Generative design of 3D printed grippers for robot/human collaborative environments

Idoia Altuna-Galfarsoro, Antonio Serrano-Munoz, Iker Castro Alfaro, Jon Aurrekoetxea, Nestor Arana-Arexolaleiba

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

1 Citation (Scopus)

Abstract

This paper aims to design a gripper for disassembling the refrigerator door gasket with a collaborative robot. The design concept is based on a fixed and robust finger used for guiding, whereas the second finger moves to pinch the gasket. The gripper's working conditions have been characterised by a universal testing machine. Results have shown that the vertical force for extracting the gasket is lower than the collaborative robot's nominal force. Extraction force increases with increasing speed and gasket-length. The second input for the generative design based on topology optimisation is the design space, with an asymmetrical distribution for the moving and static finger. The resulting optimised material distribution has been reinterpreted, taking into consideration the design for additive manufacturing principles. Finally, the gripper has been 3D printed with a short carbon fibre reinforced polyamide in a filament extrusion machine. The resulting gripper is 50% lighter than the monolithic solutions designed and manufactured by conventional technologies.

Original languageEnglish
Title of host publication2021 IEEE International Workshop of Electronics, Control, Measurement, Signals and their Application to Mechatronics, ECMSM 2021
PublisherIEEE
Publication date21 Jun 2021
Article number9468855
ISBN (Electronic)9781538617571
DOIs
Publication statusPublished - 21 Jun 2021
Event15th IEEE International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics, ECMSM 2021 - Liberec, Czech Republic
Duration: 21 Jun 202122 Jun 2021

Conference

Conference15th IEEE International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics, ECMSM 2021
Country/TerritoryCzech Republic
CityLiberec
Period21/06/202122/06/2021
SponsorIAS - IEEE Industrial Application Society, IEEE

Bibliographical note

Funding Information:
ACKNOWLEDGEMENT The authors would like to acknowledge support by European Union’s SMART EUREKA programme under grant agreement S0218-chARmER and the H2020-WIDESPREAD project no. 857061 “Networking for Research and Development of Human Interactive and Sensitive Robotics Taking Advantage of Additive Manufacturing - R2P2”

Funding Information:
The authors would like to acknowledge support by European Union s SMART EUREKA programme under grant agreement S0218-chARmER and the H2020- WIDESPREAD project no. 857061 "Networking for Research and Development of Human Interactive and Sensitive Robotics Taking Advantage of Additive Manufacturing - R2P2"

Publisher Copyright:
© 2021 IEEE.

Keywords

  • Additive Manufacturing
  • Collaborative robotics
  • Disassembling
  • Generative design
  • Grippers

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