Araştırma Makalesi

STRUCTURAL INVESTIGATION OF PNEUMATIC GRIPPERS FOR HANDLING AUTOMOTIVE PARTS USING FINITE ELEMENT ANALYSIS AND TOPOLOGY OPTIMIZATION

Cilt: 28 Sayı: 1 3 Mart 2025
Kahramanmaraş Sütçü İmam Üniversitesi Mühendislik Bilimleri Dergisi Kapak
Kahramanmaraş Sütçü İmam Üniversitesi Mühendislik Bilimleri Dergisi
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STRUCTURAL INVESTIGATION OF PNEUMATIC GRIPPERS FOR HANDLING AUTOMOTIVE PARTS USING FINITE ELEMENT ANALYSIS AND TOPOLOGY OPTIMIZATION

Abstract

Robotic grippers are widely used in the automotive industry for material handling processes. The lightweight, durable, and efficient design of these grippers is a critical factor for optimizing production operations. This study investigates the structural performance of a pneumatic gripper mechanism designed for a 500 kg material handling system, specifically for handling automotive parts. Finite element analysis (FEA) was used to evaluate the gripper’s ability to withstand applied loads without compromising its structural integrity. The initial analysis revealed a safety factor of 5.16, confirming the design's safety under an applied pressure of 5 bar. Following topology optimization, the gripper’s mass was reduced by 35%, resulting in a slight increase in the stress concentration and a decrease in the safety factor to 4.72. To better understand the benefits of topology optimization, a dimensionless SF/M ratio was introduced, which compares the relative safety factor per unit mass for both designs. The initial design served as the baseline with an SF/M ratio of 1.0, while the optimized design achieved a ratio of 1.42, indicating a 42% improvement in structural efficiency. This research demonstrated the effectiveness of FEA and topology optimization in optimizing gripper designs for material handling applications, emphasizing the importance of maintaining a sufficient safety factor. While the optimized design results in higher stress, it maintains structural integrity and reduces the mass, ensuring that the gripper can securely handle loads. These improvements ultimately enhance the functionality and efficiency of robotic grippers in industrial environments.

Keywords

Kaynakça

  1. Bhagawati, M., Asaduz Zaman, M., Deka, R., Bora, K. P., Gogoi, P. P., Das, M., & Arora, N. (2022). Design and Finite Element Analysis of a Mechanical Gripper. Smart Innovation, Systems and Technologies, 292, 411–426. https://doi.org/10.1007/978-981-19-0836-1_32
  2. Bhatt, N., & Chauhan, N. R. (2016). Design of a Two Fingered Friction Gripper for a Wheel Mobile Robot. Advanced Computing and Communication Technologies, 452, 195–203. https://doi.org/10.1007/978-981-10-1023-1_20
  3. Dörterler, M., Atila, U., Durgut, R., & Sahin, I. (2021). Analyzing the performances of evolutionary multi-objective optimizers on designoptimization of robot gripper configurations. Turkish Journal of Electrical Engineering and Computer Sciences, 29(1), 349–369. https://doi.org/10.3906/elk-2003-140
  4. Gürkal, A. E., Burak İnner, A., Özer, E., & Kibar, A. (2021). Design and Strength Analysis of an Autonomous Mobile Robot Chassis Structure Independent of the Load Capacity. Mühendis ve Makina, 62(704), 607–619. https://doi.org/10.46399/MUHENDISMAKINA.897322
  5. Larsson, J., Wennhage, P., & Göransson, P. (2022). Mass minimization with conflicting dynamic constraints by topology optimization using sequential integer programming. Finite Elements in Analysis and Design, 200, 103683. https://doi.org/10.1016/J.FINEL.2021.103683
  6. Trinh, H. X., Nguyen, H. H., Pham, T. D., & My, C. A. (2024). A novel rigid-soft gripper for safe and reliable object handling. Journal of the Brazilian Society of Mechanical Sciences and Engineering, 46(4), 1–20. https://doi.org/10.1007/S40430-024-04757-6
  7. Wang, H., Gao, B., Hu, A., Xu, W., Shen, H., & He, J. (2024). Design of a Reconfigurable Gripper With Rigid-Flexible Variable Fingers. IEEE/ASME Transactions on Mechatronics, 1–12. https://doi.org/10.1109/TMECH.2024.3402357
  8. Wang, R., Zhang, X., Zhu, B., Zhang, H., Chen, B., & Wang, H. (2020). Topology optimization of a cable-driven soft robotic gripper. Structural and Multidisciplinary Optimization, 62(5), 2749–2763. https://doi.org/10.1007/s00158-020-02619-y

Ayrıntılar

Birincil Dil

İngilizce

Konular

Makine Mühendisliğinde Sayısal Yöntemler

Bölüm

Araştırma Makalesi

Yazarlar

Yayımlanma Tarihi

3 Mart 2025

Gönderilme Tarihi

17 Ekim 2024

Kabul Tarihi

6 Ocak 2025

Yayımlandığı Sayı

Yıl 2025 Cilt: 28 Sayı: 1

DOI

https://doi.org/10.17780/ksujes.1569349

IZ

https://izlik.org/JA52TA85BE

Kaynak Göster

RIS / Bibtex
APA
Arat, Ö., Duran, A., Erman, B., & Kibar, A. (2025). STRUCTURAL INVESTIGATION OF PNEUMATIC GRIPPERS FOR HANDLING AUTOMOTIVE PARTS USING FINITE ELEMENT ANALYSIS AND TOPOLOGY OPTIMIZATION. Kahramanmaraş Sütçü İmam Üniversitesi Mühendislik Bilimleri Dergisi, 28(1), 380-390. https://doi.org/10.17780/ksujes.1569349

Cited By

Development of Topologically Optimized Mobile Robotic System with Machine Learning-Based Energy-Efficient Path Planning Structure

Machines

https://doi.org/10.3390/machines13080638

Topology Optimization-Based Lightweight Chassis Design: A Case Study on Structural Efficiency Enhancement for an Autonomous Scale Vehicle

Dicle Üniversitesi Mühendislik Fakültesi Mühendislik Dergisi

https://doi.org/10.24012/dumf.1761538