DESIGN AND DEVELOPMENT OF A MULTI-GRIPPER FOR USE IN AN AUTOMATED ROBOTIC ASSEMBLY SYSTEM
Keywords:
KeywordsAbstract
The paper describes the design and development ofa dedicated multifunction
gripper for use in a robotic assembly system. It is based on
the current automated assembly system operating in an actual
manufacturing environment involving the assembly of parts to be
incorporated in automated teller machines (ATM). The gripper that is
fixed to the wrist of the robot arm is used to handle a set offerrous
shafts and rubber rolls to be assembled via suitable assembly
mechanisms. A comprehensive description of the gripper design
process is given from the conceptual stage to the realization of the
prototype including testing and evaluation.
References
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Heilala, 1. and Ropponen, T., "Mechatronic Design Concept for Intelligent Robot Grippers", Procs. IMechE Int'I Conf. on Mechatronics: Designing Intelligent Machines, Mechanical Engineering Publications Ltd., UK, 1990.
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