Design of automatic tool changer for universal collaborative robot
Dhakal, Prabin (2019)
Dhakal, Prabin
2019
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Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi:amk-2019090918294
https://urn.fi/URN:NBN:fi:amk-2019090918294
Tiivistelmä
The purpose of this thesis was to design automatic tool changer for Universal collaborative robot UR5. The thesis topic was commissioned by HAMKTech Robotics, a research department of HAMK university of applied sciences. The main target of this thesis was to make a complete automatic system for changing the tool of a robot when two or more tools are required for completing the operation.
Automatic tool changer makes work a lot easier and faster. Initially, the tool used to be changed manually but the consequence was not good as it used to consume more productive time into an unproductive thing and sometimes it is not precise. So, the commissioning party wanted to make a tool changer for UR5 robot which will work automatically. The payload of the robot and the supply of pneumatic and electrical components are the main aspects that need to be considered while designing the tool changer.
This thesis was started with a lot of web-based research and was made with close collaboration with the supervisor as well as with the client. The old existing solutions were used as a guideline in order to make a clear new solution which consists of all the requirement as needed.
The thesis consists of design ideas of automatic tool changer, CAD model and pictures of 3D printed parts. The ideas and other calculations can be used to produce the design if needed.
Automatic tool changer makes work a lot easier and faster. Initially, the tool used to be changed manually but the consequence was not good as it used to consume more productive time into an unproductive thing and sometimes it is not precise. So, the commissioning party wanted to make a tool changer for UR5 robot which will work automatically. The payload of the robot and the supply of pneumatic and electrical components are the main aspects that need to be considered while designing the tool changer.
This thesis was started with a lot of web-based research and was made with close collaboration with the supervisor as well as with the client. The old existing solutions were used as a guideline in order to make a clear new solution which consists of all the requirement as needed.
The thesis consists of design ideas of automatic tool changer, CAD model and pictures of 3D printed parts. The ideas and other calculations can be used to produce the design if needed.