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D. Sakthimurugan et al.
Keywords Automation · C-Channel robot gripper arm · Electromagnets · Static
condition · ANSYS 17.0 · Finite element analysis (FEA) · Optimization technique
tool · Modal analysis
1 Introduction
The world-leading manufacturing company in clutch production goes through
automation in the press shop. The robot automation is implemented in forming stage
condition to achieve the target volume. The robot automation is implementing for
four Press Machine. We involved in the design of the robot arm end effector. The
Robotic end-effector is any object attached to the robot flange (wrist) that serves a
function [1]. It certainly helps the robot to handle several tools in an operation, and
thus makes the multi-tooling function possible [2].
The design guidelines may be as follows [3]:1. Gripper weight should be minimized.
2. Grasping of objects should be secure.
3. Grip multiple objects with a single gripper.
The machine die and workpiece have lesser tolerance, i.e., 0.5 mm. So our aim is
to reduce the deflection of gripper arm below 0.5 mm. This deflection will not affect
the accuracy in operation and prove the design is valid.
The following ways are most often used to minimum deflection [4]:
1. Decrease length of beam.
2. Move one or both supports inward from the end of the beam.
3. Increase beam of the moment of inertia.
4. Share load with other beams.
2 Literature Review
2.1 Gripper
Grippers are the end effectors used for holding the parts or objects. Grippers are
devices that can be used for holding or gripping an object. They include might call
mechanical hands and also anything like hooks, magnets and suction devices that
can be used for holding or gripping [5, 6]. Applications:- Machine Loading and
unloading, picking and placing of parts on conveyor, material handling.
D. Sakthimurugan et al.
Keywords Automation · C-Channel robot gripper arm · Electromagnets · Static
condition · ANSYS 17.0 · Finite element analysis (FEA) · Optimization technique
tool · Modal analysis
1 Introduction
The world-leading manufacturing company in clutch production goes through
automation in the press shop. The robot automation is implemented in forming stage
condition to achieve the target volume. The robot automation is implementing for
four Press Machine. We involved in the design of the robot arm end effector. The
Robotic end-effector is any object attached to the robot flange (wrist) that serves a
function [1]. It certainly helps the robot to handle several tools in an operation, and
thus makes the multi-tooling function possible [2].
The design guidelines may be as follows [3]:1. Gripper weight should be minimized.
2. Grasping of objects should be secure.
3. Grip multiple objects with a single gripper.
The machine die and workpiece have lesser tolerance, i.e., 0.5 mm. So our aim is
to reduce the deflection of gripper arm below 0.5 mm. This deflection will not affect
the accuracy in operation and prove the design is valid.
The following ways are most often used to minimum deflection [4]:
1. Decrease length of beam.
2. Move one or both supports inward from the end of the beam.
3. Increase beam of the moment of inertia.
4. Share load with other beams.
2 Literature Review
2.1 Gripper
Grippers are the end effectors used for holding the parts or objects. Grippers are
devices that can be used for holding or gripping an object. They include might call
mechanical hands and also anything like hooks, magnets and suction devices that
can be used for holding or gripping [5, 6]. Applications:- Machine Loading and
unloading, picking and placing of parts on conveyor, material handling.