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The design requirement of the end-effector includes straight-line motion, various grasped object sizes and weights, sufficient clamping force, and acceptable cycle time for pick-and-place motion. The requirement of the robot end-effector to have straight-line pick-and-place motion in the high-speed production line leads to the design of a new robot end-effector.
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The design of the end-effector or end-of-arm tooling for a robotic in the assembly system is important for decreasing cycle times and reducing positional errors. Therefore, the configuration of the end-effecter plays a significant role in determining the trajectory of the pick-and-place motion. The robot end-effector is a piece of the robotic parts handler or assembler that physically interacts with the environment. Straight-line motion is defined as the workpiece motion along a straight line or movement and represents the shortest distance between the two points in the 3-dimensional workspace of any robot. An example of a conveyor assembly line is shown in Figure 1 the workpieces being transported along a conveyor are gently lifted vertically in a straight-line from the conveyor and then rapidly accelerated upwardly to an overhead workstation. In robotic applications, straight-line pick-and-place motions are used for transferring workpieces into and out of an assembly or machine. It has been acknowledged that the straight-line or linear path exhibits great potential for high-speed pick-and-place operations in many manufacturing sectors such as food, electronics and many other light industries. In order to achieve high productivity, it is desirable for transferring a workpiece to follow a specified geometric path that gives the minimum time motion. Pick-and-Place Robot, Robotic End-Effector, Scott Russell Straight-Line Mechanism, Straight-Line Motion. The accuracy of motion trajectory, clamping force and stress of the end-effector are analyzed.
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This project uses a modified Scott Russell straight-line mechanism for each jaw of the end-effector. The desired clamping force is 625 N per jaw when the gripper is at its maximum open position and a maximum lift mass is 70 Kg. The selected size and shape of the grasped object are cylinders ranging from 50 mm to 300 mm in diameter. a straight-line, over the range of pick-and-place motion. This paper presents the design and analysis of a robotic end-effector that is capable of grasping objects of varying sizes and the center point of the end-effector remains as close as possible to the same location, i.e. The straight-line or linear path motion also exhibits great potential for reducing manufacturing cycle time. E-mailĀ : robot applications, straight-line pick-and-place motions are used for transferring workpieces into and out of an assembly or machine and are most advantageous in such applications because of the accuracy of positioning the workpieces at the beginning and end of travel.