Abstract
The ongoing development in manufacturing technology facilitates flexibility in production and faces challenges of product handling. Flexibility was required in the form of adaptable grippers for robotic arms in pick-and-place procedures for reconfigurable assembly systems. A conceptual system was designed and tested according to the surface geometric conformity of grasped objects. The system proposed was a biologically inspired Fin Ray Effect® gripper. Grasping occurs due to the deformation of the rib structure of the appendage. The appendages were simulated for conformity by means of a finite element analysis, and performance was analysed by means of a physical sample mass test and a force test.
Highlights
High production rate capabilities are required in reconfigurable manufacturing systems, which are essential in the advancement of Industry 4.0
Flexibility was required in the form of adaptable grippers for robotic arms in pick-and-place procedures for reconfigurable assembly systems
The intelligence of the gripper system in terms of feedback control should be considered: Object presence detection of verification and confirmation of successful gripping and releasing, finger positioning sensing in terms of overall object size and specified finger movement control, grasp force sensing relating to surface sensitivity of objects and higher stability grasps, external force sensing of the object weight, integrity of contact surfaces and object handling control, 129 and slip detections with regard to avoidance of handling of heavy objects and unstable gripping states
Summary
# The author was enrolled for an MSc Eng (Mechanical) degree in the Discipline of Mechanical Engineering, University of KwaZulu-Natal, South Africa. Flexibility was required in the form of adaptable grippers for robotic arms in pick-and-place procedures for reconfigurable assembly systems. The system proposed was a biologically inspired Fin Ray Effect® gripper. The appendages were simulated for conformity by means of a finite element analysis, and performance was analysed by means of a physical sample mass test and a force test. Die deurlopende ontwikkeling in vervaardigingstegnologie fasiliteer buigsaamheid in produksie en word blootgestel aan uitdagings aan met betrekking tot produkhantering. Buigsaamheid word vereis in die vorm van aanpasbare robot gryp gereedskap vir robotarms in optel-en-plaas prosedures vir herkonfigureerbare monteringstelsels. Die voorgestelde stelsel was ’n biologies geïnspireerde Fin Ray Effect® gryper. Die ledemaat is gesimuleer vir ooreenstemming deur middel van ’n eindige element analise, en verrigting is geanaliseer deur middel van ’n fisiese monster massa toets en ’n krag toets
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