Iris Gripper SolidWorks Design
-
Upload
jack-gillies -
Category
Engineering
-
view
354 -
download
16
Transcript of Iris Gripper SolidWorks Design
Jack Gillies & Jeremiah GillFor AUTOTECH 2AC3Instructor: Lucian Balan
SOLIDWORKS DESIGN AND SIMULATION
PROJECT
March 19th, 2015
Constraints:
-Must be able to grip 3 prismatic shapes: -Must be controlled by given servo motor, 5 rotations to close/open-Must fit onto standard robot tool interface-All parts must be able to be manufactured-Assembly without interference-Must use standard fasteners -Robust and self-contained
Final Design
Final Design
Redesign
- After we finished the modeling, we realized the gripper isn’t big enough to fit the cube
- We measured the cube face to face and ignored the hypotenuse length of the cube
- Redesign took about 10 hours – Would have been easier if we modeled more parametrically.
Final Design
-522.19 grams
-137 parts, 32 Unique parts
-Can grip objects up to 80mm in width
- 84.3 mm maximum height from arm interface
- 194 mm maximum width (to back of servo)
Final Design
Assembly Animation
Inspiration
-Camera Shutter closes equally around central point-Will make contact without lateral slip with any part.-Operates by turning overlapping “leaves” towards inside-Leaves are turned by pins which are driven by a central turning ring
Initial Design
-5 Leaves overlapping (2mm thick) -Leaves Spaced by washers of same thickness-Assembly held in by retaining ring
Initial Design
-5 Pins of varying length (increments of 2mm) to turn the leaves -Pins are pushed through slots in turning ring-Portion of bevel gear drives turning ring
Issues
-Overlap of leaves may cause “tipping” or rocking of gripped piece
-We decided to mirror whole assembly so 2 apertures grip piece at different heights
Retaining Case
-Revolved profile of all turning parts to create casing to retain rotational motion
-Mounting features for Motor assembly-Identical mounting brackets for M6 bolts
-Upper holes machined for M4 screws to hold in upper leaf base.
-This part will probably have to be casted in aluminum.
Drive Train
-Total ratio needed is 39/1800 (turning ring degrees per motor degree)-Simple bevel gear and pinion would not be suitable-Additional gears achieve following ratio:
15𝑃1
41𝐺1
15𝑃2
41𝐺2
18𝐵𝑃1
120𝐵𝑃2≈ 39/1800
-Gearbox created to mount gears from motor to Retaining case
Drive Train
Turner Synchronization
-Lower turning plate is driven by bevel gear
-Upper turning plate is connected by turner synchros (shown in pink)
-Assembly is held together with set screws
-Plates slide inside grooves of retaining case
Spacer Cuff
-This part spaces the whole assembly out from the arm interface
-This allows the gripper to grip taller parts in closer to the center
Design Drawbacks
-Weight
-May shear objects
-Large width – cannot fit into small spaces
-Can only grip objects up to 80mm in diameter
-Many parts only serviceable if completely disassembled
-Leave assemblies are 54 mm apart – parts shorter than this will only be gripped by one leaf assembly.
Questions?