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Diseño y Fabricación de Garras para un IRB120
| Content Provider | Semantic Scholar |
|---|---|
| Author | Iglesias, F. J. Barbero Luisa, María |
| Copyright Year | 2017 |
| Abstract | This project was set out as the continuation and development of a Master Final Project in 2016, which was tutored, as this one, by David Muñoz. That project had a first part about design y manufacturing, a second one about programming using RobotStudio and a third one, the start-up of the whole system and also programming the electric gripper LEHZ25K2-14 and the communication between the gripper and the robot IRB120. So, for a very first application, it was considered to take advantage of the work that had already been done and reuse the electric gripper. For reasons of versatility, it was calculated, designed, manufactured (using the 3D printing technology from XYZprinting) and assembled an articulated claw, so that the gripper can take a further spectrum of objects. In the second place, it was decided to leverage the ABB IRB120 pneumatic system and prepare two old pneumatic grippers to use directly when the installation is ready. It was really beneficial to have these grippers as they belong to different categories (one of them is an angular one from the company Cleveland Guest Engineering LTD. and the other is a parallel one from the company SMC) and this way we found the possibility to take pieces of diverse forms. The joint between the grippers and the robot were also designed, to make sure the required attachment and the normal activity. Besides, it was necessary to make two pairs of claws for the pneumatic parallel gripper, adapted to two different sizes of the objects that should be grabbed. Both, the joints and the claws, were created using a 3D printer too. To finish with, three simulations were made using the software RobotStudio, developed by ABB, one for the electric gripper LEHZ25K2-14, another one for the pneumatic angular gripper from Cleveland Guest Engineering LTD. and another one for the pneumatic parallel gripper from SMC; recreating the lab environment, establishing comfortable robot configurations and achievable points to take and release the parts. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | https://idus.us.es/xmlui/bitstream/handle/11441/61504/TFG%20-%20Mar%C3%83-a%20Luisa%20Fern%C3%83%C2%A1ndez%20Iglesias%20(2017).pdf?isAllowed=y&sequence=1 |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
