CHENDHURAN

POLYTECHNIC COLLEGE
PUDUKKOTTAI – 622507

AUTOMATIC PNEUMATIC HOLDER GRIPPER

MECHANICAL
PROJECT WORK 2021-2022

Done by

NAME REG NO
SANTHOSH M 20214835
SANTHOSHKUMAR P 20214836
SARAVANAN P 20214837
SATHAIYA C 20214838
SATHISHPANDI S 20214840
SATHIYAMOORTHY K 20214841

Report Submitted in partial fulfillment for the award of the

“Diploma in Mechanical Engineering” of the
Directorate of technical education,
Government of TamilNadu

Under the Guidance of

Mr.J.VIJAYARUBAN B.E.,
LECTURER

DEPARTMENT OF MECHANICAL ENGINEERING

CHENDHURAN POLYTECHNIC COLLEGE

PUDUKKOTTAI – 622507
 BONAFIDE CERTIFICATE

This is to certify that the report titled

IMPLEMENTATION OF RACK AND PINION TO

SAVE EXCESS WATER

is a bonafide record of work done by

Register Number: of the Department of

Mechanical Engineering in partial fulfillment for the Directorate of Technical

Education, Government of Tamilnadu during the academic year 2019-2020

PROJECT GUIDE HEAD OF THE DEPARTMENT

Mr>J.VIJAYARUBAN B.E., Dr.SG.SHELVARAJ, M.E, Ph.D.,

(LECTURER/MECH) HOD/MECH and PRINCIPAL

Submitted for the Board Examination held on

Internal Examiner External Examiner

ACKNOWLEDGEMENT

At the outset, we express our thanks to our esteemed chairman. Thiru AVM
SELVARAJ and beloved CEO Dr. AVM.S.KARTHICK B.E.,MBA., Ph.D for their
dynamic role and for elevation of our institution to greater heights by providing us with
all the infrastructure and other essential facilities.

Also we would like to extend our thanks to our principal & also HOD of
Mechanical Engineering Department Dr. S.G.SHELVARAJ M.E.,Ph.D for his
constant effort in helping us by providing the necessary equipment and materials that
were used to build the project.

Not the more formality but from the depth of our heart, we extend our sincere
thanks to our project guide Mr.J.VIJAYARUBAN B.E., lecturer in Department of
Mechanical Engineering for his valuable suggestions, motivation, and constant
support.

We are really indebted to our parents, faculty members and our friends for their
timely help, and for the mental and moral support. Along with their blessing of the
almighty, we will continue to feel the success.

We would like to submit our special thanks to our Department Staff Members
and Lab Instructors and other non teaching staff for their valuable suggestions to
improve the content and quality of the project.

We also exhibit our thanks to one and all who had constantly supported us
either directly or indirectly to complete in completing this project successfully.

CONTENTS
Chapter no Title Page no

I Abstract 01

II Introduction 03

III Literature review 06

IV Selection of Materials 09

V Component Description 12

VI Working Principle 15

VII Diagram 17

VIII Cost Estimation 19

IX Features 22

X Conclusion 24

XI References 26
CHAPTER I
ABSTRACT

1
 CHAPTER I
ABSTRACT

A pneumatic Holding Gripper can be thought of as a large flexible mechanical

structure that is moved by some sort of control system. The control system takes its
input from a human operator and translates this command into the motion of actuators,
which move the mechanical structure. The high performance and highly powerful,
Pneumatic Holding Gripper together with the capacity for high volumes are suited for
Holding Heavy Objects.
One form of inefficiency in current systems is due to the link between the flows of the
two ports of the cylinder. This is because most valves use a single spool to control the
flow in both ports. Because of this link, it is impossible to set the pressure levels in the
two sides of the cylinder independently.
Therefore, the outlet side will develop a back pressure, which acts in opposition
to the direction of travel, which increases the pressure required on the inlet side to
maintain motion.

2
 CHAPTER II
INTRODUCTION

3
 CHAPTER II
INTRODUCTION

INTRODUCTION
A pick-and-place robot is one that picks up an object and places it in a specific
area. A gripper is used as an end effector by a pick and place robot. There are some ISO
standards for gripper design and modelling. The major standard is ISO 14539:2000,
which covers object handling with grasp-type grippers by manipulating industrial
robots. Pneumatic grippers are mechanical grippers that are a cost-effective and
dependable solution for a wide range of basic pick and place applications. A study was
conducted to determine which type of gripper is most effective in pick and place
applications, and the pneumatic gripper emerged as the winner. Compressed air is used
to transmit and control energy in the pneumatic system. It is frequently utilised in
industrial automation and automotive applications that require quick reaction and low
load. Air is employed as the medium because it is easy to compress and store. Air is
abundant and would not harm the environment in the event of a leak. In current
technology, most pneumatic grippers use two or three fingers grippers, which are
insufficient for picking a huge object. We modified the gripper structure from a two-
finger or three-finger gripper to a four-finger gripper to boost the effective grabbing
power.

1.1 INTRODUCTION TO PNEUMATICS :

Air is air that has a pressure that is substantially higher than that of the atmosphere.
When compressed air is expanded to a lower pressure, it can be used to push a piston,
like in a jackhammer; it can be used to move a shaft, like in a high-speed dental drill; or
it can be expanded through a nozzle to produce a high-speed jet, like in a paint sprayer.
Many pneumatic devices use compressed air as a source of energy to execute various
tasks, such as riveting guns, air powered hammers, drills such as rock drills, and other
pneumatic instruments. There are ways to employ compressed air in coal mining tools,
4
lowering the risk of injury.
1.2 Scope
The goal of this project is to create a pneumatic gripper for industrial use. This
project focuses on picking different characteristics that provide the gripper more
usefulness and versatility. The gripper dimensions, material utilised to construct the
gripper, and design of the gripper 1-8 may differ from one application to the next. To
address these issues, we created a prototype four-finger pneumatic gripper for soda can
automation.

1.3 OBJECTIVE

1) The pneumatic technology is being implemented.

2) Improved existing mechanisms
3) To employ a pneumatic system with easily available working fluid.
4) To create a system that is both efficient and cost effective.

5
 CHAPTER III
LITERATURE REVIEW

6
 CHAPTER III

LITERATURE REVIEW

Khadeeruddin, et al., They approach is to design of two jaw gripper, which is

distinct from the traditional cam and follower gripper to control the movement of the
jaws, as stated in the approach of handling of materials and mechanisms to pick and
place found widely in factory automation and industrial manufacturing. The gripper
model's design, analysis, and construction are explained, along with a comparison to
existing pneumatic grippers. Based on the application and several sets of variables, they
computed the force and torque for the two jaw gripper. Because air hoses, valves, and
other pneumatic equipment are simple to maintain, pneumatic grippers are relatively
easy to use and maintain.

Swapnil Gurav et al. deals with the design and manufacture of robot end effectors
that must conduct a pick place operation for handling items in the industrial
automachine and manufacturing industries. They created a gripper for the stamping and
folding industries that needed to grasp sheet metal pieces. The kinematics and dexterity
of the human hand are heavily emphasised in the design (humanoid). Ansys software is
used to perform a kinematic study of the gripper to assist this beginner design. It is put
through its paces with various loads and shapes.

Anna Maria Gil Fuster et al. In order to reduce the cost of serial production, the
gripper was developed and built using injection modelling. The prototype of the gripper
was created using 3D printing. They conducted research on household items with
unusual forms and weights. The SCARA robot served as inspiration for the final
prototype of a four-finger gripper.
7
 Maheshwari et al built a pneumatic pick and place automation system for a
groove grinding machine that was tailored to their issue statement. They analysed
current systems and identified flaws, then created a pneumatic pick and place
automation machine to solve those difficulties. They estimated the force that must be
delivered to the metal and chose a pneumatic cylinder to control the operation in the
groove grinding machine industry. The pneumatic gripper used to manipulate
cylindrical objects is discussed by.

Ciprian Rizescu discusses the pneumatic gripper for manipulating cylindrical

objects. The gripper is attached to an automatic machine that performs the moulding
operation. The gripper is connected to a mechanical arm that is part of the automated
machine. It is based on the planner slider crank mechanism, and the author created a
mathematical model for the gripper coupled to the mechanical arm. It's used to simulate
an assembly activity in 3D. The gripper is designed after analysing data such as force

8
CHAPTER IV
SELECTION OF
MATERIALS

9
 CHAPTER IV
FACTORS DETERMINING THE CHOICE OF MATERIALS

1. Properties:

The material selected must possess the necessary properties for the proposed
application. The various requirements to be satisfied can be weight, surface
finish, rigidity, ability to withstand environmental attack from chemicals,
service life, reliability etc. The following four types of principle properties of
materials decisively affect their selection

 Physical

 Mechanical

 From manufacturing point of view

 Chemical

The various physical properties concerned are melting point, thermal

Conductivity, specific heat, coefficient of thermal expansion, specific gravity,
electrical conductivity, magnetic purposes etc. The various Mechanical
Properties Concerned are strength in tensile, Compressive shear, bending,
torsional and buckling load, fatigue resistance, impact resistance, elastic limit,
endurance limit, and modulus of elasticity, hardness, wear resistance and sliding
properties. The various properties concerned from the manufacturing point of
view are,

 Castability

 Weldability

 Surface properties

 Shrinkage

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2. Manufacturing Case

Sometimes the demand for lowest possible manufacturing cost or surface

qualities obtainable by the application of suitable coating substances may
demand the use of special materials.

3. Quality Required

This generally affects the manufacturing process and ultimately the

material. For example, it would never be desirable to go casting of a less
number of components which can be fabricated much more economically by
welding or hand forging the steel.

4. Availability of Material

Some materials may be scarce or in short supply, it then becomes

obligatory for the designer to use some other material which though may not be
a perfect substitute for the material designed. The delivery of materials and the
delivery date of product should also be kept in mind.

5. Space Consideration

Sometimes high strength materials have to be selected because the forces

involved are high and space limitations are there.

6. Cost

As in any other problem, in selection of material the cost of material

plays an important part and should not be ignored. Sometimes factors like scrap
utilization, appearance, and non-maintenance of the designed part are involved
in the selection of proper materials.

11
CHAPTER V

COMPONENTS
DESCRIPTION

12
 CHAPTER IV
COMPONENTS DESCRIPTION

Air Receiver

Receivers maintain consistent air pressure in a pneumatic system, independent of

how much or how little is used. This allows for the balance of consumption peaks that
cannot be compensated for by the compressor

Compressed Air Filter

The pressurized air is fed through a baffle plate in the filter bowl and travels through the
filter from left to right. The battle plate causes the air to rotate, and the heavier dust
particles and water droplets are spun against the inner wall of the filter bowl by
centrifugal force.

Air Regulator

The compressed air produced by the compressor will change over time.
Regardless of pressure fluctuations in the main loop, centrally situated regulators
installed in the compressed air network provide a consistent supply pressure (secondary
pressure). (Initial pressure).

Air Lubricator

As a general rule, compressed air should be dry, that is, free of grease. It may be
essential to grease some components. Compressed air lubrication should therefore
always be limited to the plant areas that require it. Mist lubricators are used to feed
specifically selected oils into compressed air for this purpose. Oils injected into the air
by the compressor are incompatible with the lubrication of control system components.

Pneumatic Actuators

13
 An actuator is a device that converts energy from the supply into productive
work. The system controls the output signal, and the actuator responds to the control
signals through the final control element. To indicate the status of the control system or
actuator, other types of output devices are used.

Pneumatic Valves :

Signal components, control components, and a functioning part make up

pneumatic control systems. Valves are signal and control components that alter the
working element's operating sequence.

Flow Control Valves :

Flow control valves (Throttle valves) influence the volumetric of compressed air,
in both directions.

Hose And Tubing :

A way must be given for conducting clean, dry, and lubricated compressed air to
tools and equipment beyond the compressed air distribution system, which is made up
of rigid main pipelines, feeder lines, and associated fittings and accessories. This is
accomplished using air hose tubing.

14
 CHAPTER VI
WORKING PRINCIPLE

15
 CHAPTER VI
WORKING PRINCIPLE

Since the force generated by the actuator is proportional to the pressure difference
between the two sides, the actual pressures in the cylinder don’t affect the action of the
cylinder. Pneumatic system is used to most important process of Industries and Harbor.
Any work done by Pneumatic system, Ex: Lifting, Pulling, Pushing, Pressing, etc.,
above process can be made to easily carried out  by Pneumatic system. In this method of
machinery work is designed through Air Pressure. So this process are used to all kinds
of work.
All types of works can be successfully finished for this Air pumping pressure-
creating method. Pneumatic pump and Pneumatic cylinder are used this process.
Pneumatic cylinder’s ram is increase and decrease operation finished in this process.
Generally, Pneumatic cylinder operations are based on Pneumatic pump
operation. Air is pumping to the Pneumatic cylinder by using Pneumatic pump system.
It’s the manual operation.

16
CHAPTER VII
DIAGRAM

17
CHAPTER VII
DIAGRAM

18
 CHAPTER VIII
COST ESTIMATION

19
 CHAPTER VIII
COST ESTIMATION

S.No Part Description Quantity Price

1
Pneumatic cylinder 1 2500

2 - 700
Frame

3 Connecting tube - 150

4 Hand lever valve 1 700

Total 4050

LABOUR COST:
Welding,
 Grinding,
 Power hacksaw,

20
Overhead Charges :

The overhead charges are arrived by ”manufacturing cost”

Manufacturing Cost =Material Cost +Labour Cost

= 4050 + 1500

= RS.5550

Overhead Charges = 20%of the manufacturing cost

= Rs.1110
TOTAL COST:

Total cost = Material Cost +Labour Cost +Overhead

Charges Total cost = 4050 + 1500 + 1110

= 6660/-

21
CHAPTER IX
FEATURES

22
 CHAPTER IX
FEATURES

Advantages:

1. More efficient
2. Power can be easily transmission.
3. Less loss in transmission.
4. Very Easy Holding Process.

Disadvantages:

1.High loads cannot be provided.

2.Small Types of jobs only Support

23
 CHAPTER X
CONCLUSION

24
 CHAPTER X
CONCLUSION

From the foregoing result, it is determined that the employment of a pneumatic

gripper for industrial and mechanical operations is the most convenient. Above is a
future model of pneumatic machine on which drilling, cutting, and other operations are
performed using a pneumatic system, which overcomes all of the problems associated
with traditional operations. This pneumatic multi operation Machine will be exhibited in
order to increase production and job quality
It also includes a full description of the machine mechanism and its several
primary components. Various pneumatic devices are used to turn the manual controlled
machine into an automatic machine, as explained in the paper. The results show that
there is a higher reduction in operational time. As a result, the output will be higher, and
human interference will be less.

25
CHAPTER XI
REFERENCES

26
 CHAPTER XI
REFERENCES

[1] Kushang, and Amin Harsh, "Design and development of universal drilling
machine: a review study," "International Journal for Technological Research in
Engineering," April 2016, pp.27-42.
[2] Tudor Deaconescu and Doinaarliman (NEGREA), "Study on the Pneumatic
Actuation of Gripping Systems," "Advances in Production, Automation, and
Transportation Systems," "ROMANIA," Hydraulic and Pneumatic, 2015, pp.88-
110.
[3] Gujjarlapudikrishnavamsi, Gadinarayana, "Design and Analysis of
Pneumatic Gripper with Two Jaw Actuavation," ISSN 2319-8885,4[1], January-
2015, PP.20-23.
[4] K. Krantikumar, K.V.S.S. Saikiran, and Jakkoju Sathish, "Study on the
Pneumatic Actuation of Gripping Systems," ISSN NO: 2348-4845, March-2016,
pp.501-509.
[5] Miguel Angel Castillo, "Advanced Pneumatic Gripper, Countersink, and
Riveting Experience," "SAE international report," pp.210-325.

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