Electromechanical Gripper Design

Ogun Ugur ErturkZeynep Selin Gul

Ugur MengilliBatuhan GokceErtugrul Eryigit

CONTENT

• Project requirements• Specifications for the model• Important assembly parts• Photos of manufactured model

PROJECT REQUIREMENTS

• The gripper should be able to hold a cylindrical object.• Each finger should be able to switch easily between hook and

straight position manually.• The gap between the grips can be controlled between the opened

and closed positions.• Mechanical self-locking is required to be able to resist external

forces and to decrease power consumption in a more efficient design.

• Self-locking should have a manual release mechanism in case of emergency.

• The size of the gripper should not be greater than an average human hand size.

SPECIFICATIONS

• Stroke: 150 mm• Maximum grip force 100 N• Opening-Closing speed: 150mm/s at max• Self-locking force: 100N• Max Gripper weight: 1.5 kg• Min Payload: 1.5kg• Minimum battery life cycle: 100• Volume of actuator and power circuits: <30% of total

bounding volume of gripper.• Number of finger: 3

IMPORTANT ASSEMBLY PARTSFingers

Actuator

Emergency Mechanism

Power Screw

PHOTOS OF MANUFACTURED MODEL

PHOTOS OF MANUFACTURED MODEL