CHAPTER1

INTRODUCTION
1.1 Introduction
A pneumatic system is a system that uses compressed air to transmit and control
energy. Pneumatic systems are used in controlling train doors, automatic
production lines, mechanical The designed robotic gripper in our project is a
two jaw actuated gripper which is different from the conventional cam and
follower gripper in the way that controlled movement of the jaws is done with
the help of pneumatic cylinders using air pressure. The design, analysis and
fabrication of the gripper model are explained in details along with the detailed
list of all existing pneumatic grippers in market.The reason for using
pneumatics, machine, is to perform work. The accomplishment of work requires
the applicationof kinetic energy to a resisting object resulting in the object
moving through distance. In a pneumatic system, energy is stored in a potential
state under the form of compressed air. Working energy (kinetic energy and
pressure) results in a pneumatic system when the compressed air is allowed to
expand. For example, a tank is charged to 100 PSIA with compressed air. When
the valve at the tank outlet is opened, the air inside the tank expands until the
pressure inside the tank equals the atmospheric pressure. Air expansion takes
the form of airflow. To perform any applicable amount of work then, a device is
needed which can supply an air tank with a sufficient amount of air at a desired
pressure. This device is positive displacement compressor.

1.2 Objective
To design a mechanical gripper with the assumed physical dimensions.
To select appropriate pneumatics for the proposed gripper model
To fabricate the gripper for a desired and calculated pay load
1

To test the gripper in Lab conditions.

To measure the maximum gripping force developed by the gripper.
1.3 Definition of Gripper
Compressed Air is the air under pressure having values much greater than
that of the atmosphere.
When this compressed air is expanded to a lower pressure, a piston can be
pushed using it, such as that in a jackhammer.
There are many pneumatic devices in which compressed air becomes a
source of energy to perform various operations
Grippers are end effectors used to grasp and manipulate objects.
Just like a hand, a gripper enables holding, tightening, handling and
releasing of an object.
A gripper can be attached to a robot or it can be part of a fixed automation
system
1.4 Gripper Actuation
Manual: Actuated by hand crank, wheel, levers, or other manual or
Mechanical means.
Electric: Grippers fingers or jaws actuated by electric motor,
Solenoid, etc.
Pneumatic: Gripper is actuated by compressed air acting on a cylinder or
Vanes.
Hydraulic:Gripper is actuated by hydraulic fluid acting on a cylinder or
Vanes.
1.5 Gripper Mechanism
They are two type of gripping mechanism
1. Pivoting movement
2. Linear or translational movement
1.5.1 Pivoting Movement
The fingers rotate about fixed pivot points on the gripper to open and
Close.
2

1.5.2 Linear or Translational Movement

The fingers open and close by moving in parallel to each.
1.6 DRIVE:
The drive of the robot maintains the function to change the supplied
power to the grippers into usable kinetic energy for moving the robot and
its positioning. The different types of drives are: Electrical,
Hydraulic and
Pneumatic

1.6.1 Electrical Drive

Electromechanical drive systems are found in about 20 percent of
robots in todays world. These systems are of different types including
servo stepper pulse motors. Electrical energy is converted into
mechanical energy in these motors to power the robot for various
applications.
1.6.2 Hydraulic Drive
The most known form of the drive systems which are used widely
is the hydraulic system as hydraulic cylinders and hydraulic motors are
generally very sizeable and transfer high force and power, most
importantly with accurate control. A hydraulic actuator works by
changing forces obtained from high pressure hydraulic fluid into usable
mechanical energy which is used for different linear motions and rotation
of shafts. The Hydraulic fluid power is generally cost effective for factors
such as short stroke and straight-line positioning where high forces are

required. This drivesystempacks enormous power into a small package

but is very safe and resistant to harsh environments.
1.6.3 Pneumatic Drive:
Pneumatic drive systems are approximately found in about 30
percent of robots in today's world. Pneumatic drives use compressed air
to propel the robots for various applications. The pneumatically driven
robot is very popular these days for most of the machine shops have
compressed air lines in their working areas. Actually, for difficulty in
control of either speed or position or both which are the essential
ingredients for any successful robot, this system is used selectively.

CHAPTER 3
CONSTRUCTION
3.1 Components Used and Connections
AIR CYLINDER, DOUBLE ACTING,
o bore dia 57mm, stroke 200mm,
o max supply pr. 10 bar
o cushioning at both end
5/2 WAY VALVE
o double , solenoid valve
AIR PR. REGULATOR
o with pr. gauge (0 10) bar
UNION &T JOINTS
MALE CONNECTOR PUSH FIT TYPE
Thread bsp & for tube 08mm
2 MILDSTEEL RODS [thickness 10 mm and length 90cm]

Compressor:
A compressor is a machine that compresses air or another type of gas from a
low inlet pressure (usually atmospheric) to a higher desired pressure level.
A compressor can compress air to the required pressures. It can convert the
mechanical energy from motors and engines into the potential energy in
compressed air (Fig. 2).

A single central compressor can supply various

pneumatic components with compressed air, which is transported through pipes

from the cylinder to the pneumatic components. Compressors can be divided
into two classes: reciprocatory and rotary.

(a)Compressor used in schools (b) Compressor used in

(c) Pneumatic symbol

of
laboratories a compressor

Compressors
5
screw or rotary vane types.
Piston compressor
Screw compressor
Lobe compressorVane compressor

Piston compressor
In this type of compressor a cylinder bore encloses a moving piston. As
the crankshaft of the compressor rotate, the piston moves within the
cylinder, similar to the piston in a car engine. As the piston is pulled
open.

down, the volume increases, creating a lower atmospheric pressure in

the piston chamber. This difference in pressure causes air to enter via
the inlet valve. As the piston is forced upwards the volume of air
reduces. The air pressure therefore increases. Eventually the pressure
forces the outlet valve to

To avoid an excessive rise in temperature. Multi-stage compressors with

INTERCOOLERS have been developed. These compressors can generate
higher pressures than single stage compressors. The most common type is the
Two-Stage

compressor. The following figures show how this compressor works.

Selection of Compressor
It is vital for the effective and efficient running of a compressed air plant that
the appropriate compressor is selected to meet the system needs. Large
compressor installation can be expensive and complex. However, the following
points should be considered:
SYSTEM FLOWRATE DEMAND: This should include both the estimated
initial loading and near term loading.
STANDBY CAPACITY FOR EMERGINSIS: This could be a second
compressor that is connected to the main line.
FUTURE AIR REQURIMENT: This issue should be considered in the
selection of the compressor due to the cost of replacement of the compressor.
Air capacity rating of compressors
Air compressors are generally rated in terms of SCFM of free are,
defined as air at actual atmospheric conditions. The equation that allows
for this calculation is
V1 =V2( pp12)(TT12 )

In the last equation, subscript 1 represents compressor inlet atmospheric

conditions (standard or actual) and subscript 2 represents compressor
discharge conditions.
Dividing both sides of this equation by time (t) will give us:
Q1 =Q2( pp12)(TT12 )
Sizing of Air Compressor
The sizing of air reservoirs requires taking into account parameters
such as system pressure and flow-rate requirements, compressor output
capability, and the type of duty of operation. It also serves to dampen
pressure pulses either coming from the compressor or the pneumatic
system during valve shifting and component operation. The reservoirs
are equipped with a safety relief valve in order to prevent the
explosion of tank.

safety relief valve

The

last

of

the

English

Vr

14p.7maxt(Qr
pminQc)

equation can be used to determine the proper size

reservoir in English units and ,metrics as
units

Metric units

Vr

t= 101pmaxt(Qr time that reservoir can supply required amount of

air (min ) pminQc)
Where

Qr = consumption rate of pneumatic system (SCFM, m3/min )

Qc =

output flow-rate of compressor (SCFM,

m3/min ) pmax = maximum pressure level in

reservoir (psi, kPa ) pmin = minimum pressure level
in reservoir (psi, kPa )
Vr = reservoir size (ft3, m 3)
Power required to drive compressors
The following equation can be used to determine the theoretical power
required to drive an air compressor.
Theoretical horsepower(HP) = pinQ[( pout )0.286 1]
65.4 pin
Theoretical horsepower(kW) = pinQ[( pout )0.286 1] 17.1 pin
pin= inlet atmospheric pressure (psia, kPa abs) pout=
outlet atmospheric pressure (psia, kPa abs)
Q = flow-rate (SCFM, standard m3/min )

Control of Pneumatic Energy

Working energy transmitted pneumatically must be directed and under complete

control at all times. If not under control, useful work will not be done and
machinery
or machine operators might be harmed. One of the advantages of transmitting
energy pneumatically is that energy can be controlled relatively easily by using
valves.
Control of Pressure
Pressure in a pneumatic system must be controlled at two points - after the
compressor and after the air receiver tank. Control of pressure is required after
the
compressor as a safety for the system. Control of pressure after an air receiver
tank
is necessary so that an actuator receives a steady pressure source without
wasting
energy.
Control of Pressure after A Compressor
In a pneumatic system, energy delivered by a compressor is not generally used
immediately, but is stored as potential energy in air receiver tank in the form of
compressed air.
In most instances, a compressor is designed into a system so that it operates
intermittently. A compressor usually delivers compressed air to a receiver tank
until
high pressure is reached, then it is shut down. When air pressure in the tank
decreases, the compressor cuts in and recharges the tank. Intermittent
compressor
operation in this manner is a power saving benefit for the system.
A common way of sensing tank pressure and controlling actuation and deactuation
of relatively small (2-15 HP) compressors, is with a pressure switch.
Pressure Switch
10

System pressure is sensed with a spring-loaded piston within the switch

housing.
When pressure in the system is at its low level, the spring pushes the piston
down. In
this position a contact is made causing an electrical signal to turn on the
compressor.
As pressure in the receiver tank rises, it forces the piston upward. With system
pressure at its high level, the piston breaks the electrical contact shutting down
the
compressor.
Pressure Regulator
In a pneumatic system, energy that will be used by the system and transmitted
through the system is stored as potential energy in an air receiver tank in the
form of
compressed air. A pressure regulator is positioned after a receiver tank and is
used
to portion out this stored energy to each leg of the circuit.
A pressure regulator is a normally open valve.
With a regulator positioned after a receiver tank, air from the receiver can
expand
(flow) through the valve to a point downstream. As pressure after the regulator
rises,
it is sensed in an internal pilot passage leading to the underside of the piston.
This piston has a large surface area exposed to downstream pressure and for this
reason is quite sensitive to downstream pressure fluctuations. When
downstream
pressure nears the preset level, the piston moves upward pulling the poppet
toward
its seat. The poppet, once it seats, does not allow pressure to continue building
11

downstream. In this way, a constant source of compressed air is made available

to
an actuator downstream.
Pressure regulating component
Pressure regulating components are formed by various components, each of
which has its own pneumatic symbol:
(i) Filter can remove impurities from compressed air before it is fed to the
pneumatic components.
(ii) Pressure regulator to stabilise the pressure and regulate the operation of
pneumatic components
( iii)

Lubricator To provide lubric

ation for pneumatic components

a) Pressure regulating component

(b) Pneumatic symbols of the pneumatic

components within
a pressure regulating component Fig. 3

Air pressure regulator

The pressure regulator is used to adjust the desired pressure for the
pneumatic system. This use a piston to sense downstream pressure
fluctuations. The piston, in turn, works against a set spring pressure. As
the pressure downstream drops it is sensed by the

12

diaphragm and the popper valve opens. This adjusts the position of the poppet valve,
which limits the downstream pressure to the pre-set valve.
Symbols

Pneumatic Valves
The pneumatic valves are similar to hydraulic valves in terms of physical
concepts.
They are categorized into three classes:

Pneumatics Valves
To Control
Direction

Check valve

To Control
Pressure

Pressure Regulator

To control
Flow

Flow Control valve

n-way sliding
spool valves
Shuttle valve

The same symbols as Hydraulic components are used for the pneumatic
components.
However, it is necessary to use an unfilled arrow marker.
In the following, we only study the pneumatic directional control valves.
13

Directional Control Valves (n-way sliding spool valve)

This control is provided by various valves in pneumatic systems. For
example the
following figure shoes a cutaway of a 5/2 valves.

2 /2 Pneumatic Valve

3 /2 Pneumatic Valve

14

4 /2 Pneumatic Valve

5 /2 Pneumatic Valve

5 /3 Pneumatic Valve

Actuating systems
In the pneumatic valves, the same mechanism are used to activate the
DCVs. The most common actuating system are Solenoid and Manual
control.
Directional Control Valves
To change the direction of airflow to and from the cylinder, we use a directional
control valve. The moving part in a directional control valve will connect and
15

disconnect internal flow passages within the valve body. This action results in a
control of airflow direction.
Directional control valves ensure the flow of air between air ports by
opening, closing and switching their internal connections. Their classification is
determined by the number of ports, the number of switching positions, the
normal position of the valve and its method of operation. Common types of
directional control valves include 2/2, 3/2, 5/2, etc. The first number represents
the number of ports; the second number represents the number of positions. A
directional control valve that has two ports and five positions can be represented
by the drawing in Fig. 8, as well as its own unique pneumatic symbol.

Fig. 8 Describing a 5/2 directional control valve

(i) 2/2 Directional control valve

The structure of a 2/2 directional control valve is very simple. It uses the
thrust from the spring to open and close the valve, stopping compressed air
from flowing towards working tube A from air inlet P. When a force is
applied to the control axis, the valve will be pushed open, connecting P with
A (Fig. 9). The force applied to the control axis has to overcome both air
pressure and the repulsive force of the spring. The control valve can be driven
manually or mechanically, and restored to its original position by the spring.

16

Fig. 9 (a) 2/2 directional control valve

(b) Cross section

(c) Pneumatic

symbol of a
2/2
directional

control

valve
(ii) 3/2 Directional control valve
A 3/2 directional control valve can be used to control a single acting
cylinder (Fig. 10). The open valves in the middle will close until P and A are
connected together. Then another valve will open the sealed base between A
and R (exhaust).

The valves can be driven manually, mechanically,

electrically or pneumatically. 3/2 directional control valves can further be

divided into two classes: Normally open type (N.O.) and normally closed type
(N.C.) (Fig. 11).

17

Fig. 10 (a) 3/2 directional control valve

(a) Normally closed type

(b) Cross section

(b) Normally open type

Fig. 11 Pneumatic symbols

(iii) 5/2 Directional control valve
When a pressure pulse is input into the pressure control port P, the spool
will move to the left, connecting inlet P and work passage B. Work passage
A will then make a release of air through R1 and R2. The directional
valves will remain in this operational position until signals of the contrary are
received. Therefore, this type of directional control valves is said to have the
function of memory.
18

(a)5/2 directional control valve

(b) Cross section

(c)

Pneumatic symbol Fig. 12 5/2 directional control valve

(c) Control valve

A control valve is a valve that controls the flow of air. Examples include
non-return valves, flow control valves, shuttle valves, etc.

(i) Non-return valve

A non-return valve allows air to flow in one direction only. When air flows
in the opposite direction, the valve will close. Another name for non-return
valve is poppet valve (Fig. 13).

Fig. 13 (a) Non-return valve (b) Cross section

19

(c) Pneumatic symbol

(ii) Flow control valve

A flow control valve is formed by a non-return valve and a variable throttle
(Fig. 14).

Fig. 14 (a) Flow control valve(b) Cross

tion sec

(c) Pneumatic symbol

(iii) Shuttle valve

Shuttle valves are also known as double control or single control non-return
valves. A shuttle valve has two air inlets P 1 and P2 and one air outlet A.
When compressed air enters through P1, the sphere will seal and block the
other inlet P2. Air can then flow from P 1 to A. When the contrary happens,
the sphere will block inlet P1, allowing air to flow from P2 to A only.

Fig. 15 (a) Shuttle valve

( b) Cross section

20

(c) Pneumatic symbol

) Execution component
Pneumatic execution components provide rectilinear or rotary movement.
Examples of pneumatic execution components include cylinder pistons,
pneumatic motors, etc. Rectilinear motion is produced by cylinder pistons,
while pneumatic motors provide continuous rotations. There are many kinds of
cylinders, such as single acting cylinders and double acting cylinders.

(i) Single acting cylinder

A single acting cylinder has only one entrance that allows compressed air to
flow through. Therefore, it can only produce thrust in one direction (Fig. 4).
The piston rod is propelled in the opposite direction by an internal spring, or by
the external force provided by mechanical movement or weight of a load (Fig.
5).

Fig. 4 Cross section of a single acting cylinder

21

Fig. 5 (a) Single acting cylinder

(b) Pneumatic symbol

of a
single acting cylinder
The thrust from the piston rod is greatly lowered because it has to overcome
the force from the spring. Therefore, in order to provide the driving force for
machines, the diameter of the cylinder should be increased. In order to match
the length of the spring, the length of the cylinder should also be increased, thus
limiting the length of the path. Single acting cylinders are used in stamping,
printing, moving materials, etc.
(ii) Double acting cylinder
In a double acting cylinder, air pressure is applied alternately to the relative
surface of the piston, producing a propelling force and a retracting force (Fig.
6). As the effective area of the piston is small, the thrust produced during
retraction is relatively weak. The impeccable tubes of

double acting cylinders areusually made of steel. The worki

ng surfaces are also polished and
coated with chromium to reduce friction.

Fig. 6 Cross section of a double acting cylinder

22

(b) Pneumatic symbol of a

double Fig. 7 (a) Double acting cylinder

acting

cylinder

Fig no: 3.1 Double acting cylinder

The robotic gripper consists of two links which moves in opposite
direction to each other and remains parallel always . The motion of the
gripper arms occur along the direction in which the piston shaft of the air
cylinder moves. The gripper rods are then connected to the gripper jaws
which are generally made up of rubber. The gripping force is determined
by the type of gripper jaws which are used. There are two types of grips
which determine the gripping force:-friction grip and encompassing grip.
The gripping rods are connected to the shaft of two pneumatic cylinders
which are placed in opposite positions to each other. The movement of
23

the rods occurs by the intake and exhaust stroke where the piston rods
move out and into the cylinder resulting in the motion of the rods across
the pin joint. The movement of the piston rods causes the robotic gripper
to close or release the object as per requirement. The pneumatic cylinders
are controlled by compressed air movement flowing in and out of the
cylinder through the path ways which are connected by male connectors.
The respective pipe lines from the similar guide ways of the two
cylinders are connected by a Y-union.
The Y-union connects two pipes lines and feeds in compressed air
through a single pipe line after which they are distributed equally into the
two pipe lines for the reciprocating motion of the shaft. The single pipe
line from the inlet and another single pipe line from the outlet are
connected to a 5/2 way valve. The 5/2 way valve is a type of valve which
manages the flow of air into the cylinder for the controlled motion of the
gripper. The valve can be manually operated or may be controlled with
the help of a solenoid circuit which is connected to the AC current
supply.

Fig no: 3.2 Solenoid Valve

24

The 5/2 way valve has 5 ports:-1 inlet, 2 outlets and 2 exhaust. The pipe
lines are connected to the valve ports with the help of male connectors.
The air into the valve port is regulated by a pressure regulator to which a
pressure gauge is connected. The pressure gauge shows the air pressure
on a dial according to which the air pressure can be regulated by the pull
and twist arrangement on the regulator. The knob is pulled and air
pressure is adjusted by turning the knob clockwise which increases the
air pressure and then the knob is pushed back to lock the pressure. The
inlet port of the regulator is connected to a compressor which generates
and maintains the air pressure.

Fig no: 3.3 Circuit connection

CHAPTER 4
WORKING PRINCIPLE
4.1 Working Principle
The parallel jaw gripper has at least two fingers which can be moved
towards each other along one axis. Usually, the fingers can be moved
independently from each other in order not to shift the object, but they are
only able to perform simple operations like open and close [4.1]. Thereby,
a longitudinal or side movement is impossible. A parallel jaw perform, a
manual control to steer the gripper must be possible for enabling the

25

highestflexibility. The principles which are followed in this type of

parallel jaw gripper are:The force closure grip: The characteristic of the force closure grip is that
the gripper keeps the object in a stable state by compensating all forces
and torques created by theobject. The sum of all forces and sum of all
torques must equal zero (! F=0! M=0).
The force closure grip can be differentiated into a grip with friction and
without friction. The force closure grip without friction is much idealized
and not very common in daily use; therefore it is no further mentioned.
The force closure grip with friction requires at least contact points for
gripping a planar object and at least 4 contact points for a threedimensional object.
The form closure grip is the second principle for gripping objects. This
grip is feasible, because the gripper is a negative model of the object (or a
part of it) which limits the movement of the object within the gripper in
any direction, also when changing the gripper orientation. The force is
compensated on well specified contact surfaces. Tangential load, pressure
load and torque are not considered, but are instead reduced to the
corresponding forces. The gripper must either make use of a special
geometry (i.e. negative model of the object), or a significant number of
fingers are required.
When compressed air is released from the compressor through the
pressure regulator, it rapidly flows into the 5/2 way valve. The desired
pressure level can be maintained by observing the pressure readings on
the dial gauge. The maximum pressure at which the system
canbeoperated is 10 bars, but mostly we will be working at pressure
26

levels far below that, preferably less than 5 bar. The compressed air
moves into the 5/2 way valve which when activated either manually or by
solenoid electric circuit allows the compressed air into the inlet port of
the two double acting air cylinder(max supply pressure of 10 bar) which
are placed exactly opposite to each other.
A 5/2 way valve could be used in place of a 5/3 way valve which is an
advanced valve which regulates the amount of compresses air flow, thus
controlling the stroke length of the piston rods. The cylinder has a bore
diameter of 50 mm and stroke of 50 mm too. The entry of air into the
cylinder pushes the piston and thus the piston rods undergoes a power
stroke to move outwards which increases the distance between the gripper
surfaces .Thus this movement opens the grippers which helps in releasing
the object. For the other way round, when the compressed air flow is
reversed then the air flows out from the cylinder into the valve and into
the compressor through the regulator.
This accounts for the return stroke of the piston rod which helps to grasp
the load as the distance between the gripper surfaces decreases. The
pressure is maintained as per the gripping force which is required. The
distance between the grippers is the width of the object which is required
to be grasped. Both the gripper arms move in a drilled guide way which is
made with the help of two iron rods which forbids the motion along any
other axis.
4.2 Need For The Proposed Pneumatic Project
4.21 Conventional System
A mechanical gripperis an end effectors that uses mechanical
fingers actuated by a mechanism to grasp an object. The fingers,
sometimes called the jaws, are the appendages of the gripper that actually
27

make contact with the object either by physically constraining the object
with the fingers or by retaining the object with the help of friction
between the fingers. For a Two jaw cam actuated rotary gripper there is a
cam and follower arrangement, often using a spring-loaded follower
which can provide for the opening and closing of the gripper. The
movement of cam in one direction would force the gripper to open, while
the movement of the cam in opposite direction causes the spring to force
the gripper to close. The advantage of this arrangement is that the spring
action would accommodate different sized parts. Most mechanical drives
used in grippers are based on cam and followers or rack and pinion gears
as force convertors. Cam driven gripper jaws normally enjoy a relatively
large stroke not normally achievable with other gear types. As a prime
mover almost any form of electrically commutated DC servo motor is
suitable.

Fig no: 4.1Two jaw cam actuated rotary gripper

4.3 Disadvantages of Conventional System

28

For most rotary actuators such as electric motors, the torque can be
assumed to be constant over the complete gripping range. However, when
the jaws close the motor stalls. For DC motors this can result in an excess
of current resulting in overheating and eventually burn out. Switching off
the motor current completely is unlikely to be a satisfactory solution
especially where a good quality cam and follower mechanism is used,
owing to the likelihood of the object working loose during motion. Also,
thin and delicate materials of very small dimensions are difficult to
handle by the electro-mechanical form of grippers.

CHAPTER 5
DESIGN CALCULATIONS
5.1 Design for Pneumatic Cylinder
The force exerted on in stroke can be expressed as :
F = p (d12 - d22) / 4
Where,
P = Initial pressure (N\m)
d1 = full bore piston diameter (m)
d2 = piston rod diameter (m)
For Example:
P = 10 bar
Where,
=3.14
d1= 0.057m
d2= 0.016m
29

F=P (d12 d22)/4

F=10x105x3.14x (0.0572-0.0162)/4
F=2349.5N
Area Of The Cylinder
A=F/P
Where,
F=Force,
P=Pressure,
A=Area of the clynderpistion
A=2349.5/105
A=2.3x10-3m2
5.2 Design of Cylinder Thickness
T = pd/2 fc
Where,
fc = Circumferential stress of hoop-stress and Is also called
maximum allowable stress = 98.1 Newton/mm
P = Intensity of internal pressure = 1.2599 N/mm
D = Diameter of the shell = 60 mm
Thickness of the cylinder (t) = 1.2599 x (60/2) x 98.1
Thickness of the cylinder take as = 1 mm
5.2.1 Gripping Force
Gripping force:-2Fg=mg
15 X 9.8
= 2 X 0.2 =367.875 N
30

5.2.2 Max Actuating Force

Max actuating force

F=Pa X

D2
4

=101053.14 (0.057)2/4
=2550.465N
5.2.3 Actuating Force
F=PA
2

D
F=Pa X
= P105 (0.057)2/4
4

When P=1, F=255.046N

P=2, F=510.093N
P=3, F=765.139 N
P=4, F=1020.186 N
P=5, F=1275.232 N
P=6, F=1530.279 N
P=7, F=1785.325N
P=8, F=2040.372 N
P=9, F=2295.418 N
P=10, F=2550.465N

31

CHAPTER 6
) The advantages of pneumatic systems
Pneumatic control systems are widely used in our society, especially in the
industrial sectors for the driving of automatic machines. Pneumatic systems
have a lot of advantages.

(i) High effectiveness

Many factories have equipped their production lines with compressed air
supplies and movable compressors. There is an unlimited supply of air in our
atmosphere to produce compressed air. Moreover, the use of compressed air is
not restricted by distance, as it can easily be transported through pipes. After
32

use, compressed air can be released directly into the atmosphere without the
need of processing.

(ii) High durability and reliability

Pneumatic components are extremely durable and can not be damaged
easily. Compared to electromotive components, pneumatic components are
more durable and reliable.

(iii) Simple design

The designs of pneumatic components are relatively simple. They are thus
more suitable for use in simple automatic control systems.
(iv) High adaptability to harsh environment
Compared to the elements of other systems, compressed air is less affected
by high temperature, dust, corrosion, etc.

(v) Safety
Pneumatic systems are safer than electromotive systems because they can
work in inflammable environment without causing fire or explosion. Apart
from that, overloading in pneumatic system will only lead to sliding or cessation
of operation. Unlike electromotive components, pneumatic components do not
burn or get overheated when overloaded.

33

(vi) Easy selection of speed and pressure

The speeds of rectilinear and oscillating movement of pneumatic systems
are easy to adjust and subject to few limitations. The pressure and the volume
of air can easily be adjusted by a pressure regulator.

(vii) Environmental friendly

The operation of pneumatic systems do not produce pollutants. The air
released is also processed in special ways. Therefore, pneumatic systems can
work in environments that demand high level of cleanliness. One example is
the production lines of integrated circuits.

(viii) Economical
As pneumatic components are not expensive, the costs of pneumatic
systems are quite low. Moreover, as pneumatic systems are very durable, the
cost of repair is significantly lower than that of other systems.
APPLICATION
Workers in nuclear science use grippers to move things remotely when
the things dealt with are dangerous for body health.
Astronauts can manipulate remote-controlled grippers in space from
Within the safety of the spacecraft when they are building the space
station.
Machine loading/unloading
Assembly line
Material transfer
Manufacturing processes

34

CHAPTER 7
COST ESTIMATION
Double acting cylinder ( 2)

= 1300

Arm material

= 500

Pneumatic accessories

= 300

Manually operated DC Valve(1)

= 250

Structure material

= 300

Fabrication

= 300

35

CHAPTER 7
CONCLUSION
From the model we have found out that the pneumatic gripper has many
advantages and is one of the modern techniques in the world of robotics which
makes pick and drop work easier and much faster than the conventional
techniques.
Highly dynamic operation and high acceleration possible.
Intermediate positions can be set easily by regulating pressure.
Easy to handle thin sheets and other low dimension materials which
require intelligent handling.
Low cost
The Pneumatic grippers offer the most attractive features and are a
common choice and this explanation can be inferred from the work carried out
in the project. The grippers arms were made of aluminium which allowed the
gripper to be lightweight, yet durable for machine loading of metal parts. Such
Pneumatic grippers are generally cost-effective because air hoses, valves, and
other pneumatic devices are easy to maintain. Replaceable finger inserts for the
gripper fingers can be manufactured from a variety of materials in future to
36

ensure gentle part handling and a firm grip. Different types of gripping surfaces,
gripping materials and different dimensions
of gripping arm can be made to test the gripping force of the pneumatic robotic
gripper

REFERENCES
Besel, Michael N. "Automation."
Industrial Robotics, Technology, Programming and Applications,
Authors-MikellP.Groover, Mitchell Weiss, Roger N.Nagel, Nicholas G.
Odrey.
Mechatronic systems: Automotive applications and modern design
methodologies by Werner Dieterle, Robert Bosch GmbH, Automotive
Electronics, Driver Assistance Systems, Leon berg.
Accurate Position Control of a Pneumatic Actuator Using On/Off
Solenoid Valves by Robert B. van Varseveld and Gary M. Bone.
Robot Grippers, Author- Stefan Hesse
Design And Control Of A Robotic Leg With Braided Pneumatic Actuators

By Robb William
Pneumatic Controls, Author- Joji P
A Force-Controlled Pneumatic Actuator D. Ben-Dov and S. E. Salcudean
Manual Page, Janatics India Ltd., DS2 Compact Valve.
[ Robotic Gripper Sizing: The Science, Technology and LoreBy: Ted
Zajac, Jr

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