Design and fabrication of 3D printed universal gripper

The Gripper Mechanism has existed since ancient times and was automated in 1969. As technology advances, human labour becomes less of a demand and were replaced by autonomous grippers. Despite having an abundance of grippers, most available designs are too rigid and not adaptable to various shape...

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Main Author: Lee, Gerwyn Si Yan
Other Authors: Yeong Wai Yee
Format: Final Year Project
Language:English
Published: Nanyang Technological University 2022
Subjects:
Online Access:https://hdl.handle.net/10356/157807
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-1578072023-03-04T20:18:12Z Design and fabrication of 3D printed universal gripper Lee, Gerwyn Si Yan Yeong Wai Yee School of Mechanical and Aerospace Engineering Schaeffler Hub for Advanced REsearch (SHARE) Lab A*STAR Institute of Material Research and Engineering WYYeong@ntu.edu.sg Engineering::Mechanical engineering The Gripper Mechanism has existed since ancient times and was automated in 1969. As technology advances, human labour becomes less of a demand and were replaced by autonomous grippers. Despite having an abundance of grippers, most available designs are too rigid and not adaptable to various shapes and sizes, limiting their applications. The exerted force is unsuitable for soft objects as well, bruising them in the process of gripping. Considering the crops and fruits within the farm, the gripper must be able to hold soft objects without damaging them while being adaptable to a myriad of shapes and sizes. Hence, this study aims to investigate the following factors: the force limitations of both the crops and the grippers, and nature-inspired designs for adaptiveness and to maximise efficiency. This report illustrates the designs and experiments for a 3D Printed Universal Gripper. Thermoplastic Polyurethane (TPU) 95A of various densities underwent Tensile Stress Test to obtain the required data. Stress Analyses were carried out via Autodesk Inventor using gathered data to determine viable density for printed fingers. Shape-memory Alloy (SMA), both Ni-Ti and Ni-Ti-Cu, of 0.5mm diameter will be used to actuate the gripper. The SMAs underwent Shape Characterisation via heat treatment to determine their characterised position. Bachelor of Engineering (Mechanical Engineering) 2022-05-25T06:27:16Z 2022-05-25T06:27:16Z 2022 Final Year Project (FYP) Lee, G. S. Y. (2022). Design and fabrication of 3D printed universal gripper. Final Year Project (FYP), Nanyang Technological University, Singapore. https://hdl.handle.net/10356/157807 https://hdl.handle.net/10356/157807 en B274 application/pdf Nanyang Technological University
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic Engineering::Mechanical engineering
spellingShingle Engineering::Mechanical engineering
Lee, Gerwyn Si Yan
Design and fabrication of 3D printed universal gripper
description The Gripper Mechanism has existed since ancient times and was automated in 1969. As technology advances, human labour becomes less of a demand and were replaced by autonomous grippers. Despite having an abundance of grippers, most available designs are too rigid and not adaptable to various shapes and sizes, limiting their applications. The exerted force is unsuitable for soft objects as well, bruising them in the process of gripping. Considering the crops and fruits within the farm, the gripper must be able to hold soft objects without damaging them while being adaptable to a myriad of shapes and sizes. Hence, this study aims to investigate the following factors: the force limitations of both the crops and the grippers, and nature-inspired designs for adaptiveness and to maximise efficiency. This report illustrates the designs and experiments for a 3D Printed Universal Gripper. Thermoplastic Polyurethane (TPU) 95A of various densities underwent Tensile Stress Test to obtain the required data. Stress Analyses were carried out via Autodesk Inventor using gathered data to determine viable density for printed fingers. Shape-memory Alloy (SMA), both Ni-Ti and Ni-Ti-Cu, of 0.5mm diameter will be used to actuate the gripper. The SMAs underwent Shape Characterisation via heat treatment to determine their characterised position.
author2 Yeong Wai Yee
author_facet Yeong Wai Yee
Lee, Gerwyn Si Yan
format Final Year Project
author Lee, Gerwyn Si Yan
author_sort Lee, Gerwyn Si Yan
title Design and fabrication of 3D printed universal gripper
title_short Design and fabrication of 3D printed universal gripper
title_full Design and fabrication of 3D printed universal gripper
title_fullStr Design and fabrication of 3D printed universal gripper
title_full_unstemmed Design and fabrication of 3D printed universal gripper
title_sort design and fabrication of 3d printed universal gripper
publisher Nanyang Technological University
publishDate 2022
url https://hdl.handle.net/10356/157807
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