Development of a two-fingered and a four-fingered robotic gripper

Doğan, Burak
In this thesis study, a two-fingered gripper and a four-fingered multipurpose gripper are developed and manufactured. In addition to development of robotic hands, computer control hardware and software are also developed for computer control of both hands. The two-fingered gripper is designed for a specially defined pick and place operation. Its task is to pick a cylindrical work piece and place it in the appropriate position in a flexible manufacturing cell. Pneumatic actuator is used for power generation and mechanical links are used for power transmission. Fourfingered gripper is designed as a multipurpose gripper. The task is not predefined for this gripper, so, human hand and previous dexterous hands are taken as model during design. It consists of 3 fingers and a thumb. It has 1 degree of freedom for every finger and thumb. Pneumatic actuators are also used for this gripper. Rope and pulley system is used for the power transmission mechanism. Structures of both hands are manufactured from 5083 series aluminum. Gripping force can be controlled by the pressure regulator of the pneumatic system for both hands. Computer software is developed for the control of open and close motion of the fingers. Also, a motion control card is designed and manufactured for control of the pneumatic valves.


Development of a scada control system for a weighing and bagging machine
Aykaç, Emel Sinem; Balkan, Raif Tuna; Department of Mechanical Engineering (2010)
In this thesis study, a prototype is designed in order to improve the weighing accuracy of the weighing and packaging machine that used in sugar factories. The unavoidable factory conditions cause weighing and packaging machine to do weighing errors. In order to correct these errors, the prototype produced in this study was designed as a quality control unit which will take the excess sugar and fill the deficient sugar in the sacks. Because of being small and having an easy installation, the application of ...
Conceptual design and analysis of an industrial type vacuum sweeper
Aygün, Buket; Albayrak, Kahraman; Department of Mechanical Engineering (2009)
In this thesis, design and development and manufacturing processes of an industrial type vacuum sweeper is presented. Thesis is financially supported by Ministry of Industry and Trade-Turkey and Müsan A.Ş. (Makina Üretim Sanayi ve Ticaret A.Ş.) under SAN-TEZ project number 00028.STZ.2007-1. It is aimed to make innovative design changes and developments on the Müsan VSM 060 type vacuum sweeper. To achieve this aim, alternative configuration designs are prepared by using commercial 3D modeling program, Catia™...
Development of postprocessor, simulation and verification software for a five-axis CNC milling machine
Cengiz, Ender; Gökler, Mustafa İlhan; Department of Mechanical Engineering (2005)
Five-axis CNC milling machine tools bring great facility to produce complex workpieces with increased dimensional accuracy and better surface quality in shorter machining times. However, kinematics of five-axis machine tools has a complex form which makes it difficult to operate these machine tools properly. The difficulty arises from the complexity of NC-Code generation and tool path verification. Collision of machine tool or setup components with each other is a severe problem in five-axis machining opera...
Development of an educational CFD software for two dimensional incompressible flows
Nakiboğlu, Güneş; Sert, Cüneyt; Department of Mechanical Engineering (2007)
The main purpose of this research is to develop a Computational Fluid Dynamics (CFD) software to be used as an educational tool in teaching introductory level fluid mechanics and CFD courses. The software developed for this purpose is called Virtual Flow Lab. It has a graphical user interface (GUI) that enables basic pre-processing, solver parameter and boundary condition setting and post-processing steps of a typical CFD simulation. The pressure-based solver is capable of solving incompressible, laminar, s...
Investigation of wear behavior of aged and non-aged SiC-reinforced AlSi7Mg2 metal matrix composites in dry sliding conditions
ÇELİK, YAHYA HIŞMAN; Demir, Mehmet Emin; KILIÇKAP, EROL; Kalkanlı, Ali (Springer Science and Business Media LLC, 2020-01-01)
Metal matrix composites (MMCs) with their splendid mechanical properties have been specifically designed for use in fields such as aerospace and aviation. The presence of hard ceramic particles in MMC increases the hardness of the matrix product and decreases its coefficient of friction. Therefore, the wear resistance is improved. Moreover, the mechanical properties of these composite materials can be improved by applying heat treatments. In this study, AlSi7Mg2 MMCs with 15 wt% SiC reinforcement were produ...
Citation Formats
B. Doğan, “Development of a two-fingered and a four-fingered robotic gripper,” M.S. - Master of Science, Middle East Technical University, 2010.