Gripper for ABB IRB120

thingiverse

This work was created specifically for assignment, with the goal of producing a printable "hand" for the industrial robotic arm ABB IRB120. We chose a Festo gripper design, featuring easy-to-assemble parts and exchangeable fingers. It was made in collaboration with Lab. de Prototipado Electrónico y 3D de FIUNER. The mechanical operational principle is called Fin Ray effect, which is based on a flexible structure with rigid crossbeams that causes the finger to bend towards the side where the force is applied. I designed the finger with holes on the back for potential future additions of extensiometric cells or pressure sensors. It was partially tested and gave acceptable results; however, it still has some flaws and lacks direct feedback on its position, such as an endstop or encoder. The connection to the ABB arm is purely physical and must be controlled by an external source. It was designed for coupling a NEMA 17 stepper with single or double stack; powered by a threaded rod of 5mm in diameter. I used the development board EDU-CIAA to control and test it.