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  • 1.
    Al-Dabagh, Hussain
    et al.
    University of Skövde, School of Engineering Science.
    Wahlström, Daniel
    University of Skövde, School of Engineering Science.
    Konstruktion av gripverktyg för en kollaborativ robot2018Independent thesis Basic level (degree of Bachelor), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    This work is performed to use a collaborative robot in a mounting process with the aim of solving a type of hidden assembly, in which gear wheels should be synchronized. Because the parts are fragile and heavy, they become difficult for the assembler to handle, which can lead to damage to material or even worse the assembler. A gripping tool should therefore be designed to be used with a collaborative robot in this type of assembly. A comparison of collaborative robots is performed, based on two necessary requirements, where the robot's lifting capacity must be at least 10 kg and that the robots meet safety standards in a safety manner. Where the cobot KUKA LBR IIWA 14 meets these requirements and is considered to be most appropriate for carrying out the task. The robot has a lifting capacity of 14 kg, which means it can handle the gripping tool and the gearbox housing mass, the robot is also considered to be very easy to program. LBR iiwa is a very versatile robot and has no major deficits and therefore the choice of robot is considered to be well completed. A gripping tool has been designed and gone through different stages of development, from concept-generating ideas to design and choosing materials and making FEM analyses. Results suggest that selection of designs and materials on the gripping tool makes it approved for manufacturing and will handle the various loads the gripping tool will be exposed to in carrying out the task.

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