Design And Development of Pneumatic Actuated Robotic Arm with Multipurpose Gripper

摘要

Grippers are attached at the end of an industrial arm robot for material handling purpose. Grippers plays a major role in all pick and place application industries. Those are connected as end effectors to realize and develop a task in an industrial work floor. Pneumatic gripper works with the principle of compressed air. The gripper is connected to a compressed air supply. When air pressure is applied on the piston, the gripper gets opened while the air gets exist from the piston it gets closed. It is possible to control the force acting on the gripper by controlling the air pressure with the help of the valve. The results from these experiments demonstrate that the master-slave attitude control can be realized by using an accelerometer and a simple analytical model of the robot arm. The trajectory control also was realized for a square trajectory by using an analytical model and a compact control system. C measured one is relatively large compared with typical robot arm. This is because by a friction that is existing in a rod-less type flexible pneumatic cylinder. The control performance can be improved by reducing the friction or by improving the control scheme. Pneumatic actuators have a number of advantages over electric motors, including strength-to-weight ratio, tunable compliance at the mechanism level, robustness, as well as price. The handling of materials and mechanisms to place of objects from lower plane to higher plane and are widely found in factories and industrial manufacturing. Pneumatic actuators have a number of advantages over electric motors, including strength-to-weight ratio, tunable compliance at the mechanism level, robustness, as well as price. The handling of materials and mechanisms to place of objects from lower plane to higher plane and are widely found in factories and industrial manufacturing.