Design and implementation of a gripper for small aerospace parts assembly

• Main Author: Nahaad Mohammed Vaheed
• Other Authors: Chen I-Ming
• Format: Theses and Dissertations
• Language: English
• Published: 2017
• Subjects: DRNTU::Engineering::Aeronautical engineering
• Online Access: http://hdl.handle.net/10356/70614
• Institution: Nanyang Technological University

A gripper is designed and developed for handling assembly operations in the assembly line of an aerospace industry. The gripper is used to perform a specific assembly operation through the employment of a humanoid industrial robot. The gripper was designed based on design guidelines for a mechanical gripper. Parts of the gripper were fabricated using 3D printing technology. Simulation and experimental tests were performed on the gripper to study its functionality and behavior. The assembly task was performed using the Nextage open robot. Program for performing the assembly task was developed. Simulations and experimental tests were performed through the robot to study the performance of the gripper and the assembly task I operation handled by the gripper. The objective of thesis is to design a gripper for use in the assembly line of an aerospace industry as well as to implement the gripper to perform an assembly task. The assembly operation is performed through a humanoid industrial robot. The incorporation of humanoid industrial robots into the industry improves the assembly process as well as saves time. In conclusion, the designed gnpper full filled its design objective and purpose, successfully grasping objects. An assembly task using the Nextage open robot was also performed successfully.