Designing and Optimization of Mechanical Gripper Finger Using Finite Element Analysis

This study deals with design analysis of a pick and place six axis jointed robotic arm and its optimization. The available gripper design grasps the circular objects by angular movement. The movement is caused by effect of pressure exerted by double acting cylinder. The mechanical gripper has payload capacity of a 1 kg load that includes weight of gripper. The study focuses on optimizing payload capacity by reducing gripper finger thickness and by creating perforation on fingers. Simulation is done such as to study structural analysis by calculating equivalent stresses and total deformation. It is found that the weight of perforated finger is 10% less and weight of finger after reducing thickness is found 33% less than that of existing finger. Also the study includes the load bearing capacity of this mechanical gripper.