Abstract
The aim of presented work was to analyse the feasibility of using 3D-print technology in robotics based on the production of industrial robot flexible grippers. For selected geometry of gripper single finger available 3D printing techniques has been analysed. The study made by authors uses the following additive technologies and devices: SLS (Selective laser Sintering) and FDM (Fused deposition modelling). As a prior an analyses of capabilities of individual technologies were done by testing the quality of the 3D CAD model recreated on test print-outs. Based on the printed gripper, its functionality, and strength properties were examined. Strength of grapplers was tested with a use of an MTS test machine under repeating deflexion simulating standard operational cycle of a gripper. Test proved that at least few thousands of cycle are possible to be made by a 3D printed gripper. What interesting gripper made with use of the less advanced printer showed different wear behaviour than an one made on the more advanced. First one showed almost instantaneous start of slow and constant strength degradation while the second one proved to have a stable deflexional capability by almost twice an number of cycles. More isotropic structure of an SLS printed gripper caused the best results of all tested ones.
Highlights
During following years, we can see the ever wider use of 3D printing in prototype solutions for the robotics industry and beyond
We can see the ever wider use of 3D printing in prototype solutions for the robotics industry and beyond. Grippers and their components made in additive techniques are already used in amateur solutions, but are offered by large companies involved in the robotics industry
Prepared virtual model, created with a use of Autodesk Inventor software, has been used to print specimens in the following additive techniques: - LPD (Layer Plastic Deposition) – model made on the Zortax M200 printer, - FDM (Fused Deposition Modeling) – model made on Dimension Elite printer, - SLS (Selective Laser Sintering) – model made on a Formiga P100 printer
Summary
We can see the ever wider use of 3D printing in prototype solutions for the robotics industry and beyond. The main advantage of those grippers is their optimisation of the structure by the use of double-acting pneumatic system and interchangeable fingers Both the handle and the gripper finger are made of sintered powder of polyamide in the SLS technology (Selective Laser Sintering). This type of gripper can be used in applications where it is required to manipulate irregularly shaped objects whose initial position in the manufacturing process changes. Quite quickly after the product announcement by FESTO, there have been attempts to use this idea with both the use of some stock subcomponents [7] and with the use of additive manufacturing techniques [8] For these reasons, it was decided to conduct a study on the possibility of performing similar grapples available with rapid prototyping methods. Our own model of such type gripper have been developed for further tests (Fig.1)
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
