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Design, field simulation and realization of a new magnetic gripper for handling metal objects in real and virtual robotics

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A new magnetic robot gripper for handling ferromagnetic metal objects was developed by analytical and field numerical methods, constructed, mounted on an articulated robot and simulated in virtual and real robotics.nnThis well functioning magnetic gripper was especially designed for the industrial micro-robot system model rv-m1 in the festo laboratory at swiss german university - asia (sgu). This robot gripper is based on a combined system of (1) permanent magnet (ndfeb) for actions like picking up and transporting metal sheets without current, (2) an iron-cored solenoid supplied from the robot for releasing or defined placing metal objects, (3) ferromagnetic casing for an optimized magnetic circuit.nnThe robot arm can handle a load of maximum 1.2 kg. The gripper is designed to handle metal sheets with maximum mass of 2 kg. The entire external load should be less than 1 kg for safe operations of the robot. The external size of this gripper is 50 mm diameter with 48 mm height. Its mounting plate is 3 mm thick and has a diameter of 80 mm for connection to the rv-m1 mechanical interface. The magnetic gripper was tested in this thesis using iron sheets with a size of 100 mm x 150 mm x 1 mm.nnMaxwell equations and basic constitutive relations are used both in analytical calculation of this gripper and numerical field simulation done by software system magnetocad. Virtual and real robot simulations of handling metal objects with the new magnetic gripper were successfully realized and tested by the software systems robotocam and cosiprog.nnMagnetocad and robotocam are running under windows 3.1 and dos. But these applications can also work under dual (multiple) booting operating system in one computer or by using vmware workstation installed in a host operating system; in this case windows xp as the host operating system.nnThe results of this thesis are: (1) a new magnetic gripper for robots like mitsubishi rv-m1, (2) a totally new facility in robotics laboratory at sgu including 3-d robot simulations, (3) the proof that innovative mechatronics systems like this new magnetic gripper cannot be developed without extended knowledge in electrodynamics.n

nNotes: cd is not available

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M00022

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Series Title

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Call Number

22

Publisher

: Swiss German University., 2003

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Language

English

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Subject(s)

MME

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