## DESIGN AND FABRICATION OF GEAR TYPE SELF-CENTERING ARM GRIPPER

### ABSTRACT:

This is a project which deals with the vice and robotic gripper system, now a day many types of robotic arm gripper introduced in industries, that hole system controlled embedded and micro controller process used them, but our project used on fully mechanism. Let we have introduced for gear type self-centering arm gripper, which is contain for like radial gear, pneumatic cylinder, v- type vice and hand lever solenoid valve.
This is system it is operated for simply manual power and controlled for one-man kind of it is enough, maximum robotic arm and vice system is used for lead screw thread system but we are using gear and pneumatic type drive system it is totally different and easy fabrication then it is easy control also.

INTRODUCTION:
Many engineering design problems involve multiple objectives and often they are attempted to be solved by converting them into a single complex objective. Moreover, to be able to use the classical optimization method, often such problem is divided into suitable sub problems and solved in stages. The selection of an objective function is one of the most important decisions in the whole optimum synthesis process. In some situations, an obvious objective function exists. In other cases, an objective function exists because the design is part of a larger and complicated system whose end use, is considered to be the best satisfied by having parts which are optimized with respect to certain characteristics.
The problem of design of the gripper mechanisms is difficult to optimize because of geometric constraints which make only a tiny fraction of the search space feasible. Grasp force optimization techniques are discussed by Bicchi and Yu et al.
The work presents a mathematical model of the optimum design of the self-centering grippers, with two symmetrical fingers and plane active surfaces of the jaws.
A large category of the self-centering grippers has the symmetrical structure with respect to a plane which contains the cylindrical work piece axis. The fingers are attached to the connecting rods of the plane linkages. The term fingers are used as a generic term to represent any link, finger, effector or fixture in point contact with the work piece being grasped.

WORKING PRINCIPLE:
We have to design this model totally drive to double acting pneumatic cylinder, it is move forward and backward characteristics, which is controlled for hand lever solenoid valve it is connect the compressor and this one is operated only manual power, when you need the actuation of pneumatic cylinder just operated the solenoid valve goes to by on air solenoid valve to pneumatic cylinder in front and backward movement, it is function on piston move forward and backward.
This is actuation actually used for gripper closing and open controlled system, it is overall movement form on radial gear motion system. It is engaged accurately and fabricate our model based.