DESIGN OF ROBOTICS GRIPPER USING CAD SOFTWARE AND MANUFACTURING FOR TAL BRABO ROBOT

Abstract

In this paper the design of appropriate mechanical robotic gripper prototype is designed through the use of computer aided design software and checked its assembly in the same software for TAL BRAVO robot at an educational institute. The individual parts of the gripper is modeled in CAD software environment first and then assembled in software. The assembly then analyzed for any interference between two mating parts. The designed components are manufactured in conventional method one by one. All the components then assembled to form robotic gripper and joined with the help of screws and nuts. Some of the joined pair is revolute in nature to permit the rotary motion between mating parts. The gripper is activated by using servo motor which is attached with the mechanism of gear arrangements to give the gripping motion to the finger of gripper.

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DESIGN OF ROBOTICS GRIPPER USING CAD SOFTWARE AND
MANUFACTURING FOR TAL BRABO ROBOT
DINESH1 B. DESHMUKH2 & PRAVEEN KUMAR BHOJANE3
1Ph.D scholar, NIT, Raipur, Chhatisgarh, India
2Faculty, School of Engineering and Research, ITM University, Raipur, Chhatisgarh, India
3Faculty, School of Engineering and Research, ITM University, Raipur -, Chhatisgarh, India
ABSTRACT
In this paper the design of appropriate mechanical robotic gripper prototype is designed through the use of computer
aided design software and checked its assembly in the same software for TAL BRAVO robot at an educational institute.
The individual parts of the gripper is modeled in CAD software environment first and then assembled in software. The
assembly then analyzed for any interference between two mating parts. The designed components are manufactured in
conventional method one by one. All the components then assembled to form robotic gripper and joined with the help of
screws and nuts. Some of the joined pair is revolute in nature to permit the rotary motion between mating parts. The
gripper is activated by using servo motor which is attached with the mechanism of gear arrangements to give the gripping
motion to the finger of gripper.
KEYWORDS: Robotic gripper, Computer aided design, CAD, Mechanical gripper & Manipulator
1. INTRODUCTION
In today's century robotics is common name mainly robots are used for automation purposes. The robot performs
the work related to the application in which they are employed. The gripper is the main part of the robot as it
performs the task given to the robot. The gripper is attached to the end effectors of the robotic arm.
There are different types of robotic arm which are as follows;
 Linear robots (Cartesian and gantry robots)
 Cylindrical robots
 Spherical robots
 Delta (parallel robots)
 Articulated robots
 SCARA robots
 Others.
Again the gripper i.e. end effectors of robot is / are gripper or manipulator or tool. The grippers are of
different types as follows;
 Parallel motion two jaw gripper
Original Article
International Journal of Mechanical and Production
Engineering Research and Development (IJMPERD)
ISSN(P): 2249–6890; ISSN(E): 2249–8001
Vol. 10, Special Issue, Aug 2020, 100–105
© TJPRC Pvt. Ltd.

101 Dinesh B. Deshmukh & Praveen Kumar Bhojane
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 Three jaw gripper
 Bellows gripper
 Collet and Expanding gripper
 Multi finger and adaptive gripper
 Vacuum cup, electromagnets / electrostatic for gripper
 Other
In this paper the main focus on designing an appropriate gripper suitable for the purpose targeted to understand the
motion of robotic arm and its application in technical education.
3. RELATED WORK
In this paper the study is focused on designing and manufacturing of two parallel fork jaw gripper whereas the other authors
have focus on two + one jaws combination used for holding the uneven 3D objects[1].
The position of gripper orientation depends on the position of part to be pick and place and designed planning for
two fingered gripper based on polyhedra[2].
The design of different gripper model and the fixture for automation is fabricated for mechanical assembly[3] .
The gripper design for irregular parts holding which may be of trapezoidal module is designed in CAD software of
different configuration is prepared[4].
4. DESIGN OF GRIPPER IN CAD
The design of the gripper is as per our requirement that is the dimension of the part to be moved from one place to another
by using robotic arm. Primary hand sketch of the robotic gripper is prepared and its dimensions are finalized appropriately.
Then it is decided to design the part in CAD software so that the gripper parts will be manufactured with accuracy so that it
will perform the required operation properly. PTC CREO software is used for designing purpose.
4.1. Design of Parts (Modeling)
The gripper has number of parts, each part of gripper are designed in CAD software one by one as the sequence given below:
 Base for mounting motor: According to the requirement it is decided to use the servo motor (tower pro) and
basement of motor is designed in CAD software as per the dimensions from motor and its mountings.
 Gear link number 1
 Gear link number 2
 For the relative motion between links the simple gearing arrangement is used. One gear link used with motor shaft
attached from servo motor and other gear link is used to have relative motion.
 Link fork number 1
 Link fork number 2
These are the links to connect gear links with the gripper fork and transmit the motion provided by the servo motor.

Design of Robotics Gripper using Cad Software and Manufacturing for Tal Brabo Robot 102
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Figure 1: Showing the Basement for Servo Motor.
i. Gripper fork 1
ii. Gripper fork 2
The design of the gripper fork is as per the object to be picked. We have assumed the object will be of rectangular
or flat in shaper.
iii. Bolts and nuts
To join the different links with each other number of bolts and nuts are used.
iv. Parts of motor separately
Figure 2: Showing the Parts or Links used in Gripper Designed (CAD Modeled Parts)
4.2. Assebling the Parts
All the parts design in CAD software are called ine in assembly environment of CAD software for assembling of the parts.

103 Dinesh B. Deshmukh & Praveen Kumar Bhojane
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First of all the base off the motor is called in assembly environment then it is given the constraint off fix so that it
should not move in space or another word it should provide frame or support for motion of other links relative it.
Figure 3: Parts in Exploded view of Assembly
All the parts designed in CAD software and brought in assembly environment given constraint as per the
requirement through the commands available in PTC CREO software.
4.3. Interference Checking
By the command of constraints in PTC creo software the moment of the links with respect to each other is checked by moving
it.
Table 1: List of parts in assembly with its Quantity
5. MANUFACTURING OF GRIPPER PROTOTYPE
The parts of the gripper is manufactured with the help of conventional machining and the material used for the prototype
was plastic like material. The dimensions all the parts are taken from CAD model parts and assembly.

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Figure 4: Showing Manufactured Links
Figure 5: Showing Manufactured Links
6. ASSEMBLING THE MANUFACTURED PARTS
Once all the parts of the gripper are manufactured, the parts are assembled and joint through nuts and bolts of required size
as per the model of the gripper.
1. Assembling Parts
First of all the base off the motor is prepared. The other parts of the gripper are attached to the frame or base by means of
nuts and bolts.
2. Assembling Motor and the Mechanism
For the power function of the gripper, Tower Pro Servo Motor is fixed on the frame or the base and the gear will take the
motion as per the Servo Motor. The Servo Motor has given the input of 90° to turn the link of the gripper.
7. RESULTS AND DISCUSSIONS
The model of the mechanical gripper is as per the figure shown below.
The gripper operates to open and close by giving the signals to the Servo Motor. The Servo Motor turns 90 degrees
and the links of the gripper makes an operation of opening and closing of the gripper fork.

105 Dinesh B. Deshmukh & Praveen Kumar Bhojane
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Figure 6: Showing the Mechanical Gripper Model.
REFERENCES
Articles in journals
1. Balan, Lucian, and Gary M. Bone (2003): Automated Gripper Jaw Design and Grasp Planning for Sets of 3D Objects. Journal
of Robotic Systems, vol. 20, no. 3, pp. 147–162., doi:10.1002/rob.10076.
2. J.L. Jones and T. Lozano-Pe´rez (1990): Planning two-fingered grasps for pick-and-place operations on polyhedra, Proc IEEE
Int Conf Robotics Automat, Cincinnati, OH, pp. 683–688.
3. V.B. Velasco, Jr. and W.S. Newman (1998): Computer-assisted gripper and fixture customization using rapid prototyping
technology, Proc IEEE Int Conf Robotics Automat, Leuven, Belgium, pp. 3658–3664.
4. T. Zhang and K. Goldberg (2001): Design of robot gripper jaws based on trapezoidal modules, Proc IEEE Int Conf Robotics
Automat, Seoul, Korea, pp. 1065– 1070.
5. Assembly Automation (2003): Robotic Gripper. vol. 23, no. 1, doi:10.1108/aa.2003.03323aad.008.
6. Sdahl, Michael, and Bernd Kuhlenkoette (2005)r: CAGD – Computer Aided Gripper Design for a Flexible Gripping System.
International Journal of Advanced Robotic Systems, vol. 2, no. 2, p. 15., doi:10.5772/5795.
7. James, R Panyard (1997): Robotic Gripper, Computer Integrated Manufacturing Systems, vol. 10, no. 2, p. 173.,
doi:10.1016/s0951-5240(97)84329-7.