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## Experimental comparative analysis of vacuum grippers for adapting to a delta robot

### Andrzej Kozak

#### Abstract

This paper describes the technologies used in the production process of vacuum grippers for adapting a delta robot. These technologies are milling, spatial printing using the FDM and MJF methods. Machining consists in removing unnecessary material with the help of cutting tools such as turning tool, milling cutter or drill bit. The type of spatial printing called, from English, Fused Deposition Modeling, or in short FDM. In this method, the material (filament) is fed to the head with the help of an extruder, where the material is melted. The printout is done by extruding melted material onto the printer table or onto the previous material layer through the printer nozzle. After leaving the nozzle the material freezes. In the case of MJF printing, ie from the English language Multi Jet Fusion, it consists in bonding polyamide powders backed up layer by layer using chemical agents and UV radiation. The purpose of this work was to develop the optimal shape of a vacuum gripper and to examine the appropriateness of replacing vacuum grippers milled with those originating from spatial printing. The research included creating models, analyzing the work of a robot in a specific shape, and then introducing changes to optimize the shape and increase the correctness of the robot's work. Tests of grippers models prepared in this way were carried out in the WEKTOR company, on a test bench which consisted of three main components, ie a supply conveyor, which were delivered products of a more undetermined position and orientation, a delta robot that took products, orientated them and put them away in sockets on the conveyor receiving products whose position and orientation has already been determined. In this work, it was possible to compare the advantages and disadvantages of both applications in terms of weight, performance and reliability. The most important conclusions from this work are that the axes of the suction cups should be as close to normal as possible to the surface of the sachet in the workplace of the suction cup. Printed grippers are characterized by much better air flow properties, they have many times smaller losses of air flows. Spatial printing technology also gives greater opportunities to shape grippers to match the shapes of products. This is particularly important when it comes to the stability of the work and the speed with which the robot head can move. In addition, they are several times lighter than their milled counterparts, which significantly translates into the efficiency of the robot. The main difficulties encountered during the tests were to ensure stable flawless work, due to the high inertia of the product contained in the sachets used during the tests, the sachets often fell away from the grippers during rotation. Another difficulty was to obtain a stable position of the sachet during the injection into the sockets on the belt receiving the products.
Diploma type
Engineer's / Bachelor of Science
Diploma type
Engineer's thesis
Author
Andrzej Kozak (FPAE) Andrzej Kozak,, Faculty of Power and Aeronautical Engineering (FPAE)
Title in Polish
Eksperymentalna analiza porównawcza chwytaków podciśnieniowych do adaptacji dla robota typu Delta
Supervisor
Witold Rządkowski (FPAE/IAAM) Witold Rządkowski,, The Institute of Aeronautics and Applied Mechanics (FPAE/IAAM)Faculty of Power and Aeronautical Engineering (FPAE)
Certifying unit
Faculty of Power and Aeronautical Engineering (FPAE)
Affiliation unit
The Institute of Aeronautics and Applied Mechanics (FPAE/IAAM)
Study subject / specialization
, Mechanika i Projektowanie Maszyn
Language
(pl) Polish
Status
Finished
Defense Date
26-06-2019
Issue date (year)
2019
Pages
45
Internal identifier
MEL; PD-5153 (zastrzeżona)
Reviewers
Witold Rządkowski (FPAE/IAAM) Witold Rządkowski,, The Institute of Aeronautics and Applied Mechanics (FPAE/IAAM)Faculty of Power and Aeronautical Engineering (FPAE) Marek Matyjewski (FPAE/IAAM) Marek Matyjewski,, The Institute of Aeronautics and Applied Mechanics (FPAE/IAAM)Faculty of Power and Aeronautical Engineering (FPAE)
Keywords in Polish
Druk przestrzenny, chwytak podciśnieniowy, druk 3d, robot delta, przyssawka, dysza filament, wtaktowywanie, proszek, przenośnik, frezowanie, chwytak frezowany, przewód, złącza, aplikacja, kąt nachylenia, kąt
Keywords in English
3D printing, vacuum gripper, 3d printing, delta robot, suction cup, filament nozzle, injection molding, powder, conveyor, milling, milled gripper, wire, connectors, application, angle of inclination, angle
Abstract in Polish
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Andrzej_Kozak.pdf
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Identyfikator pracy APD: 34914

Uniform Resource Identifier
https://repo.pw.edu.pl/info/bachelor/WUT9488fb3c2fa74595925180abbe28be9f/
URN
urn:pw-repo:WUT9488fb3c2fa74595925180abbe28be9f

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