Development of flexible universal gripper for handling light weight parts of arbitrary shape

Abstract

A variety of grippers or end effectors are used in industrial robotic manipulators to accommodate the needs of handling different types of objects prevalent in a given automation scenario. With numerous available mechanisms: magnetic, suction, mechanical, shape-memory and some more, there is a range of options to choose from. In this paper, development and construction of a flexible universal gripper which can handle a variety of objects without need of changing gripper is presented. The gripper is designed to pick up arbitrarily shaped solids, nonporous items of weight up to 800 gm with a minimum plane area of 18x18sq.mmon a surface. The design of gripper parts, that is, suction cup and corrugated flexible fingers is explained with the help of analytical as well as finite element analysis. A new analytical model for design of corrugated flexible fingers is developed. The results of a preliminary test carried out to check lifting capacity of gripper are presented. The proposed gripper strengthens the positives and works around the weaknesses of existing types, boasting of safe design, easy manufacturing, low cost, lightweight assembly, effective gripping and stable holding of items.