Robotics Tutorial, A Vacuum Gripper, Negative & Atmospheric Pressure, Mechanical Gripper Design, And Dimensions - Engineering Assignment Help

Assignment Task

Robotics tutorial  
Q.1. Apart from weighing 2 kg is to be held by a gripper using friction against two opposing fingers. The coefficient of friction between the fingers and the part surface is estimated to be 0.3. The orientation of the gripper will be such that the weight of the part will be applied in a direction parallel to the contacting finger surfaces. Compute the required gripping force 
Q.2. A vacuum gripper is to be designed to handle flat plate glass in an automobile windshield plant.  Each plate weighs 0.5 kg. A single suction cup is used and the diameter of the suction cup is 18  cm. Find the negative pressure required (compared to the atmospheric pressure of 1 bar) to lift each  plate 
Q.3. A piston is to be designed to exert an actuation force of 10 N on its extension stroke. The inside diameter of the piston is 6 cm and the ram diameter is 1.5 cm. What shop air pressure will be required to provide this actuation force? 
Q.4. P2.45 shows the linkage mechanism and dimensions of a gripper used to handle a work part for a  machining operation. Suppose it has been determined that the gripper force Fg is to be 2 N, what is the required actuating force Fa at the right end. 

Q.No.5 Apart weighing 81b is to be held by a gripper using friction against two opposing fingers. The coefficient of friction between the fingers and the part surface is estimated to be  0.3. The orientation of the gripper will be such that the weight of the part will be applied in a  direction parallel to the contacting finger surfaces. A fast work cycle is anticipated so that the  g factor to be used in force calculations should be 3.0. Compute the required gripper force for the specifications given. 
Q.No.6 Solve Prob. 5 except that instead of using a g factor of 3.0, the following information is given to make the force computation. The robot motion cycle has been analyzed and it has been determined that the largest acceleration experienced by the part held in the gripper is immediately after the pickup. The maximum acceleration is measured as 53 ft/sec/sec. Using  a safety factor of 1.5, compute the required gripper force.  
Q.No.7 Apart weighing 15lb is to be grasped by a mechanical gripper using friction between two opposing fingers. The coefficient of static friction is 0.35 and the coefficient of dynamic friction is 0.20. The direction of the acceleration force is parallel to the contacting surfaces of the gripper fingers. Which value of the coefficient of friction is appropriate to use in the force calculations? Why? Compute the required gripper force assuming that a g factor of 2.0 is applicable.  
Q.No.8 For the information given in the mechanical gripper design of Fig., determine the  required actuating force if the gripper force is to be 25 lb

Q.No.10A vacuum gripper is to be designed to handle flat plate glass in an automobile windshield plant. Each plate weighs 28 lb. A single suction cup will be used and the diameter of the suction cup is 6.0 in. Determine the negative pressure required (compared to the atmospheric pressure of  14.7Ib/in.2) to lift each plate. Use a safety factor of 1.5 in your calculations. 
Q.No.11A vacuum pump to be used in a robot vacuum gripper application is capable of drawing a negative pressure of 4.0Ib/in.2 compared to atmospheric pressure. The gripper is to be used for lifting stainless steel plates, each plate having dimensions of 15 by 35 in. and weighing 52 lb. Determine the diameter of the suctions cups to be used for the robot gripper if it has been decided that two suction cups will be used for the gripper for greater stability. A factor of safety of 1.5 should be used in the design computations.

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