Axiomatic Design of a Linear Motion Robotic Claw with Interchangeable Grippers

Abstract

Reykjavik University's electronic lab has a five-axis CRS Robotics A255 arm used in laboratory exercises that are in need of an improved claw. The current claw limits the robot arm operation duration and dexterity due to its bulk. In addition, the grippers don't provide a stable grip as it is applied. Axiomatic Design principles were employed to design a claw to be much lighter, more compact and with more precise grip. The new design replaces the current pneumatic actuators with a servomotor. Interchangeable grippers with carefully designed geometries provide better adaptability on oddly shaped objects. The new design allows a simple preloading mechanism to provide the optimal grip force for a complete and capable manipulation solution.