RAPID MANUFACTURING AND TECHNOLOGY

MEE 2016
Project Report

Angular Gripper

SCHOOL OF MECHANICAL ENGINEERING

Faculty:- Prof Fathima Patham K

Slot:- G2
Course code:- MEE2016

Submitted By:-

Siddharth (17BME0013)
Aman Raj (16BME0490)
Ayush Anand(16BME0191)
Abhisekh Narayan(17bme0094)
 CERTIFICATE
This is to certify that the project work entitled “Angular Gripper” that is being submitted by
“Siddharth” for rapid manufacturing is a record of bonafied work done under my
supervision. The contents of the project work, infull or inparts, have neither been taken
from any other sources nor have been submitted for any other CAL course.

Place:Vellore

Date: 02/ 04/ 2019

Signature of Students:

Siddharth
Aman Raj
Ayush Anand
Abhisekh Narayan

Signature of Faculty: Prof.Fathima Patham K

 ACKNOWLEDGEMENT
I would like to express our gratitude to our project guide Fathima Patham K. This
project has definitely thrown light into this field and opened a new horizon for us.
The project could further inspire juniors and all other students to step up the model
to another level. The project was also successful in enriching our practical
knowledge which is a very much lacking quality amongst present day students. We
are making this project not only for marks but to also increase our knowledge.

THANKS AGAIN TO ALL WHO HELPED US.

Student-

Siddharth
Aman Raj
Ayush Anand
Abhisekh Narayan
 ABSTRACT
The project of Design and Analysis of Angular Gripper of payload is divided into two parts.
The first part of the project is about the project proposal and the second part is about
project implementation. This report fully describes the combination of both parts. The first
chapter describes about scopes and objectives of the project. The main objective of the
project is to design and analyse Angular Gripper for Payload. Meanwhile, the second
chapter discusses on the designing and analysis of grippers. The next chapter describes
the steps or procedures that are used to complete this project. In this project, design and
analysis will rely on heavy on design software, namely SolidWorks for analysis, simulation
and animation of the gripper design. The following chapter discusses the results and
discussion about the grip design, and the working architecture of the gripper. Finally, the
overall project and its achievements are concluded.

INTRODUCTION
A gripper is a motion device that mimics the movements of people, in the case of the
gripper, it is the fingers. A gripper is a device that holds an object so it can be manipulated.
It has the ability to hold and release an object while some action is being performed. The
fingers are not part of the gripper, they are specialized custom tooling used to grip the object
and are referred to as "jaws." Two main types of action are performed by grippers:

External: This is the most popular method of holding objects, it is the most
simplistic and it requires the shortest stroke length. When the gripper jaws
close, the closing force of the gripper holds that object.

Internal: In some applications, the object geometry or the need to access the
exterior of the object will require that the object is held from the center. In this
case the opening force of the gripper will be holding the object.
A wide variety of PHD pneumatic grippers are available for internal and external gripping uses
and have various jaw styles to adapt to any application. They range from high-precision
miniature sizes to heavy-duty models capable of more than 1600 pounds of grip force. PHD
offers angular grippers that open at an angle and parallel grippers that open directly
apart. Pneumatic and electric grippers with a wide assortment of options and accessories.
The wide variety of options provides flexibility to utilize the best end effector for pick and
place, industrial assembly, and end of arm tooling for robotic automation systems.

Grippers are designed for use in industrial applications such as robotics, pick-n-place,
automated assembly, and manipulator/tooling. All units feature a self-contained, double-acting
actuator. Grippers can be mounted to any manufacturer’s robot, manipulator or actuator by way
of an adapter flange. Low unit weight, high output and compact size are features of all models.
Special materials, tooling, and adapter flanges are available upon request.

Seal options, jaw options, sensor options, etc., can be easily added at
assembly for prompt delivery of all variations.

Angular motion grippers represent the lowest cost design. The air cylinder is an
integral component of the overall gripper length. The piston actuator pushes the
cam, or yoke, forward, rocking/pivoting the jaws open. The pull stroke closes the
jaws. A four-way valve circuit is required for control.
 WORKING
Compressed air is supplied to the cylinder of the gripper body forcing the piston up and
down, which through a mechanical linkage, forces the gripper jaws open and closed.
The most widely used gripper is the pneumatically powered gripper; it is basically a
cylinder that operates on compressed air. When the air is supplied, the gripper jaws
will close on an object and firmly hold the object while some operation is performed,
and when the air direction is changed, the gripper will release the object. Typical uses
are to change orientation or to move an object as in a pick-n-place operation.
There are 3 primary motions of the gripper jaws; parallel, angular and toggle. These
operating principals refer to the motion of the gripper jaws in relation to the gripper body.
Engineering Data
 WORK PLAN
1. Design using solidworks and Fusion360
Solidworks is an assembly-driven software. That means it builds parts individually
before assembling them in a separate file. This is advantageous when parts are
used in many assemblies as well as for documentation purposes.
Fusion 360’s solution is to use a multi-component part system, where components of an
assembly are built and assembled in the same file. This makes it easier for engineers and
designers to reference other components and build off of them within an assembly.

Make virtual 3D objects.

2. Simulation using Ansys

Ansys software is used to design products and semiconductors, as well as to create
simulations that test a product's durability like how much force it can handle at a particular
point, temperature distribution, fluid movements, and electromagnetic properties.

3. 3D printing
3Dprinting is any of various processes in which material is joined or solidified
under computercontrol to create a threedimensional object,with material
being added together (such as liquid molecules or powder grains being fused
together), typically layer by layer.

4. Coding and functioning of Servo motor

Command is given for various purposes such as to rotate the servo motor at
specified angle and to move the angle by 180o back and forth.

CODE FOR SERVO MOTOR

Part view of the gripper

Different view of gripper

 APPLICATIONS

The economical alternative to parallel grippers.

If workpiece sizes vary, angular grippers may be the more economic alternative to parallel
grippers, depending on the respective application. SCHUNK offers a large selection of
small components and also universal angular grippers. For each field of application, even
in difficult ambient conditions, you will find a suitable standard gripper.

Rotational adjustment for reorientation of workpieces

Universal 180°-Angle Gripper with excellent cost/performance
ratio. universal application in clean and slightly dirty environment.
Reduce the human effort.

Angle gripper has great implementation in our daily life .It gives us enough
help to reduce our effort and also saves time .The efficiency of the gripper
is such that it can perform actions in various angles from 0°-180°
 CONCLUSION
We can see gripper is an important and integral part of the various robotics industries,
in the present Indian industries primitive grippers are used so we need various grippers for various angle
and for various purposes, so In order to change the situation and reduce the cost and efficiency, we
introduced angle gripper which can replace primitive grippers which can work only at certain angle as it is
very versatile and can be used at very large angle. So instead of two or more grippers we can use only one.
Thus it reduces cost and provides us efficiency. We can also add servo motor to it to work automatic and
can also use it manually. So it can be revolutionary for the industry sector.

REFERENCES
https://schunk.com/
https://in.omega.com/prodinfo/grippers.html
https://www.automation.com/library/articles-white-papers/robotics/gripper-
http://www.fabco-air.com/products/grippers/angular.html
https://www.phdinc.com/products/category/?product=grippers