Victor

A
Project Report
On
DESIGN AND STRENGTH IMPROVEMENT OF

PARALLEL PNEUMATIC GRIPPERS USED IN INDUSTRIAL
MOTORS BY VARYING THE FORCES AND MATERIALS
Submitted in partial fulfillment of the requirement

For the award of the degree of
BACHELOR OF TECHNOLOGY
IN
MECHANICAL ENGINEERING
Submitted by
BARRE VICTOR 17A35A0346
Under the esteemed guidance of

Ms. B.Siva Naga Ramya M.Tech .,
Assistant Professor of ME
DEPARTMENT OF MECHANICAL ENGINEERING

PRAGATI ENGINEERING COLLEGE
(AUTONOMOUS)
(Approved by AICTE, Permanently Affiliated to JNTUK, KAKINADA)
1-378, ADB Road, Surampalem, Near Peddapuram-53343
2016-2020
PRAGATI ENGINEERING COLLEGE
(AUTONOMOUS)
(Approved by AICTE, Permanently Affiliated to JNTUK, Kakinada )
1-378, ADB Road, Surampalem, Near Peddapuram-533437
CERTIFICATE
DEPARTMENT OF MECHANICAL ENGINEERING
This is to certify that the project report entitled “DESIGN AND STRENGTH IMPROVEMENT
OF PARALLEL PNEUMATIC GRIPPERS USED IN INDUSTRIAL MOTORS BY VARYING THE
FORCES AND MATERIALS” is being submitted by Barre Victor (17A35A0346) , in partial fulfilment
for the award of the Degree of Bachelor of Technology, during the year 2016-2020 in Mechanical
Engineering of Pragati Engineering College, for the record of a bonafide work carried out by them.
Project Guide: Head of the Department:

Ms. B.SIVA NAGA RAMYA M.Tech ., Dr. B.S.V. RAMA RAO ME., Ph.D .,
Assistant Professor Professor
Department of ME Department of ME
External Examiner
ACKNOWLEDGEMENT
I express my thanks to project guide Ms. Siva Naga Ramya, Assistant Professor of
Mechanical Engineering, who deserves a special note of thanks and gratitude, for having extended
their fullest co-operation and guidance, without this, project would never have materialized.
I express my deep sense of gratitude to Mr. B.S.V. RAMA RAO, Professorand Head of
the Department of Mechanical Engineering, for having shown keen interest at every stage of
development of our project and for guiding us in every aspect.
I wish to express my special thanks to our beloved Dr. S. SAMBHU PRASAD , Professor
& Principal for giving guidelines and encouragement.
I wish to express sincere gratitude to our beloved and respected Dr. P. KRISHNA RAO,
Chairman and Sri. M. V. HARANATHA BABU, Director (Management) and Sri. M. SATISH,
Vice-President for their encouragement and blessings.
I am thankful to all our faculty members of the Department for their valuable suggestions.
Our sincere thanks are also extended to all the teaching and non-teaching staff of Pragati Engineering
College.
BARRE VICTOR 17A35A0346

ABSTRACT
Pneumatically operated industrial grippers have been commercially available for only a few
decades. Prior to this, most gripping mechanisms were designed and built by machine builders employing a
combination of pneumatic cylinders and external tooling for each individual application. Their most
common purpose is to grasp or enclose parts for transfer, insertion, or assembly in automated
manufacturing and processing systems. Additional uses may include operating in environments that are
hazardous for human presence.
Pneumatic grippers provide their motion and actuation by introducing compressed air into a
chamber of the device and powering a piston or a rolling diaphragm attached to a rod. The resultant motion
of that rod is then converted mechanically to some form of gripping motion. Grippers are typically
available in either an angular or parallel jaw version. The term parallel implies that the gripping surfaces of
the jaws remain parallel to one another throughout the gripper’s travel.
CONTENTS
S No. Description Pg No.
1 INTRODUCTION
1.1 Introduction 1-2

1.2 History 3-4
1.3 Working Principle 4
1.4 Clasification 5
1.5 Types of Grippers 6-7
1.6 Application 8
1.7 Advantages 9
1.8 Disadvantages 9
2 LITERATURE REVIEW 10
3 INTRODUCTION OF SOLID WORKS & FEA
3.1 Introduction of Solid Works 11
3.1.1 Engineering Design 11
3.1.2 Different modules in Solid Works 11
3.2 Introduction of FEA 12-13
4 TYPES OF ENGINEERING ANALYSIS
4.1 Vibrational 14
4.2 Heat Tranfer 14
4.3 Results of Finite Element Analysis 15
5 INTRODUCTION OF ANSYS
5.1 Introduction 16
5.2 Generic Steps to Solving any Problem in Ansys 16
5.3 Specific Capabilities of Ansys 17-20

6 DESIGN AND ANALYSIS
6.1 Main Design 21-24
6.1.1 Analysis of a Main model with Poly Carbonate 24-29
6.1.2 Analysis of a Main model with Stainless Steel 30-33
6.1.3 Analysis of a Main model with Aluminium 2024 34-37
6.2 Modification-1 38-40
6.2.1 Analysis of a Modification 1 with Poly Carbonate 41-45
6.2.2 Analysis of a Modification 1 with Stainless Steel 46-49
6.2.3 Analysis of a Modification 1 with Aluminium 2024 50-53
6.3 Modification-2 54-56
6.3.1 Analysis of a Modification 2 with Poly Carbonate 57-63
6.3.2 Analysis of a Modification 2 with Stainless Steel 64-67
6.3.3 Analysis of a Modification 2 with Aluminium 2024 68-70
7 TABULAR DATA & GRAPHICAL REPRESENTATION
7.1 Table Chat for Stress 71

7.2 Table Chat for Strain 71
7.3 Total Deformation 72
7.4 Directional Deformation of Chat 73
8 CONCLUSION 74
9 REFERENCES 75
CHAPTER-1
INTRODUCTION
1.1 INTRODUCTION
Robotic is defined as the study, design and use of robotic systems for manufacturing. With the rise in
manufacturing industrial activities, a robotic arm is invented to help various industries to perform a task or
work instead of using manpower. Robots are generally used to perform unsafe, hazardous, highly
repetitive, and unpleasant tasks. Robot can perform material handling, assembly, arc welding, resistance
welding, machine tool load and unload function, painting and spraying, etc. It is very useful because it
possesses high precision, intelligence and endless energy levels in doing work compared to human being.
For an example, a robotic arm is widely used in the assembling or packing line by lifting the small objects
with repetitive motion that human couldn’t bear to do in a long period of time. The light material lifting
task can be done by the robotic arm efficiently and time-saving because it is not restricted by fatigue or
health risks which man might experience.
There are mainly two different types of robots which are service robot and an industrial robot. Service
robot is operated semi or fully autonomously to perform service useful to the well-being of humans and
equipment’s except manufacturing operation. On the other hand, industrial robot is officially defined by
ISO as an automatically controlled and multipurpose manipulator programmable in three or more axis.
An industrial robot is a re-programmable multifunctional manipulator design to move material, parts, tools,
or specialized devices through variable programmed motion for performance of a variety of tasks. This is
the definition from the Robot Institute of America to reflect main features of modern robot systems. An
industrial robot system can include any devices or sensors together with the industrial robots to perform its
tasks as well as sequencing or monitoring communication interfaces.
Because of the wide variety of objects manipulated in industrial processes, many different grippers, based
on different principles, have been developed. Gripper choice or gripper design is often considered the last
problem to be solved when a process is automatized. Since human beings are very familiar with object
prehension, The process of automatizing the grasping of an object is often underestimated. In fact, when
objects have to be grasped in an automatic way, many problems arise: many depend on the object physical
properties (e.g. porosity and deformability), but also the conditions in which the object is fed and the
characteristics of handling, positioning and releasing increase the complexity of the gripper choice. Parts
correctly fed require a less versatile gripper, while in bin picking situation the gripper has to properly grasp
pieces with different positions, orientations, part tangling, etc. Similarly, high accelerations, reorientations,
high precision releasing etc. during the handling phase, increase the constraints in the gripper design or
choice. Mechanical paws and rubber suction cups are the most commonly used end-effectors, but because
they have to make contact with the work piece, they may cause some damage to it. For instance, they may
Pragati Engineering College (Autonomous) Page 1

induce mechanical scratches, local stress concentration, frictional static electricity, or blots on the work
piece. Such damage is usually fatal to precision work pieces such as LCD glass substrates, and silicon
wafers. Furthermore, in the food and
pharmaceutical industries, contact between the end-effectors and the work piece may cause contamination,
reducing the quality of the products. In addition, usually they need control strategies which are sometimes
very complicated. In order to solve these problems, researchers have developed a variety of noncontact
handling devices also. developed a non-contact end effectors for handling of bakery products. The
pneumatic non-contact gripper, which uses air as the force transmission medium, is widely used. It does
not produce a magnetic field or need feedback control. In addition, it has a simple construction and is easy
to maintain Recently, diverse types of robot hands have been developed all over the world. The types of
robot hands can be largely divided into two groups: dexterous robot hands and gripper type hands.
Dexterous robot hands can handle various objects skilfully and can undertake humanlike motions such as a
handshake and sign language in addition to gripping objects like human hands, but there are several
problems that must be resolved. Due to their complex structure, they do not have sufficient gripping power.
Moreover, they are expensive for a service robot. Next, gripper-type hands are used only to grip an object.
They usually have one or two DOF and are commonly used in industrial fields. Because they have a simple
structure, they also have a high payload/weight ratio and are reasonably priced. However, they cannot grip
a wide range of objects and do not have a human-friendly shape.
Their main functions are dependent on specific applications and include:

Temporary maintenance of a definite position and orientation of the work piece relative to the gripper and
the handling equipment.
Holding back static, dynamic or process specific forces and moments.
Determining and changing position and orientation of the object relative to the handling equipment by
wrist axes.
Specific technical operations to be performed.

1.2 HISTORY
It all began in 1969: After much toil in the school’s machine and computer labs, Stanford University
mechanical-engineering student Victor Scheinman developed his Stanford arm, an early robot that would
come to be known as the first readily controllable gripper. Predecessors such as the Hydraulic Stanford arm
were effective and fast, but known for being uncontrollable and even dangerous.
In contrast, Scheinman’s better-behaved Stanford arm was steerable by Stanford-lab computers in six full
degrees of freedom; dc electric motors with gear reducers and harmonic drives generated its motion.
By the early 1980s, rougher gripper designs inspired by the Stanford arm (and made possible with
increasingly powerful microchips) were in mass production, and used in heavy industry. Though many
Stanford-arm feedback and control elements were copied (feedback tachometers and potentiometers sent
speed and position to controllers) most early industrial arms were powered by air, and used for automotive
manufacturing. Coincidentally, that legacy survives: Many of the latest gripper advancements come from
the field of fluid power, and the majority of grippers are still pneumatic.
Gripper evolution
The original Stanford arm included something called a parallel gripper; this ubiquitous design, still
common today, consists of two straight-bar fingers actuated to simply slide together or move apart to grip
and release objects. ―Two-finger grippers are most commonly used in industry today, because of their
stroke versatility,‖ says Jesse Hayes, product manager of automation components at Schunk Inc.,
Morrisville, N.C.
A variation — the two fingered angle grippers — came in the late 1970s. Each of the two fingers in this
design swings on a pivot point, closing like a gate or lobster claw on target objects. What’s the difference
between parallel and angle action? Parallel jaw action simplifies finger design, and force remains the same
throughout the stroke — unlike some two-finger angular grippers. The parallel design also offers distinct
design options: Grippers with a direct-acting piston and wedge allow for shorter stroke and high grip force,
to 10,000 lbf. By comparison, straight direct-piston grippers generate slightly smaller force, but offer
longer strokes, to 24 in. in some cases. ―I would estimate that 60 to 70% of applications end up using
parallel grippers,‖ adds Hayes. Many of these units leverage fluid power as well, though some grippers are
offered in both pneumatic and electromechanical versions.
The next gripper innovation came in the late 1980s: A three-finger grasper, developed at the Massachusetts
Institute of Technology was licensed to spinoff Barrett Technology Inc., Cambridge, Mass., in 1990. The
design, now called the Barrett hand, embeds servo controllers, software, communication, and four
brushless

motors. Two fingers have an extra degree of freedom, with 180° synchronous lateral mobility for lots of
ways to grasp.
Grip and Rotate

Where pneumatics power grippers with traditional cylinders, instead of suctioning, multiple air
supplies are usually required. This is certainly true for dual-motion units that both rotate and grip —
another development of the last several years. For example, DGP404 parallel modules made by Techno-
Sommer Automatic, New Hyde Park, N.Y., grip and rotate — turning parts either 90° or 180° (with T-slot
guides that absorb forces and moments) while a separate pneumatic connection activates finger-grasping
action. In some cases, to boost efficiency, a mechanical retainer holds after pneumatics establish initial
grip. The inspiration of the Stanford arm is still evident here: In the old breakthrough design,
electromechanical brakes and slip clutches held joints in position (when the early-generation controller was
busy directing other linkages) and prevented collision damage.
Another rotating gripper is a miniaturized unit from Schunk Inc. Their RP unit produces and assembles
minuscule components. A Schunk RM rotary module is combined with a pneumatic parallel gripper, which
can be equipped with different ID or OD grip-force safety devices, for semi-custom designs. Combining
rotating (―wrist‖) action with gripping does require mechanical design modifications: In some cases, grip
drives are fitted with longer piston rods to operate on rotary module. Besides robot arms and delta robots, a
third mounting option for grippers is on Cartesian gantries; this setup is more common with fingered
grippers. To ease mounting here, Schunk’s rotators have standardized hole patterns to connect to adapter
plates and Gemotec modules — the products of a manufacturer that Schunk acquired in 2006. This makes
combining grippers with linear units easier, to quickly build on pick-and-place, gantry, and complete-
function units.
1.3 WORKING PRINCIPLE
The parallel jaw gripper has at least two fingers which can be moved towards each other along
one axis. Usually, the fingers can be moved independently from each other in order not to shift the object,
but they are only able to perform simple operations like open and close. Thereby, a longitudinal or side
movement is impossible. A parallel jaw performs, a manual control to steer the gripper must be possible for
enabling the highest flexibility.  The principles which are followed in this type of parallel jaw gripper are:
The force closure grip:  The characteristic of the force closure grip is that the gripper keeps the object in a
stable state by compensating all forces and torques created by the object. The sum of all forces and sum of
all torques must equal zero (ΣF=0; ΣM=0). The force closure grip can be differentiated into a grip with
friction and without friction. The force closure grip without friction is much idealized and not very
common in daily use; therefore,

it is no further mentioned. The force closure grip with friction requires at least contact points for gripping a
planar object and at least 4 contact points for a three-dimensional object.
The form closure grip is the second principle for gripping objects. This grip is feasible, because the gripper
is a negative model of the object (or a part of it) which limits the movement of the object within the gripper
in any direction, also when changing the gripper orientation.  The force is compensated on well specified
contact surfaces. Tangential load, pressure load and torque are not considered, but are instead reduced to
the corresponding forces. The gripper must either make use of a special geometry (i.e. negative model of
the object), or a significant number of fingers are required.
GRIPPER FORCE CALCULATION
The gripping force required at the jaws of a gripper can be calculated as below:
Friction force= μ× gripping force ≥ (𝑎+𝑔) ∗𝑚/2
Gripping force = (𝑎+𝑔) ∗𝑚/2∗ µ = Reaction force at Jaws
Where, m is the mass of object
a is the acceleration imparted by robot
g is the acceleration due to gravity
μ is the coefficient of friction between object and Jaws of the gripper
1.4 Clasification
These are the type of robots which have the capability to grasp definite objects and then reposition it
according to requirement. The robotic grippers have two basic parts. They are the manipulators and end
effectors. The manipulators are the working arm of the robot whereas the End effectors are the hands of the
robot. Generally, the robots are connected with replaceable end effectors for which they can perform wide
range of functions with same fixed manipulators. The end effectors are actuated by various mechanisms
which include mechanical drives, electrical drives, hydraulic drives and Pneumatic drives. Among this the
widely used one is the hydraulic grippers but the most favourable one is the pneumatic gripper

1.5 TYPES OF GRIPPERS
The joint in the kinematic chain between robotic arm and the hand or tool is referred to as robot wrist.
Depending on the application, wrist may have one or more DOF. The arm and wrist assemblies of a robot
are used for positioning the end-effectors. It is the end – effectors that actually performs the work. It must
grasp, lift and manipulate the work piece without causing damage to it and without letting it go. The
simplest form of end-effector is the gripper. Being less adaptable than human hand/artificial hands, it needs
to be designed specifically for a particular application.
According to number of fingers: The number of fingers refers to the number of contact surfaces of a
gripper which interact with a part being grasped. 2-jaw grippers are the simplest of all kinds. 3-jaw
grippers can form an enclosed grip of the part providing more secure grasps. Anthromorphic hands or
grippers are the one having more than four fingers with many degrees of freedom suitable for adaptable
grasping of irregular parts

According to type of mechanisms used: The linkage category covers a wide range of design possibilities to
actuate the opening and closing of the gripper. The design of linkage determines how input force Fa to the
gripper is converted in to gripping force Eg applied by the fingers. The linkage configuration also
determines other operational features such as how wide gripper fingers will open and how quickly the
gripper will actuate. Gear and each actuation cover the method of actuating the gripper
There are four robot gripper types:
 Vacuum grippers,
 Pneumatic grippers,
 Hydraulic grippers,
 Servo-electric grippers
Gripper evolution began with parallel varieties
The original Stanford arm included something called a parallel gripper; this ubiquitous design, still
common today, consists of two straight-bar fingers actuated to simply slide together or move apart to grip
and release objects. ―Two-finger grippers are most commonly used in industry today, because of their
stroke versatility,‖ says Jesse Hayes, product manager of automation components at Schunk Inc.,
Morrisville, N.C.
According to type of actuation used:
This classification of gripper is based upon the actuator source used by the gripper. Pneumatic grippers use
pressurized air as a source for movement of its fingers by applying pneumatic actuators like pneumatic
motors, cylinders, etc. Pneumatic grippers are most simple of all types. Also, they provide highest gripping
force per unit weight. Hydraulic grippers on other hand are more powerful grippers making use of
hydraulic actuators but increase the system weight due to auxiliary needs like a tank, compressor, oil
recirculating channels, etc. Electric actuators can on other hand provide added advantages like highly
efficient and clean systems. Being easily controllable, its use is increasing day by day.

1.6 APPLICATION OF ROBOTIC GRIPPERS
Grippers for Industry

They are commonly defined as grippers used for mass production purposes that are mounted on a
stationary platform. The industrial grippers can be studied through different aspects such as geometrical
condition of grasping, position and orientation of grasping, static equilibrium of grasped object, and
dynamic conditions. We mainly focus on the performance, adaptability and flexibility of the grippers. The
first industrial robot was the UNIMATE installed in a General Motors assembly plant in 1961. This was a
rigid parallel manipulator that grasped hot pieces of die cast metal. Since then, many companies have
embraced robotic gripping technology and have developed different drive mechanisms. These were
typically driven by electric motors or hydraulic actuators, but more recently piezoelectric and shape
memory alloys are being used for actuation.
Grippers for Known Environments Grippers that are used in known environments typically have parts
that come on an assembly line. The parts are positioned in predefined orientations, which make it easier for
the gripper to pick up the object. These grippers can use servos, non-contact, contact, or a combination of
sensors for feedback. Sensor scan include hall sensors, accelerometers, ultrasonic, or photo electric sensors
to name a few. This can be used for detecting many variables such as: position, force, torque, velocity, and
acceleration.
Grippers for Unknown Environments In many cases, grippers might be tasked for pick-and-place
operations without knowing the conditions of the environment. Different design and techniques have been
developed to increase the flexibility of grippers in unknown environment such as using vision systems,
sensory feedbacks, and novel mechanism with flexibility in gripping. Camera systems are used to detect the
presence of objects. One of the first parallel grippers designed with camera systems was in. This was built
to pick up randomly oriented work pieces from a bin. Since then, increased computing power and finer
resolution vision systems were developed for gripping. In order to pick up the object, the operator simply
had to point using their finger within the workspace of the robot.
Grippers for Fragile Objects
With the improvement of end-effector sensors, the idea of picking up fragile objects was explored. In an
end-effector was designed for harvesting lettuce. This design included a machine vision device, six
photoelectric sensors and a fuzzy logic controller. The designed end effector was able to harvest lettuce at a
rate of 5 s per lettuce with a success rate of 94.12%. In an enclosed hygienic food gripper was designed
with force feedback sensors. One finger on the gripper is stationary while the other finger moves by
magnetic attraction. The actuator is placed inside with an inner magnet while an outer magnet moves the
finger on the outside of the container.

Grippers for Medical Applications
In use of robotic grippers in surgery, one of the main issues is the lack of force feedback and damaging the
biological tissues. Soft bodied grippers are very suitable in the medical field based on their self-limiting
and intrinsic safety features, which provides safe interaction with biological tissues. In a soft gripper design
is developed for delicate and safe interaction in minimally invasive surgery. As reported, this design could
enforce maximum force of 1 N. They used elastomeric material and discussed that their design is easily
scalable.
Micro and Nano Grippers
Different designs and technologies have been developed for micro and nano gripping by employing
advancements in micro and nano electromechanical devices. MEMS were developed to grip micro-sized
objects. These have been used in the semi-conductor industry where parts are assembled on a wafer
substrate. They are also used for manipulating bio and nano-material.
1.7 Advantages
Lower cost
Fast acting
Large grip force range
Easy to implement custom fingers for application specific requirements.
1.8 Disadvantages
Limited variability in the size or shape of the part to be picked
Limited force/position control capabilities
Air needs to be supplied, prepped, and controlled with external valve

CHAPTER-2
LITERATURE REVIEW
A robotic gripper for picking up two objects simultaneously. In this study, a novel two degree-of-freedom
gripper for industrial manipulators has been designed and developed. The idea behind the study was to pick
up two randomly-arriving objects simultaneously with a single manipulator, so that cycle time and energy
consumption of the manipulator was reduced considerably. But no other gripper suits for this task. So, the
proposed 2-DOFgripper is novel, and differs from the state of-the-art grippers. After performing
preliminary analysis, they got that the 2-DOF gripper resulted in reduced cycle time and energy
consumption in the benchmark PnP operations compared to a single gripper. Cycle time and energy
reduction tests were performed with the single gripper and the 2- DOF gripper. The measurement results
indicated that cycle time and total energy consumption for a given task are reduced considerably. The
findings of the study will redound to the benefit of industry. [Taylan Atakuru, Evren Samur]
A statistical review of industrial robotic grippers. In this review, the authors focused on pneumatically
driven, parallel grippers with two jaws and compiled the specifications of hundreds of products. They
showed that if the number of grippers on the market is large, most of them share similar characteristics
such as a small stroke and limited force. Efficiency as measured by the C-factor on the other hand is quite
distinct from one manufacturer to the other. The C-factor of the grippers studied here range from 0.36 to
28.57, a difference of almost two orders of magnitude. An important limitation of the C-Factor though is
that it does not take into account the cycle time of the gripper. This issue can be very simply solved by
dividing the C-Factor by the latter and thereby quantifying the power-to mass ratio of the gripper, defined
here as the C Factor. The large difference between average and median values of many specifications also
highlights the significant tilt toward the lower end of the spectrum value. This is where the glut of the
products coexists and almost all manufacturers compete. [Lionel Birglen, Thomas Schlicht]
This paper describes the design and implementation of a 3-DOF gripper for EAST in-vessel maintenance.
The gripper prototype was developed based on modular joints and two-finger claw. The integrate design of
the mechanics and electronics, all the external sensors and the optimized control system were presented.
Preliminary tests both on single joint and the full robot have been carried out to evaluate the feasibility of
the gripper. The results show the good potentialities of the design choices, but also some limitations that
are being considered in the next version of the gripper. In addition, more experimental activities will be
demonstrated in vacuum and temperature environment. [Hongtao Pana, Xiang Gaoa, Jianjun Huanga,
Huibin Suna, Xiaodong Lina, Jiangang Lia, Yinxian Jiea, Qing Zanga, Yuntao
Song, Eric Villedieud]

CHAPTER-3
INTRODUCTION TO SOLID WORKS AND FEA
3.1 Introduction of Solid works
The SOLIDWORKS® CAD software is a mechanical design automation application that lets designers
quickly sketch out ideas, experiment with features and dimensions, and produce models and detailed
drawings. This document discusses concepts and terminology used throughout the SOLIDWORKS
application. It familiarizes you with the commonly used functions of SOLIDWORKS
Solid works is integrated with Dassault Systems solutions. It allows the users to simulate their industrial
design processes from initial concept to product design, analysis, assembly and also maintenance. In this
software, it includes mechanical, and shape design, styling, product synthesis, equipment and systems
engineering, NC manufacturing, analysis and simulation, and industrial plant design. It is very user-
friendly software because Solid Works Knowledge ware allows broad communities of user to easily
capture and share know-how, rules, and other intellectual property assets.
3.1.1 Engineering Design

Solid works offers a range of tools to enable the generation of a complete digital representation of the
product being designed. In addition to the general geometry tools there is also the ability to generate
geometry of other integrated design disciplines such as industrial and standard pipe work and complete
wiring definitions. Tools are also available to support collaborative development.
A number of concept design tools that provide up-front Industrial Design concepts can then be used in the
downstream process of engineering the product. These range from conceptual Industrial design sketches,
reverse engineering with point cloud data and comprehensive freeform surface tools.
3.1.2 Different Modules in Solid Works

Sketcher
Part Modelling
Surfacing
Sheet Metal
Drafting
Manufacturing
Shape designs

3.2 INTRODUCTION TO FEA
Finite Element Analysis (FEA) was first developed in 1943 by R. Courant, who utilized the Ritz method of
numerical analysis and minimization of variation calculus to obtain approximate solutions to vibration
systems. Shortly thereafter, a paper published in 1956 by M. J. Turner, R. W. Clough, H. C. Martin, and L.
J. Top established a broader definition of numerical analysis. The paper centred on the "stiffness and
deflection of complex structures".
FEA consists of a computer model of a material or design that is stressed and analysed for specific results.
It is used in new product design, and existing product refinement. A company is able to verify a proposed
design will be able to perform to the client's specifications prior to manufacturing or construction.
Modifying an
existing product or structure is utilized to qualify the product or structure for a new service condition. In
case of structural failure, FEA may be used to help determine the design modifications to meet the new
condition.
There are generally two types of analysis that are used in industry: 2-D modelling, and 3-D modelling.
While 2-D modelling conserves simplicity and allows the analysis to be run on a relatively normal
computer, it tends to yield less accurate results. 3-D modelling, however, produces more accurate results
while sacrificing the ability to run on all but the fastest computers effectively. Within each of these
modelling schemes, the programmer can insert numerous algorithms (functions) which may make the
system behave linearly or non-linearly. Linear systems are far less complex and generally do not take into
account plastic deformation. Non-linear systems do account for plastic deformation, and many also are
capable of testing a material all the way to fracture.
FEA uses a complex system of points called nodes which make a grid called a mesh. This mesh is
programmed to contain the material and structural properties which define how the structure will react to
certain loading conditions. Nodes are assigned at a certain density throughout the material depending on
the anticipated stress levels of a particular area. Regions which will receive large amounts of stress usually
have a higher node density than those which experience little or no stress. Points of interest may consist of:
fracture point of previously tested material, fillets, corners, complex detail, and high stress areas. The mesh
acts like a spider web in that from each node, there extends a mesh element to each of the adjacent nodes.
This web of vectors is what carries the material properties to the object, creating many elements.
A wide range of objective functions (variables within the system) are available for minimization or
maximization:
 Mass, volume, temperature
 Strain energy, stress strain
 Force, displacement, velocity, acceleration

 Synthetic (User defined)
There are multiple loading conditions which may be applied to a system. Some examples are shown:
 Point, pressure, thermal, gravity, and centrifugal static loads
 Thermal loads from solution of heat transfer analysis
 Enforced displacements
 Heat flux and convection
 Point, pressure and gravity dynamic loads
Each FEA program may come with an element library, or one is constructed over time. Some sample
elements are:
 Rod elements
 Beam elements
 Plate/Shell/Composite elements
 Shear panel
 Solid elements
 Spring elements
 Mass elements
 Rigid elements
 Viscous damping elements
Many FEA programs also are equipped with the capability to use multiple materials within the structure
such as:
 Isotropic, identical throughout
 Orthotropic, identical at 90 degrees
 General anisotropic, different throughout

CHAPTER-4
TYPES OF ENGINEERING ANALYSIS
Structural analysis consists of linear and non-linear models. Linear models use simple parameters and
assume that the material is not plastically deformed. Non-linear models consist of stressing the material
past its elastic capabilities. The stresses in the material then vary with the amount of deformation as in.
4.1 Vibrational
Analysis is used to test a material against random vibrations, shock, and impact. Each of these incidences
may act on the natural vibrational frequency of the material which, in turn, may cause resonance and
subsequent failure.
Fatigue analysis helps designers to predict the life of a material or structure by showing the effects of cyclic
loading on the specimen. Such analysis can show the areas where crack propagation is most likely to occur.
Failure due to fatigue may also show the damage tolerance of the material.
4.2 Heat Transfer
Analysis models the conductivity or thermal fluid dynamics of the material or structure. This may consist
of a steady-state or transient transfer. Steady-state transfer refers to constant thermo properties in the
material that yield linear heat diffusion.
4.3 Results of Finite Element Analysis
FEA has become a solution to the task of predicting failure due to unknown stresses by showing problem
areas in a material and allowing designers to see all of the theoretical stresses within. This method of
product design and testing is far superior to the manufacturing costs which would accrue if each sample
was actually built and tested.
In practice, a finite element analysis usually consists of three principal steps:
1. Pre-processing: The user constructs a model of the part to be analysed in which the geometry is
divided into a number of discrete sub regions, or elements," connected at discrete points called
nodes." Certain of these nodes will have fixed displacements, and others will have prescribed loads.
These models can be extremely time consuming to prepare, and commercial codes vie with one
another to have the most user-friendly graphical ―pre-processor" to assist in this rather tedious
chore. Some of these pre-processors can overlay a mesh on a pre-existing CAD file, so that finite
element analysis can be done conveniently as part of the computerized drafting-and-design process.
2. Analysis: The dataset prepared by the pre-processor is used as input to the finite element code
itself, which constructs and solves a system of linear or nonlinear algebraic equations where u and f
are the displacements and externally applied forces at the nodal points. The formation of the K
matrix is dependent on the type of problem being attacked, and this module will outline the
approach for truss and linear elastic stress analyses. Commercial codes may have very large
element libraries, with elements appropriate to a wide range of problem types. One of FEA's
principal advantages is that many problem types can be addressed with the same code, merely by
specifying the appropriate element types from the library.
3. Post processing: In the earlier days of finite element analysis, the user would pore through reams
of numbers generated by the code, listing displacements and stresses at discrete positions within the
model. It is easy to miss important trends and hot spots this way, and modern codes use graphical
displays to assist in visualizing the results. Typical postprocessor display overlays colored contours
representing stress levels on the model, showing a full field picture similar to that of photo elastic or
moiré experimental results.

CHAPTER-5
INTRODUCTION TO ANSYS
5.1 INTRODUCTION
ANSYS is general-purpose finite element analysis (FEA) software package. Finite Element Analysis is a
numerical method of deconstructing a complex system into very small pieces (of user-designated size)
called elements. The software implements equations that govern the behaviour of these elements and solves
them all; creating a comprehensive explanation of how the system acts as a whole. These results then can
be presented in tabulated or graphical forms. This type of analysis is typically used for the design and
optimization of a system far too complex to analyse by hand. Systems that may fit into this category are
too complex due to their geometry, scale, or governing equations.
ANSYS is the standard FEA teaching tool within the Mechanical Engineering Department at many
colleges. ANSYS is also used in Civil and Electrical Engineering, as well as the Physics and Chemistry
departments.
ANSYS provides a cost-effective way to explore the performance of products or processes in a virtual
environment. This type of product development is termed virtual prototyping.
With virtual prototyping techniques, users can iterate various scenarios to optimize the product long before
the manufacturing is started. This enables a reduction in the level of risk, and in the cost of ineffective
designs. The multifaceted nature of ANSYS also provides a means to ensure that users are able to see the
effect of a design on the whole behavior of the product, be it electromagnetic, thermal, mechanical etc.
5.2 GENERIC STEPS TO SOLVING ANY PROBLEM IN ANSYS:

Like solving any problem analytically, you need to define (1) your solution domain, (2) the physical
model, (3) boundary conditions and (4) the physical properties. You then solve the problem and
present the results. In numerical methods, the main difference is an extra step called mesh
generation. This is the step that divides the complex model into small elements that become
solvable in an otherwise too complex situation. Below describe the processes in terminology
slightly more attune to the software.
BUILD GEOMETRY
Construct a two- or three-dimensional representation of the object to be modelled and tested
using the work plane coordinates system within ANSYS.
DEFINE MATERIAL PROPERTIES

Now that the part exists, define a library of the necessary materials that compose the object
(or project) being modelled. This includes thermal and mechanical properties.
GENERATE MESH
At this point ANSYS understands the makeup of the part. Now define how the modelled
system should be broken down into finite pieces.
APPLY LOADS
Once the system is fully designed, the last task is to burden the system with constraints, such
as physical loadings or boundary conditions.
OBTAIN SOLUTION
This is actually a step, because ANSYS needs to understand within what state (steady state,
transient… etc.) the problem must be solved.
PRESENT THE RESULTS
After the solution has been obtained, there are many ways to present ANSYS’ results,
choose from many options such as tables, graphs, and contour plots.
5.3 SPECIFIC CAPABILITIES OF ANSYS:
STRUCTURAL
Structural analysis is probably the most common application of the finite element method as it implies
bridges and buildings, naval, aeronautical, and mechanical structures such as ship hulls, aircraft bodies, and
machine housings, as well as mechanical components such as pistons, machine parts, and tools.
Static Analysis
Used to determine displacements, stresses, etc. under static loading conditions. ANSYS can compute both
linear and nonlinear static analyses. Nonlinearities can include plasticity, stress stiffening, large deflection,
large strain, hyper elasticity, contact surfaces, and creep.
Modal Analysis
A modal analysis is typically used to determine the vibration characteristics (natural frequencies and mode
shapes) of a structure or a machine component while it is being designed. It can also serve as a starting
point for another, more detailed, dynamic analysis, such as a harmonic response or full transient dynamic
analysis.
Modal analyses, while being one of the most basic dynamic analysis types available in ANSYS, can also be
more computationally time consuming than a typical static analysis. A reduced solver, utilizing
automatically or manually selected master degrees of freedom is used to drastically reduce the problem size
and solution time.
Harmonic Analysis- Used extensively by companies who produce rotating machinery, ANSYS Harmonic
analysis is used

to predict the sustained dynamic behaviour of structures to consistent cyclic loading. Examples of rotating
machines which produced or are subjected to harmonic loading are:
 Turbines
o Gas Turbines for Aircraft and Power Generation
o Steam Turbines
o Wind Turbine
o Water Turbines
o Turbo pumps
 Internal Combustion engines
 Electric motors and generators
 Gas and fluid pumps
 Disc drives
A harmonic analysis can be used to verify whether or not a machine design will successfully overcome
resonance, fatigue, and other harmful effects of forced vibrations.
Transient Dynamic Analysis - Used to determine the response of a structure to arbitrarily time-
varying loads. All nonlinearities mentioned under Static Analysis above are allowed.
·Buckling Analysis - Used to calculate the buckling loads and determine the buckling mode shape.
Both linear (eigenvalue) buckling and nonlinear buckling analyses are possible.
In addition to the above analysis types, several special-purpose features are available such as Fracture
mechanics, Composite material analysis, Fatigue, and both p-Method and Beam analyses.
THERMAL
ANSYS is capable of both steady state and transient analysis of any solid with thermal boundary
conditions.
Steady-state thermal analyses calculate the effects of steady thermal loads on a system or component. Users
often perform a steady-state analysis before doing a transient thermal analysis, to help establish initial
conditions. A steady-state analysis also can be the last step of a transient thermal analysis; performed after
all transient effects have diminished. ANSYS can be used to determine temperatures, thermal gradients,
heat flow rates, and heat fluxes in an object that are caused by thermal loads that do not vary over time.
Such loads include the following:
 Convection
 Radiation
 Heat flow rates
 Heat fluxes (heat flow per unit area)
 Heat generation rates (heat flow per unit volume)
 onstant temperature boundaries

A steady-state thermal analysis may be either linear, with constant material properties; or nonlinear, with
material properties that depend on temperature. The thermal properties of most material vary with
temperature. This temperature dependency being appreciable, the analysis becomes nonlinear. Radiation
boundary conditions also make the analysis nonlinear. Transient calculations are time dependent and
ANSYS can both solve distributions as well as create video for time incremental displays of models.
FLUID FLOW
The ANSYS/FLOTRAN CFD (Computational Fluid Dynamics) offers comprehensive tools for analysing
two-dimensional and three-dimensional fluid flow fields. ANSYS is capable of modelling a vast range of
analysis types such as: air foils for pressure analysis of airplane wings (lift and drag), flow in supersonic
nozzles, and complex, three-dimensional flow patterns in a pipe bend. In addition, ANSYS/FLOTRAN
could be used to perform tasks including:
 Calculating the gas pressure and temperature distributions in an engine exhaust

manifold
 Studying the thermal stratification and breakup in piping systems
 Using flow mixing studies to evaluate potential for thermal shock
 Doing natural convection analyses to evaluate the thermal performance of chips in
electronic enclosures
 Conducting heat exchanger studies involving different fluids separated by solid
regions
ACOUSTICS / VIBRATION
ANSYS is capable of modelling and analysing vibrating systems in order to that vibrate in order to analyse
Acoustics is the study of the generation, propagation, absorption, and reflection of pressure waves in a fluid
medium. Applications for acoustics include the following:
 Sonar - the acoustic counterpart of radar
 Design of concert halls, where an even distribution of sound pressure is desired
 Noise minimization in machine shops
 Noise cancellation in automobiles
 Underwater acoustics
 Design of speakers, speaker housings, acoustic filters, mufflers, and many other
similar devices.
 Geophysical exploration
Within ANSYS, an acoustic analysis usually involves modelling a fluid medium and the surrounding
structure. Characteristics in question include pressure distribution in the fluid at different frequencies,
pressure gradient, and particle velocity, the sound pressure level, as well as, scattering, diffraction,
transmission, radiation, attenuation, and dispersion of acoustic waves. A coupled acoustic analysis takes
the fluid-structure interaction into account. An uncoupled acoustic analysis models only the fluid and
ignores any fluid-structure interaction.
The ANSYS program assumes that the fluid is compressible, but allows only relatively small pressure
changes with respect to the mean pressure. Also, the fluid is assumed to be non-flowing and in viscid (that
is, viscosity causes no dissipative effects). Uniform mean density and mean pressure are assumed, with the
pressure solution being the deviation from the mean pressure, not the absolute pressure.
COUPLED FIELDS
A coupled-field analysis is an analysis that takes into account the interaction (coupling) between two or
more disciplines (fields) of engineering. A piezoelectric analysis, for example, handles the interaction
between the structural and electric fields: it solves for the voltage distribution due to applied displacements,
or vice versa. Other examples of coupled-field analysis are thermal-stress analysis, thermal-electric
analysis, and fluid-structure analysis.
Some of the applications in which coupled-field analysis may be required are pressure vessels (thermal-
stress analysis), fluid flow constrictions (fluid-structure analysis), induction heating (magnetic-thermal
analysis), ultrasonic transducers (piezoelectric analysis), magnetic forming (magneto-structural analysis),
and micro-electro mechanical systems (MEMS).

CHAPTER-6
DESIGN and ANALYSIS
6.1 Main Design

6.1.1 Analysis of a Main model with poly carbonate
Here in the above figure we can see the original designed model of the chassis frame structure. This file is
designed in Solid Works and it has been converted to STP format file as to import in to the Ansys for the
validation. Here initially after opening of the Ansys geometry file, we can see an option import external
geometry file, as this is designed in external software, and it is called as an external geometry. We can find
that in the file option situated in the menu bar. Then later on we have to set the standards of length to
―mm‖. Now close the file and proceed to meshing

The above figure represents the meshed file, as this is the next step to the geometry file. Here mesh is
created as to create nodes and elements. As to find out the best output approximately this is required to do
as possible as to smaller nodes. As in meshing a set of nodes are called as element. Here in meshing there
are different types of meshing ways, such as tetra mesh, quadrilateral mesh, prism mesh, triangular mesh
and hexa mesh. Here in this project we have used triangular mesh with fine mesh model
Above Figure Shows Inlet and Outlet Flow

Equivalent stress
Above figure shows equivalent (von-mises) stress

Equivalent elastic strain
Above figure shows Equivalent elastic strain

Total deformation
Above figure shows Total deformationDirectional deformation

Above figure shows Directional deformation

6.1.2 Analysis of a Main model with stainless steel
Equivalent stress


Total deformation
Above figure shows Total deformation

Directional deformation

6.1.3 Analysis of a Main model with aluminium 2024
Equivalent stress


Total deformation


6.2 Modification 1

All Dimension Are In MM

6.2.1 Analysis of a modification 1 with poly carbonate

are different types of meshing ways, such as tetra mesh, quadrilateral mesh, prism mesh, triangular mesh
and hexa mesh. Here in this project we have used triangular mesh with fine mesh model

Equivalent stress

Total deformation


6.2.2 Analysis of a modification 1 with stainless steel
Equivalent stress


Total deformation


6.2.3 Analysis of a modification 1 with aluminium 2024
Equivalent stress


Total deformation


6.3 Modification Design 2

All Dimension Are In MM

6.3.1 Analysis of a modification 2 with poly carbonate

are different types of meshing ways, such as tetra mesh, quadrilateral
mesh, prism mesh, triangular mesh and hexa mesh. Here in this project we have used triangular mesh with
fine mesh model


Equivalent stress


Total deformation


6.3.2 Analysis of a modification 2 with stainless steel
Equivalent stress


Total deformation


6.3.3 Analysis of a modification 2 with aluminium 2024
Equivalent stress

Total deformation


CHAPTER-7
TABULAR DATA & GRAPHICAL REPRESENTATION
7.1 Table for stress
Main Model Model 1 Model 2

poly carbonate 1588.1mpa 2450.4mpa 2478.9mpa
stainless steel 3102.7mpa 2785.9mpa 4233mpa
aluminium 2024 1740.1mpa 2452.5mpa 3111.9mpa
stress
5000
4000
3000
2000
1000
0
poly carbonate stainless steel aluminium 2024
7.2 Table Chat for strain

poly carbonate 0.35925 0.59546 0.6012
stainless steel 0.011133 0.00096258 0.021985
aluminium 2024 0.02744 0.034174 0.034236

strain
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
7.3 Total deformation
poly carbonate 25.891 35.679 38.792

stainless steel 1.2239 1.0833 2.4875
aluminium 2024 2.045 2.3198 4.2634
Total deformation
45
40
35
30
25
20
15
10
0

7.4 Directional deformation chart

poly carbonate 2.6832 0.27475 0.70538
stainless steel 0.01051 0.16188 0.5115
aluminium 2024 0.01056 0.15122 0.57244
Directional deformation chart

3
2.5
1.5
0.5
0

CHAPTER-8
CONCLUSION
We have gone through different research papers, articles and had observed the advanced technologies used
in other industries for the similar operation. After related study we have achieved the design of a 3-jointed
robotic arm were the base is fixed and the remaining joints move in vertical and horizontal directions. The
end effector is also designed such that to lift the sheet we use suction cups were the sheet is uplifted with a
certain pressure. Here we used Catia for design and ANSYS to simulate the designed model. Here we shall
optimize the design and even materials to get the best output in the terms of deformation.
As if we verify here the analysis is done using 3 models with 3 materials. So as if we verify the ansys
results in the tabular form. As if we verify the results here the deformation is very less for the model one
using stainless, as if we see the stress is a little bit higher than the polycarbonate material, but as if the
stress is more the deformation is very less than the polycarbonate material. And even the material cost of
stainless steel is very less than the polycarbonate material.

CHAPTER-9
REFERENCES
1] I. Standard, 8373: 1994.

2] ―A robotic gripper for picking up two objects simultaneously‖Taylan Atakuru, Evren Samur
3] ―A statistical review of industrial robotic grippers‖ Lionel Birglen, Thomas Schlicht

4] ―Axiomatic Design of a linear motion robotic claw with interchangeable Grippers‖Bjartmar Freyr
Erlingsson, Ingólfur Hreimsson, Páll Indriði Pálsson, Sigurður Jóhann Hjálmarsson, Joseph Timothy
Foley
5] ―Design and implementation of 3-DOF gripper for maintenances tasks in EAST vacuum vessel‖
Hongtao Pan, Xiang Gao, Jianjun Huang, Huibin Sun, Xiaodong Lin, Jiangang Li,Yinxian Jie, Qing Zang,
Yuntao Songc, Eric Villedieu
6] ―design and optimisation of robotic gripper: a review‖ Vaibhav Raghav, Jitender Kumar and Shailesh
S.Senger
7] G. Katal, S. Gupta, and S. Kakkar, "DESIGN AND OPERATION OF SYNCHRONIZED
ROBOTIC ARM."
8] J. L. Jones, "Robots at the tipping point: the road to iRobot Roomba," Robotics & Automation
Magazine, IEEE, vol. 13, pp. 76-78, 2006.
9] A. C. McDonald, "Robot technology: theory, design and applications," Sir Sanford Fleming Coll.,
Ontario1986.
10] S. Yu, X. Yu, B. Shirinzadeh, and Z. Man, "Continuous finite-time control for robotic
manipulators with terminal sliding mode," Automatica, vol. 41, pp. 1957-1964, 2005.
11] M. Hägele, K. Nilsson, and J. N. Pires, "Industrial robotics," in Springer handbook of robotics, ed:
Springer, 2008, pp. 963-986

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A

DESIGN AND STRENGTH IMPROVEMENT OF

Submitted in partial fulfillment of the requirement

BARRE VICTOR 17A35A0346

Under the esteemed guidance of

DEPARTMENT OF MECHANICAL ENGINEERING

Project Guide: Head of the Department:

BARRE VICTOR 17A35A0346

1.1 Introduction 1-2

3 INTRODUCTION OF SOLID WORKS & FEA

3.1 Introduction of Solid Works 11

3.1.1 Engineering Design 11

3.1.2 Different modules in Solid Works 11

3.2 Introduction of FEA 12-13

4 TYPES OF ENGINEERING ANALYSIS

4.2 Heat Tranfer 14

4.3 Results of Finite Element Analysis 15

5.2 Generic Steps to Solving any Problem in Ansys 16

5.3 Specific Capabilities of Ansys 17-20

6.1 Main Design 21-24

6.1.1 Analysis of a Main model with Poly Carbonate 24-29

6.1.2 Analysis of a Main model with Stainless Steel 30-33

6.1.3 Analysis of a Main model with Aluminium 2024 34-37

6.2 Modification-1 38-40

6.2.1 Analysis of a Modification 1 with Poly Carbonate 41-45

6.2.2 Analysis of a Modification 1 with Stainless Steel 46-49

6.2.3 Analysis of a Modification 1 with Aluminium 2024 50-53

6.3 Modification-2 54-56

6.3.1 Analysis of a Modification 2 with Poly Carbonate 57-63

6.3.2 Analysis of a Modification 2 with Stainless Steel 64-67

6.3.3 Analysis of a Modification 2 with Aluminium 2024 68-70

7 TABULAR DATA & GRAPHICAL REPRESENTATION

7.1 Table Chat for Stress 71

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Their main functions are dependent on specific applications and include:

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Grip and Rotate

1.3 WORKING PRINCIPLE

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GRIPPER FORCE CALCULATION

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Gripper evolution began with parallel varieties

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Grippers for Industry

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3.1 Introduction of Solid works

3.1.1 Engineering Design

3.1.2 Different Modules in Solid Works

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TYPES OF ENGINEERING ANALYSIS

4.2 Heat Transfer

4.3 Results of Finite Element Analysis

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5.2 GENERIC STEPS TO SOLVING ANY PROBLEM IN ANSYS:

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5.3 SPECIFIC CAPABILITIES OF ANSYS:

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