Manufacturing Technology Today

S. Ragunathan ¹, L. Karunamoorthy ²

Affiliations
1 Department of Mechanical Engineering, Govt. College of Engineering, Salem-11, IN
2 Department of Mechanical Engineering, Anna University, Chennai-25, IN

Abstract

The deformation behaviours of flexibie materials for various handling conditions are analyzed using ANSYS software and their results are presented. This will help in the necessary robotic handling automation and proper handling of limp materials in the automotive and textile industries. A two step method of using dynamic and static analysis with a nine node flexible shell element produces flexible material simulations very close to actual deformation. The equilibrium equations are solved using the finite element method. The simulation must be sufficiently realistic to the robotic gripper designers' needs and be carried out quickly enough for the designer to optimize the grasping locations for handling flexible materials. Computational simulation with this model can assist the engineer in specifying design variables as gripping conditions, grasping locations and loads applied to supporting structure.

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S. Ragunathan ¹, L. Karunamoorthy ², S. Malligarjunan ¹

Affiliations
1 Department of Mechanical Engineering, Govt. College of Engineering, Salem-11, IN
2 Department of Mechanical Engineering, Anna University, Chennai-25, IN

Abstract

In this paper, a reconfigurable robotic gripper for grasping of limp materials has been developed and presented, based on pneumatic technology. To grasp flexible and fabric materials, it is necessary to have several pickup points, whose location is selected on the basis of the shape of the part to be grasped and it is also necessary to have low overall flow drop in the pneumatic circuits. This paper also presents the results of dynamic simulation and analysis of the reconfigurable gripper system in the dynamic simulation package ADAMS. The architecture of the gripper is simple and the choice of pneumatic actuators improves the reliability of the system.

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