Pick and Place Robot Gripper for Relay Assembly Line
Ahmed Jaffar & Noriah Yusoff
Faculty of Mechanical Engineering, University Teknologi MARA,
40450 Shah Alam, Selangor Darul Ehsan
The most important basic task in any robotic assembly line where industry tend to ignore is the pick and place operation. Generally, the pick and place operation consists of guiding the robot s arm or manipulators to the target s position, picking up or releasing objects and moving the objects to new target locations using a specially designed or off the shelve grippers. Grippers are end-effectors used to grasp and hold objects for a particular assigned task. Despite the fact that robotic grippers studies are a mature subject, yet it is still a rewarding area for research development, especially to the manufacturing industry. This paper describes the development of a new gripper for the pick and place of a relay assembly line in an electronics manufacturing company. The research findings are based on case study conducted at the local electronic company. The present assembly operation in one of the station of the identified electronic parts is still done manually. CAD/CAM software was exploited extensively to model a geometrical design of the robot gripper. The gripper’s performance was examined by studying the gripper force and control analysis. With the analytical study of the gripper parameters required to meet the design specifications of the product, a prototype of the robot gripper was fabricated. Financial and production analysis in terms of cost comparison before and after the implementation of the new pick and place set-up was also carried out to examine the viability of the project. The final results shown that it can have a significantly increased in productivity, revenue and profit to the company if it is to be implemented at the plant. Implementation of this will also creates flexibility in the assembly line setup for further development to a fully automated relay production line.
Keywords: Gripper, pick and place robot, design, control
 Groover, M.P., Weiss, M., Nagel, R.N. and Odrey, N.G. (1986). Industrial Robotics, Technology, Programming and Applications, (McGraw Hill, International Edition).
 Groover, M.P. (2001). Automation, Production Systems, and Computer- Integrated Manufacturing, 2 ed. (Prentice Hall, International Edition, New and Jersey, NJ).
 James, A.Regh. (1992). Introduction to Robotics in CIM Systems, Second Edition, (Prentice Hall, Eagle wood Cliff, New Jersey).
 Satya Ranjan Deb. (1994). Robotics Technology and Flexible Automation, (Tata McGraw Hill Publishing Company Limited, New Delhi).
 Causey, G. (2003). Guidelines for the designs of robotics gripping systems , Assembly Automation, Vol. 23, Nr.1, pp. 18-28.
 Boubekri, N. and Chakraborty, P. (2002). Robotic grasping: gripper designs, control methods and grasp configurations a review of research , Integrated Manufacturing Systems, Vol. 13/7, pp. 520-531.
 Payandeh, S. and Saif, M. (1992). Force Control of the Multiple Robotics Mechanisms , Proceedings of the American Control Conference, pp. 776-777.
 Baartman, J.P. and Storm, T. (1994). Flexible Grippers for Mechanical Assembly, Industrial Robot, Vol. 21, Nr.1, pp. 23-27.
 Brost, R.C. and Peters, R.R. (1996). Automatic Design of 3-D Fixtures and Assembly Pallets , Proceedings of the 1996 IEEE International Conference on Robotics and Automation, Minneapolis, MN, pp. 495-502.
 Brown, R.G. and Brost, R.C. (1997). A 3-D Modular Gripper Design Tool , Proceedings of the 1997 IEEE International Conference on Robotics and Automation, Alburquerque, NM, pp. 2332-2339.
 Pere tz , D. ( 1998). Finger Designs for Grippers , Robotic s World Fall.
 Wa lsh, S. (1984). Automation Handbook, Gripper Design, Guideline for Effective Result , Manufacturing Engineering, Volume 93, pp. 53-55.
 Schilling R. J. (1990). Fundamental of Robotics Analysis and Control, (Prentice Hall International Editions, Eaglewood Cliffs, New Jersey, USA).
 Mittal R.K. and Nagrath I.J. (2003). Robotics and Control, (Tata McGraw Hill Publishing Company Limited, New Delhi).