Published Paper Details:

A robot gripper is the physical realization of an electromechanical system to perform physical handling tasks automatically. A robot gripper is an essential element of the robotic system and it is designed to suit industrial application to typically grasp, carry, manipulate and assemble the components. The design of a gripper finger is a difficult task with many considerations such as task requirements, geometry of gripper and the complexity of mechanism. In this thesis, a five fingered robot gripper is designed and modeled in 3D modeling software creo2.0 Motion analysis is performed on the gripper by applying angular displacement to the rotary motors determine angular velocity, angular momentum and motor torque. Static analysis is performed on the robot arm by applying forces of 441.299N and 882.59N and torque of 17.64 N-m and 35.28 N-m using two different materials Alloy Steel and Titanium. Motion analysis is performed in solid works and Finite Element analysis is performed in ansys. Cost analysis is performed in estimating the cost of five finger robot gripper. Material analysis is performed to explore further alternate material options for weight reduction and also design integrity and sustainability. In which it undergoes structural deformations. Thus in this project we are modeling a connecting rod in solid works 2016 design software and doing static structural analysis in ansys work bench 14.5 software. Thus the part which is modeled is converted into igs file to import in ansys work bench and static structural analysis is carried out at 3MPa of pressure load by applying various materials including composite materials, materials used in this project are such as aluminum alloy (which is already existing), 42crmo4, aluminum based composite material reinforced with Boron carbide (Al6061+B4C). By applying these boundary conditions on connecting rod the unknown variables such as stress, deformation, strain, and maximum shear stress are found using the FEA based software (ANSYS). In this we are using the dynamic analysis and the static analysis is use to calculate the deflection of spindle-bearing system. This analysis is to find out the deflections, stress induced And the frequencies of the mode shape for both steel material and 20MnCr5 material in machine tool spindle. This project is on the application of computer aided analysis using finite element method. The boundary conditions, loads, material properties are added according as per the design. The resultant of the deformation and stresses and the frequency of mode shapes obtained are reported and discussed.