Designing a universal gripping solution for handling part variations in a robot application
Azim, Mohammed Salman (2019)
2019
Automaatiotekniikka
Tekniikan ja luonnontieteiden tiedekunta - Faculty of Engineering and Natural Sciences
This publication is copyrighted. You may download, display and print it for Your own personal use. Commercial use is prohibited.
Hyväksymispäivämäärä
2019-05-08
Julkaisun pysyvä osoite on
http://urn.fi/URN:NBN:fi:tty-201905101575
http://urn.fi/URN:NBN:fi:tty-201905101575
Tiivistelmä
In recent years, the affordability of robots and the progress in collaborative robotics has been of great benefit to the manufacturing industries. Robots can do the repetitive, monotonous and eco-unfriendly tasks with human collaboration and can increase the efficiency and accuracy of the production in a great manner. This thesis discusses designing of a universal gripping solution for part variations. It also discusses various aspects of building a robot work cell for soldering of SMPS transformer coils.
The reader will gain insight on how to handle different sized and different shaped parts using the same robot gripper. The state-of-the-art industrial robot grippers and universal gripping systems are discussed. A methodology is presented to design a proper universal gripping solution for such case. This can be vital in minimising production cycle time by avoiding the need for tool changing for factories handling large variations in product shapes and sizes. This type of implementation can save resource, time and cost by avoiding extra hardware thus keeping the maintenance requirements low and thus less downtime of the work cell.
Finally, significant part of this thesis solves a use case problem by designing a universal gripping system to handle part variation in a robot-based application. Furthermore, it concludes with the learning and achievements through the process and scope for future work to improve the efficiency of work cell.
The reader will gain insight on how to handle different sized and different shaped parts using the same robot gripper. The state-of-the-art industrial robot grippers and universal gripping systems are discussed. A methodology is presented to design a proper universal gripping solution for such case. This can be vital in minimising production cycle time by avoiding the need for tool changing for factories handling large variations in product shapes and sizes. This type of implementation can save resource, time and cost by avoiding extra hardware thus keeping the maintenance requirements low and thus less downtime of the work cell.
Finally, significant part of this thesis solves a use case problem by designing a universal gripping system to handle part variation in a robot-based application. Furthermore, it concludes with the learning and achievements through the process and scope for future work to improve the efficiency of work cell.