University of Twente Student Theses


Design and realization of a gripper for the SHERPA robotic arm

Werink, R. (2016) Design and realization of a gripper for the SHERPA robotic arm.

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Abstract:For the actuation mechanism, a choice was made between three different options: A system based on an inner gear with a radius which was half of the radius of the outer gear, a crank-based system which moves the fingers using jointed arms and a cam-based system with a central cam against which the fingers rest. At first, the half-gear design was discarded due to the impracticality of needing three separate gears overlapping in a tight space. After comparison of the two remaining concepts, it was clear that the cam system was superior over the crank system. The cam system had more effective force and it was structurally easier to realize An analysis has also been applied to the fingers to see if there is a better orientation with respect to the old design. It became clear that increasing the length of the back linkage increased the closing angle while also creating a sloped upper surface to help guide the gripper into the interface. This guiding effect is also introduced by the point fitted on top of the gripper. Calibration of the gripper will be done using the stable point in the cam rotation, which are at the fully opened and fully closed points of the gripper. By rotating the cam between two stable points and shutting off the motor, the system will automatically fall back into the fully opened stable position.
Item Type:Essay (Bachelor)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Programme:Electrical Engineering BSc (56953)
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