are: Firstly, the duplication of human dexterity in a compact and reliable package is extremely difficult. Second, while the job of grasping an object is usually accomplished with very little thought by most people, for a robot, grasping an object and maintaining that grasp requires a significant amount of knowledge about the local grasp environment and the current interface between the hand and the object.

(c)Mechanisms for grippers Among all the problems encountered in designing robots, the most crucial one concerns with the end- effector . Basic features for a gripper depend strongly of the grasping mechanism. Thus, factors can be considered before choosing a grasping mechanism as following: Characteristics of the gripper, which include maximum payload, dimensions, orientations, number of the composed links. Characteristics of the objects, which include weight, body rigidity, nature of material, geometry, dimensions, condition, position and orientation, contact surfaces, forces acting on the object and environmental conditions. Gripper technology, for the construction of components (mechanism links and finger parts) with proper manufacturing and materials. Flexibility of the gripper, whether it allows rapid replacement, or easy adjust and external modification, or adaptation to a family of objects that are contained within a range of specifications. Cost for design, production and application to robot operation and maintenance. In fact, those characteristics are fundamental from a practical viewpoint for the grasping purpose, since they may describe the range of exerting force on the object by the fingers, the size range of the objects which may be grasped and a particular manipulation type. Thus, a dimensional design of gripper mechanisms may have great influence on the maximum dimensions of the grasped object by a gripper, and on the grasping force, since the mechanism size may affect the grasp configuration and transmission characteristics. These peculiarities can be considered well known when it is taken into account the great variety of mechanisms which have been used.

(d) Gripper Design types 1) IMPACTIVE Uses jaws or claws, which physically grasp by direct impact upon the object. It is used for manipulating objects with hard surface and surfaces which offer a high friction value .

ADVANTAGES

Economical. Suitable for lifting heavy loads. Low maintenance.

DISADVANTAGES

Unsuitable for fragile objects.

May distort the surface.

2) INGRESSIVE Pins, needles or hackles are used, which physically penetrate the surface of the object (used in textile, carbon and glass fiber handling) to grasp the object.It is used for manipulating the object by physically penetrating (textile, carbon and glass fibre handling). ADVANTAGES Suitable for transporting raw material. Better grip. DISADVANTAGES Unsuitable for gripping finished products. Unsuitable for brittle materials.

3) ASTRICTIVE Suction forces are applied to the objects surface (whether by vacuum, magneto or electro-adhesion) to grasp the object.It is used for gripping smooth and plane surface(whether by vacuum, magneto or electro adhesion).

ADVANTAGES No Damage to the surface. Suitable for Fragile material. DISADVANTAGES Lifting capacity is limited. Not applicable for distorted figure.

4) CONTIGUTIVE Requires direct contact for adhesion to take place (such as glue, surface tension or freezing) in order to grasp the object.It lifts and transports the object using adhesive gripper (such as glue, surface tension or freezing).

ADVANTAGES

Suitable for grasping objects which do not fit other grippers.

DISADVANTAGES

 Restricted lifting capacity depending upon bond strength.

Uneconomical as the adhesives are quite costly.

(e)Force and Torque Considerations Much attention has been focused on the forces generated by the digits in grasping and lifting the objects. Most of the studies on grip forces have dealt with the pinch grasp in which only

two digits exert force on the objects.In such a grasp, the force can be decomposed into two components: The grip force, which is horizontal and The load force, which is vertical.

The criteria for a stable pinch grasp are simple: the sum of the load forces should equal the object's weight and the ratio of the grip force to the load force must exceed a specific value determined by the coefficient of friction between the object and the digits. In multi-fingered grasp, the directions of the contact forces as well as the distribution of the load across fingers are only loosely constrained.For equilibrium, the sum of the forces in the horizontal plane must be zero,and these horizontal forces must intersect at a common point (the force focus). Furthermore, friction constrains the direction of the force exerted by the each digit to lie within a cone.Thus,neither the direction nor the magnitude of the contact forces is specified uniquely by the task.Several studies have investigated the distribution of the grip force across fingers in multi-fingered grasps; the analysis of the contact forces was limited to the normal forces.Hence little is known about how the direction of contact force is controlled in a multifingered grasp.The style of the jaw plays a major role in determining the force required in a gripper application and the weight of the work piece that the gripper experiences from gravity.Acceleration also plays a role in determining the gripper force.Thus, both weights must be considered when determining the gripper force. While force is a major consideration, the torque that is experienced by the gripper is equally important.There are two sources of torque.The gripper can generate torque on itself, or it can be generated by the parts acceleration and weight.This means that long jaws are often required. Either the part is bulky, or it must be held at a distance to fit in a machine.In either of the cases, the longer the jaw, the greater the torque that gripper imposes on itself.The next task is to determine the torque that gripper would experience from the work piece. The total torque that the work piece will see is the addition of the jaw torque and the work piece torque.

To successfully handle long work pieces gripper must have superior bearing support to accommodate larger movements and cantilevers.Basically,the contact surface of each jaw is extended to stabilize the work piece in motion and balance the long jaws. Reduction of jaw weight is an important objective in gripper design, particularly for highspeed applications.One way to minimize jaw weight without sacrificing strength is by using a lightweight material, such as aluminium. Another option is to narrow the gripper jaws.This reduces weight and helps avoid interference each time the jaws open to release a part. For multiple work piece handling and applications that require specific grip forces,the jaws that adjust to a gripper's stroke provide the most flexibility.The jaw alignment is critical.If they do not meet accurately, the part position and gripper holding power are greatly compromised.To help ensure proper alignment, dowel holes and/or a surface to key on are a must.

(f)MATERIAL AND COMPOSITION

DESIGN AND CLACULATIONS

(a)TYPE OF GRIPPER DESIGN USED

IMPACTIVE Uses jaws or claws, which physically grasp by direct impact upon the object. It is used for manipulating objects with hard surface and surfaces which offer a high friction value.

ADVANTAGES

Economical. Suitable for lifting heavy loads. Low maintenance.

DISADVANTAGES Unsuitable for fragile objects. May distort the surface.

(b)POWER TRANSMISSION The motor used is an electric D.C. motor which is of 12 Volt and producing direct current of 35 A. Power transmitted is P = V.I = 35 x 12 = 420 W Power = 420 W

(c)DESIGN OF GRIPPER LINKS The object to be lifted is a cricket ball. Object diameter = 8 cm Object weight = 156 g The link1 has two parts, Part1 and Part2. The lengths are as follows:Part1 = 10 cm Part2 = 5 cm The link2 is having a length of 5 cm. Therefore, the ratio of the length of the two links is Link1 : Link2 :: 3 : 1 The link can move a distance of 15 cm. Therefore, the distance moved by both the links is 30 cm. The minimum distance between the links = 5 cm The maximum distance between the links = 35 cm Hence, the range of the links is 30 cm.

(d)VELOCITY REDUCTION Since = V1/r1 = V2/r2 r2 / r1 = 3(due to geometry) Assuming the velocity of approach of the gripper link as 6 mm/s (Velocity of link2) V1= V2/r2 x r1

Therefore, velocity of link1 = 8 mm/s (Because of link ratio as 3:1) Now taking standard ISO Metric thread M16X2

Where, the diameter of shaft is 16 mm, then the pitch of shaft (threaded) is 2mm. Therefore, Ns Pitch = Velocity of link1 Ns = rotations per second (r.p.s) Pitch in mm Velocity in mm/s Therefore, Ns 2 =8

Ns = 4 r.p.s = 240 r.p.m. Speed of motor is 900 rpm. Velocity reduction = 900 240= 3.75 Thus we use spur gear of module, m = 1 Number of teeth on pinion, TP = 18 Therefore number of teeth on gear, TG = 68 Diameter of Pinion , DP = TP m = 18 1 Thus we use spur gear of module DP = 18 mm Therefore, the diameter of gear is Dg = 68 1 = 68 mm Therefore, the torque is T = P/ = (420 60)/ (2 240) Therefore, torque = 16.75 N-m =1

(e)DESIGN OF THREADED SHAFT

Pitch = 2 mm Diameter = 16 mm The length of the threaded portion is 50 mm. Torque at each threaded shaft = (Torque at secondary shaft)/4 Torque at single threaded shaft = 4.1875 N-m According to principle of power screw : Torque = { (W.dm) (f..dm + L.cosn) }/ {2 ( .dm.cosn f.L) } W = Maximum force at the nut F = Coefficient of friction between shaft and nut. L = lead = Pitch = 2 mm n= Angle of helix =14.5 dm =Nominal diameter of thread W = {2 4.1875 ( 0.016 cos14.5 0.16 0.002)} / {0.016(0.16 0.016 + 0.002 cos14.5} W = 2.53 kN

(f)DESIGN OF SPRING

Spring is the member between link1 and link2 which is transmitting force between them. The angle between the casing and link1 is fixed to be 600 and the angle between link1 and link 2 is 900 at Free State of spring (at no load). The force available at the nut W = 2.53 kN Taking moment about the hinge O

P x 25 cos(30) = W x 50cos(60) P =2.92 KN

From the link configuration analysis compressed length or solid length is calculated as Ls = 8 mm And the free length of spring is Lf = 18 mm Now deflection in the spring = (8.P.C3.N) / (d.G) Where, P = Force on the spring C = Spring index = D/d N = Number of active coils G = Modulus of rigidity Assuming C = 4,

Material is mild steel, G = 75 GPa = Lf Ls = 10 mm Another empirical relation in spring is as follows: Assuming N=5, LS = (N+1) x d We obtain, d = 10 mm corresponding standard wire gauge no. lies between 3/0 and 4/0.

ADVANTAGES OF MULTI-FINGERED GRIPPER

1.)

Improved handling ability.

2.)

Better grip and load bearing capacity.

3.)

Grip asymmetric objects and objects with complex contours.

4.)

Provides more degree of freedom.

DISADVANTAGES OF MULTI-FINGERED GRIPPER

1.) Grippers with higher degree of freedom are difficult to conceptualize.

2.) The controlling becomes more complex with increase in no. of fingers.

3.) Multi fingered fingers are costly.

4.) Maintenance is an issue as well.

REFERENCES
Coe, S. and Waldron, K.J., Mechanical Design of the DIGITS System, 1st National Applied Mechanisms and Robotics Conference, paper no. 89AMR-8C-5, Nov. 1989. Jacobsen, S. C., Iverson, E. K., Knutti, D. F., Johnson, R. T., Biggers K. B., Design of the Utah/M.I.T. Dextrous Hand, IEEE Transactions of Robotics and Automation, April 1986. Mason. M.P, Salisbury, J.K., Robot Hands and the Mechanics of Manipulation. MIT Press, Cambridge, Massachusetts, 1985. Suhaib Md., Mukherjee S., Khan R.A., Dexterous Rotation of Cube By Multifingered robotic hand, Proc. National Conference on TIME-2003,KITS Warangal, India, Aug 2003. Juvinall Robert C.,Marshek Kurt M.,Fundamentals of machine component design,Wiley student edition,2007. Monkman Gareth J., Hesse Stefan,Steinmann Ralf, Schunk Henrik,Robot grippers, Wiley-VCH Verlag GmbH and Co. KGaA,2007.