Design of a Robotic Arm with Gripper & End Effector for Spot Welding

摘要

A robot is a system combining many subsystems that interact among themselves as well as with the environment in which the robot works. In robotics, end effectors are a device at the end of a robotic arm, designed to interact with the environment. Gripper is an end effectors or tool to grasp any physical thing that may be a human hand or any instrument. To achieve this goal we intend to incorporate a simple linkage actuation mechanism. An AC motor is used along with spur gears and a threaded shaft arrangement. The gripper can perform the basic function of picking, holding and grasping of objects by means of a DC motor and it forms the mechanism for the spot welding. The human hand design forms the basis of this project of developing a robotic gripper and is the source of inspiration to achieve the sufficient level of dexterity in the domain of grasping and manipulation if coupled with wrist and arm.