Design Optimization of a Novel Curvilinear-Jaw Robotic Gripper Volume 3 - Issue 3

Aniket H Bhelsaikar¹, Pratik Chothe¹, Jaipal Solanki¹, Viinod Atpadkar¹ and Debanik Roy²*

• ¹SVR InfoTech, India
• ²Division of Remote Handling & Robotics, Bhabha Atomic Research Centre & Homi Bhabha National Institute, Department of Atomic Energy, India

Received:November 17, 2021   Published: December 2, 2021

Corresponding author: Debanik Roy, Division of Remote Handling & Robotics, Bhabha Atomic Research Centre & Homi Bhabha National Institute, Department of Atomic Energy, Mumbai, India

DOI: 10.32474/ARME.2021.03.000162

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Abstract

Robotic grippers, with several design variations in its jaws, are gaining popularity in commercial market worldwide in recent past. In fact, these customized robotic grippers are widely used for diverse end-applications in various arenas. We have aimed to optimize the mechanical design of such customized robotic grippers having two fingers (jaws), as those grippers are the most prevalent variants in industrial robots. In this study, a niche contigutive robotic gripper is developed for direct adhesion contact, in order to meet the technical challenges of force-closure of grasp. The prime focus of our research is reduction of the tare-weight of the prototype gripper keeping its strength unaltered under the threshold of grasping maximum payload. Through Finite Element Analysis and optimization thereof, material retention percentage is defined for the prototype gripper so as to improve its overall envelope.

Keywords: Topology; Optimization; Finite Element Analysis; Design; Robotic Gripper; Articulated Jaw

Abstract| Introduction| Structural Optimization of The Prototype Robotic Gripper: An Overview| Finite Element Modeling of the Prototype Gripper| Modal Analysis of the Prototype Robotic Gripper Via Finite Element Analysis –Based Simulation| Static Analysis of The Prototype Robotic Gripper| Topology Optimization of the Prototype Gripper| Conclusions| References|