Gripper design for Fanuc LR Mate 200 ID robot, applying the Topological Optimization Method
DOI:
https://doi.org/10.46842/ipn.cien.v26n2a08Keywords:
design, MOT, print, controlAbstract
This study presents a design proposal of a gripper for a Fanuc LR mate 200 iD robot applying the topological optimization method, showing that this methodology allowed to increase the efficiency in the 3D printing process, lightening the structure of the gripper and reducing the amount of material needed for its prototyping, maintaining its mechanical characteristics without compromising its structural stability, so the design considerations were made taking into account that the robot is used in a handling process of plastic grippers, used to hang clothes. It includes the development of an on-off control system and optical isolation, for the actuation of the gripper, incorporating the detection of its state with the Fanuc robot control system. With this control part, an interaction with the internal system of the robot and the gripper drive signals is implemented.
References
A. Ollero Baturone, “Morfología de los robots”, en Robótica manipuladores y robots móviles, Barcelona (España), Marcombo, 2001, pp. 16-24.
J. I. Rodríguez Salcedo, J. C. León Anaya, “Diseño y manufactura aditiva de un brazo robótico aplicando la metodología Design Thinking”, Innovación Científica y Tecnológica en las Ingenierías, vol. 5, pp. 57-61, 2022, https://drive.google.com/file/d/1JV29SwYmjPjZfDk4klOFpCV8dphGAb1w/view
I. Mendoza, E. Vergara, L. Loa, “Optimización de una pieza mecánica por medio de elemento finito y Taguchi”, Innovación Científica y Tecnológica en las Ingenierías, vol. 4, pp. 193- 196, 2021, https://drive.google.com/file/d/1o7G23ydgfPovNCPZjMsoyYoAGpMS6fAX/view
O. Sigmund, “On the design of compliant mechanisms using topology optimization,” Mechanicsof Structures and Machines, vol. 25, no. 4, pp. 493-524, 1997.
M. P. Bendson, O. Sigmund, Topology Optimization: Theory, Methods and Applications (2ª ed). Berlin. Springer, 2003.
CIMWORKS S.L. (2020, enero 7), 2020. [Online]. Available: https://blogs.solidworks.com/solidworkslatamyesp/solidworksblog/simulacion/solidworks_simulation/como-funciona-la-herramienta-de-optimizacion-topologica-en-solidworks-simulation
A. Jorquera, Fabricación digital: Introducción al modelado e impresión 3D, Ministerio de Educación, Cultura y Deporte, p. 8, Madrid, España, 2017.
R. Saurina Mestre, “Diseño, verificación y fabricación de un gripper móvil para un robot a través de la tecnología de impresión 3D”, Tesis de Maestría, Universidad Politécnica de Valencia, España, 2022.
D. H. Myszka, Máquinas y mecanismos, 4a ed., México: Pearson, 2012.
Amazon. “Seamuing 6Pcs MG90S Micro Servo 9G Servo Motor Metal Geared Micro Servo Motor 9G Smart Robot Car Helicopter Plane Boat.” Amazon.ca https://www.amazon.ca/Seamuing-MG90S-Micro-Geared-Helicopter/dp/B07F7VJQL5?th=1 (accesed Feb 9 2022).
UNITELECTRONICS, “Sensor CNY70 líneas infrarrojo” UELECTRONICS, 2022, https://uelectronics.com/producto/sensor-cny70-lineas-infrarrojo/ (accesed Feb 10 2022)
Published
Issue
Section
License
Copyright (c) 2022 Instituto Politecnico Nacional
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
