Making a 3 DOF gripper using Servo mechanism

nikhil22 — Tue, 01 Nov 2016 21:19:40 GMT

Current Revision posted to Documents by nikhil22 on 11/1/2016 9:19:40 PM

A 3 Degree-of-freedom robotic gripper is a general requirement in the factory's assembly line now-a days.

I am a part of the team which participated and won the "Best economical robot award" in an international robotics competition "ROBOCON". We have fabricated a 3 DOF gripper, which we later changed it to a magnetic gripper according to our ease. The Pictures are added for reference.

The bigger robot is Parent bot and the small bot below is child bot, according to the problem statement of ROBOCON'2014.

You can see two kinds of grippers. One, a 3 DOF magnetic gripper and the other, a Vacuum gripper. Both of the grippers are provided an extra 2 DOF by the linear guide assemblies on the chassis of the bot and another across the vertical length of the bot.

The magnetic gripper is actuated by 3 Hitech high torque servos to provide x,y and z axis movement for the gripper and an extra horizontal and vertical movement is provided by linear actuators.