Purdue University

Calumet

MET 46100
Computer Integrated Design and
Manufacturing

Design Project #1

Submitted on:- 16th February, 2015

Submitted by:- 982678

Submitted to:- James B. Higley

Contents:Problem Statement and Goals..........................................................................................................3

Design Objectives............................................................................................................................3
Methodology...............................................................................................................................3-10
Conclusion.....................................................................................................................................10
References......................................................................................................................................11

Table of figures:Figure 1:- Material Properties for chrome stainless steel................................................................3

Figure 2:- Friction co-efficient for wet aluminum...........................................................................4
Figure 3:- Mass properties of aluminum..........................................................................................5
Figure 4:- Dimension of one finger.................................................................................................5
Figure 5a:- Stress on finger..............................................................................................................6
Figure 5b:- Displacement of the finger............................................................................................7
Figure 6a:- Stress from bearing load................................................................................................8
Figure 6b:- Displacement of the finger............................................................................................9
Figure 7:- Mass of the finger.........................................................................................................10

Problem Statement and Goal:The primary goal of this design project is to design one finger of a robot end effectors to pick up
wet 1" aluminum cubes. Using internet reference to find out the suitable properties of the finger
model. Once finished with the properties, will make a working assembly to show the desired
results.
Design Objective:The design objectives to be achieved in order to complete this project are:1.
2.
3.
4.

Design one finger of a robot.

The end effector should be able to pick up wet 1" aluminum cubes.
The design should be light and compatible.
The designed finger should be able to withstand all the forces on it.

Methodology:First of all use the material properties in Solidworks which was found on Advameg, Inc. So
accordingly the best material to be used came out to be chrome stainless steel

Figure 1:- Material Properties for chrome stainless steel

3

Now some of the properties that are required to do some of the calculations before designing the
finger i.e. friction forces etc. which are obtained from Engineering Edge LLC and shown in
Figure 2.

Figure 2:- Friction co-efficient for wet aluminum

Now the mass properties of aluminum are stated under in Figure 3 retrieved from AVCalc LLC,
for one cubic inches of aluminum the weight comes around to be 0.1 lb or 0.04 kg. This mass
will be used in the calculations to see how much force is required.
Now,
Fmax = 0.3 X Fn
Fn = 9.81 X 0.04 = 0.39
So,
Fmax = 0.3 X 0.39 = 0.12 N
Now, on converting 0.12 N to pounds is 0.027lb
4

Figure 3:- Mass properties of aluminum

Now create the to hold the other componets with dimensions as shown in Figure 4.

Figure 4:- Dimension of one finger

Test 1
Now after making the finger with the given dimensions, run a static study and restraint both the
holes and then apply a force as shown above i.e. 0.027lb on the face which will be in contact
with the wet aluminum cube.

Figure 5a:- Stress on finger

Figure below shows the displacement of the finger after applying a force of 0.027lbs on the face.
As it can be clearly depicted that the displacement is 3.2e-7 which is very small, that means it will
not affect the structure of the finger.

Figure 5b:- Displacement of the finger

Test 2
Now a second test have been made in order to see changes by applying a bearing load to the top
of the finger from where the power will be transmitted to the finger from the air cylinder to be
used in Design Project #2 and the results will be shown in Figure 6 below.

Figure 6a:- Stress from bearing load

Also the displacement is shown in the Figure 6b which is also very nominal to be considered.

Figure 6b:- Displacement of the finger

By making some changes in Boss Extrude properties it's easier to reduce some mass of the finger
and is reduced to 0.08 pounds as shown in Figure 7.

10

Figure 7:- Mass of the finger

Conclusion:In conclusion all the specifications mentioned have been met. The finger created has successfully
went through both the tests made on it without any major concerns or issues. However the force
in Test 2 is considered to be virtual for now, since specifications for air cylinder are not present.
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References:1. Advameg, Inc. retrieved on 11th February, 2015 from

http://www.madehow.com/Volume-2/Industrial-Robot.html
2. Engineering Edge LLC retrieved on 11th February, 2015 from
http://www.engineersedge.com/coeffients_of_friction.htm
3. AVCalc LLC retrieved on 11th February, 2015 from
http://www.aqua-calc.com/calculate/volume-to-weight/substance/aluminum

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