Hybrid injection molding of automotive components requires precise manipulation of small components. Complex and large pneumatic systems are commonly used to grip these parts. The system can be simplified by using an array of electric robotic grippers based on the use of a solenoid for opening and closing.
Thesis covers the implementation of a control system for electric robotic grippers. Using an array of electric grippers, we performed a test application of manipulation of parts for hybrid injection molding, thus evaluating the proposed concept as a replacement for a pneumatic gripper.
The work is divided into five chapters. The first chapter describes the principles of hybrid injection molding and current solutions for the manipulation of small parts present in the industry. The chapter also defines the objectives of the work.
The second chapter presents the used hardware. We first described the principle of operation and design of the electric gripper. Hall sensors were selected and tested to detect the end positions of the gripper. This chapter also presents an additional power circuit and a programmable logic controller that was used to control the array, as well as the robotic arm used in the test application.
In the third chapter, we summarize the software part of the gripper array control. This includes the algorithm of the trigger sequence on the controller and the Profinet connection between the controller and the robot.
In the last chapter, we present the implementation of a test robotic application, where we demonstrate the operation of an array of electric grippers for the manipulation of hybrid products. In the application, the collaborative robot picks up and places the component between three fixturing devices.
In the conclusion, problems and possible improvements that are recommended for the successful installation of the system in the industry are described.
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