Implementación de un gripper flexible para un robot

Abstract

A flexible gripper for a robot is designed, built and implemented. First, the functional and customer requirements are determined to define its characteristics and design. Subsequently, the coupling and clamping plate is designed according to the defined gripper design. For the construction stage, the mold of the two parts of the tweezers is designed using the NX 10 software, for subsequent manufacture in 3D printing, and then they are used to manufacture the tweezers with RTV 120 silicone and its respective catalyst. For the manufacture of the coupling and clamping box, the CAD model made in the NX 10 software is also used to manufacture it in 3D printing. In the implementation stage, the actuating valve and the distribution valve are selected, and the operating pressure required by the gripper is established, by testing each of the clamps made. In the testing stage, the simulation of the gripper operation is performed using CAE software, then the integration of the pneumatic circuit to the coupling and clamping box and, finally, the tests and validation of the gripper operation by performing a pick and place operation.