GET 255 Robotics Systems Design

Week 10
Case Study Work Cell Design
Reference
(Ch 4, pp160-201, Projects and Case Study Problems - #7)
(Ch 12, study Sections 12-5 to 12-8, work Case Study Problem #13)
Ch 4, Case Study Problem #7
Read the West-Electric case study (Sections 12-7) where the gripper design is
discussed. Determine the normal force (in lbs) required on the part for the
following specifications:
(1) a 50 percent safety factor is present
(2) the gripper force is determined using the heaviest part
(3) maximum robot acceleration of 3 feet per second squared occurs
upward at a 60 degree angle off the vertical.
(4) the parts handled vary in weight from 3 to 16 ounces and are made
from titanium or stainless steel bar stock that varies in diameter
from to 1-1/2 inches.
(5) the coefficient of static friction between the part and gripper is
approximately 0.7 in all cases.
(6) assume the contact area between the part and gripper (on each
side) is approximately 0.03 inches squared.
Ch 12, Case Study Problem #13
The gripper finger proposed by the design team is shown in the figure below.

If the mass properties analysis of this gripper finger indicates that the volume
of the material is 6.04 cubic inches, calculate the weight of two fingers for the
following two cases:
(1) if they are made from stainless steel ( = 0.28 lb/in3);
(2) if they are made from tungsten ( = 0.16 lb/in3).