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Automatic robotic gripping claw
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
2015 (English)Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesisAlternative title
Automatiserad robot gripklo (Swedish)
Abstract [en]

In industrial production, automatization is a common concept utilized in a range of applications where time dependency is a key factor. The robotic arm is one of the tools applied in the area and its extension, such as a robotic claw, affects the execution and the accuracy of the robotics. This paper researches whether infrared- or ultrasonic sensors are best suited for the automation of a robotic claw, created out of 3D-printing and wooden material; in terms of time delay and object-size prediction. With help of a simple physical model and a sphere in motion the resulting time delay could be determined to be larger in ultrasonic sensors, while both were unable to provide accurate object measurement predictions. The research proved the infrared sensor better abilities in motion based automation.

Abstract [sv]

Inom industriall produktion är automatisering ett vanligt utnyttjat koncept i ett urval applikationer där tidsberoendet är en nyckelfaktor. Robotarmen är ett av verktygen som uttnyttjas inom området och dess förlängning, såsom en robotklo, påverkar utförandet och noggrannheten hos robotiken. Den här uppsatsen undersöker huruvida infraröda- eller ultraljuds sensorer är bäst lämpade för automatisering av en robotklo, skapad via en 3D-printer och trämaterial; gällande tidsfördröjning och förutseendet av objektets storlek. Med hjälp av en simpel fysisk modell och en sfär i rörelse; kunde den resulterande tidsfödröjningen bekräftas större med ultrasonisk sensor, medan ingen utav sensorerna kunde ytföra noggranna beräkningar av objektet. Undersökningen kunde bevisa att infraröda sensorer innehar bättre egenskaper inom rörelsebaserad automation.

Place, publisher, year, edition, pages
2015.
Series
MMKB 2015:23 MDAB 076
National Category
Mechanical Engineering
Identifiers
URN: urn:nbn:se:kth:diva-184500OAI: oai:DiVA.org:kth-184500DiVA: diva2:916217
Supervisors
Examiners
Available from: 2016-04-07 Created: 2016-04-01 Last updated: 2016-04-07Bibliographically approved

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