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Robust Gripper Control: Design of the Robust Gripper Control for Hoisting Mechanism
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| The present work aims to describe the ¿Design of the Robust Gripper for Hoisting Mechanism¿. As an overview, this project is developed the gripper for handling or transporting delicately the Nata de Coco jelly blocks, this type of gripper commonly found in the food industry. The goal of this project is to design, build and control an automation robust gripper in small scale and thus, experimentally analyze the load and stability of the robust gripper for handling the Nata de Cocös steel basket approximately 50 kg as a real implementation in the Nata de Coco processing. Additionally, the overall system was controlled by using the FPO Panasonic Programmable Logic Controller. Generally, to perform the mechanism movement for robust gripper, the Induction Motor being implemented as a transmission power.The pneumatic system was applied to control the gripper mechanism for act as a hoisting mechanism by in stroke and outstroke condition of Single Rod Double Acting Cylinder to handling the steel basket. .Besides that, gripper allow to be lifted indirectly contacted the jelly block surface to prevent and reduced the possibilities of damaging the jelly block surface. |
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