Designing and testing multi-functional robot gripper
Typ
Examensarbete för masterexamen
Program
Production engineering (MPPEN), MSc
Publicerad
2019
Författare
Jafarov, Anar
Mustafayev, Matlab
Modellbyggare
Tidskriftstitel
ISSN
Volymtitel
Utgivare
Sammanfattning
This paper analyzes how multi-functional gripper tool can be designed and implemented
into the assembly process of battery fuse box. To answer this question, 6
steps methodology has been used to construct the thesis in a structural way. The
purpose of designing multi-functional gripper tool is to handle the variety of products
and improve the ergonomics for the operators at Volvo Trucks. An integrated
collaborative robot has a key role in the industrial applications for several operations
such as pick and place, assembling. The 3D modelling of a robot gripper
was proposed, and the design parameters of robot gripper were developed by using
various methods and techniques. However, due to knowledge constraints, the
designed multi-functional gripper tool was never tested in reality. Instead, to analyze
the performance of robotized picking, placing and fastening tasks, simulation
of assembly process was tested in Visual Components 4.1. The multi-functional
gripper tool was integrated with Universal Robot with a proper cell layout in the
robot cell-simulation program. It was found that multi-functional robot gripper is
suitable for the assembly process and can safely handle the product variation. The
ergonomics for the operators will be improved since the robot will perform the tedious
and repetitive tasks. However, fastening the nuts could be hard for the robot,
since there are some uncertainties in process simulation. Further research is needed
to test gripper tool in the real world and identify other factors that could be effective
for the development of robotic gripper.
Beskrivning
Ämne/nyckelord
Cobots, Multi-functional Gripper, Collaborative Robots, Gripper, Design , Actuator