Study of Complex Servo Gripper for Industrial Applications

The objective of this work is to study the performance of an industrial complex servo gripper mechanism (ICSGM) in terms of position and speed. This aim is to design and develop an ICSGM that will have the potential to reach a high number of demands in the automation and robotic industries. In the palletizing industry, the design and control of the robotic grippers are the essential part of a system. Depending on the application, different types of holders and movements may be required to pick and place the products. This servo gripper includes a combination of angular mechanism and parallel mechanism, this gripper system that allows linear and angular motions for pick and place operations is investigated for design and control purposes. The drive system of the gripper allows the controller to move the system both angularly and linearly. The performance of the ICSGM mechanism is based on comparing its position error and response time with the parallel mechanism and angular mechanism. The position efficiency of these ICSGM is calculated from the position root mean square error (PRMSE). It is the difference of errors between the two measured position signals (input signal from the incremental encoder and output signal from the linear encoder). In this paper, the Force-PID (Proportional-Integral-Derivative) controller is developed in PLC with Siemens SCL programming language. The Controller input is the position error and error rate. In addition, system analysis by inventor software design is included in the study. In the experimental setup, an asynchronous motor and 2048 pulse incremental encoders have been used. Finally, the positioning efficiency of these ICSGM is examined and compared under different working plan circumstances.