DESIGN & DEVELOPMENT OF

WEDGE TYPE GRIPPER

BY
A.Lohith Reddy (15K91A0306)
A.Kavya (15K91A0311)
B.Sai Bablu (15K91A0315)
K.Bharat Kumar (15K91A0351)
Kushal Mankar (15K91A0360)

Under the guidance of

T. Dhanunjay Singh
(Assoc. Professor)
 CONTENTS
• INTRODUCTION
• LITERATURE REVIEW
• GRIPPERS
• STRUCTURAL CALCULATIONS
 INTRODUCTON
• A Gripper is a device used to hold or secure an object
tight together to prevent moment or separation
throughout the application of pressure.
• During testing certain amount of force is required to
pull the specimen for which a firm grip of the
specimen is needed.
 Fig: 1
• Maximum Capacity = 30 Tonnes
• While testing the specimen under maximum load,
slippage occurs and deformation takes place
• To overcome this problem a new gripper design is introduced.
Sl.no Title Author Journal Finding

1 Robot gripper for used G.J.Monkman Research This article demonstrate a

with fibrous materials article range of gripping
(01-april- techniques .ex: impactive,
1995) ingressive, contigutive, and
astrictive

2 Design of De Baere ; Experimental- It does not influence on

mechanical clamps W. Van techniques mechanical and tensile
with extra long Paegemen; (May 2008) properties of tested
wedge grips for J. Degriek; material in static tensile
static and fatigue testing
testing

3 Review of design of Baiju .R.Dabhi; IJSRD In mechanical gripper

grippers in UTM Prof.(Dr). ( vol 4- issue higher the contact pressure
V.D.Chauhan; jan-2016) –better the specimen can
be gripped
4 Modelling by electro- Park.J.B, Smart materials and Study of mechanical
mechanical behaviour Okabe; structures 12(1) properties under load
of unidirectional Takeda; (2003) conditions;
carbon-fibre reinforced
plastic under tensile
loading

5 Off axis tensile testing Pierron.F ; Composites science Study of ultimate

of unidirectional Alloba.D ; & Technology stress ultimate shear
composites Surrel.Y; stress ultimate shear
strength of used
composite material

6 New ideas on the Pierron.F; Journal of Unidirectional

measurement of the Vaupran.A; composite materials strength analysis
in-plane shear strength
of unidirectional
composites
 GRIPPER
• A gripper is a device which enables the holding of
an object to be manipulated.
• Gripper enables holding, tighten, handling and
releasing if an object.
TYPES OF GRIPPERS
• Mechanical type grippers
• Non-mechanical type grippers
 Gripp
er Non-
Mec
Mec
hanic
hanic
al
V- Circul Vacu
Flat al
Mag Adhe
block ar um
type netic sive
type type cup
• Wedge type grippers are mainly preferred
where high gripping load is required to avoid
slippage.
• Adaptive to different materials & surfaces.
• Long clamping length.
• Good jaw guiding allows contact pressure on
specimen minimum.
WEDGE TYPE GRIPPER

Fig: 2

Fig: 3
 Some types of Grippers

Fig : 4 Vaccum
Gripper

Fig : 5 Expandable Gripper Fig :6 Magnetic Gripper

BI-AXIAL TESTING MACHINE

Fig: 7
STRUCTURAL CALCULATIONS
Similarly ,the calculations are done for different angles :
angle u f Ra Rasin() Rb Rbsin() pt tones

1 0.1 147099.75 2290942.869 1927761.952 2590984.823 2180238.55 1377226.89 140.4380589

2 0.1 147099.75 -3214188.176 -2922653.038 -3040339.991 -2764573.331 1226684.444 125.0870016

3 0.1 147099.75 -209685.6085 -29590.83476 -260102.02 -36705.59916 -2652578.911 -270.4877722

4 0.1 147099.75 1703152.212 -1288949.844 -2814918.774 2130337.552 1780143.52 181.5241208

5 0.1 147099.75 -4972729.123 4768470.667 5614958.588 -5384320.091 1564891.439 159.5745172

6 0.1 147099.75 -428069.38 119609.2191 1561679.14 -436357.3549 1469132.155 149.8097877

7 0.1 147099.75 1281897.804 842189.6781 1888991.516 1241042.111 1402970.088 143.0631345

8 0.1 147099.75 -10002358.55 -9895915.918 -9050999.119 -8954680.619 1286325.618 131.1687088

9 0.1 147099.75 -665355.2042 -274205.1789 -1012971.672 -417464.351 736658.7277 75.1182848

10 0.1 147099.75 953737.1563 -518853.1473 -2476458.172 1347245.526 1966077.586 200.484119

11 0.1 147099.75 -332373130.3 332369875.2 368939253 -368935639.9 1601833.502 163.3415593

12 0.1 147099.75 -935348.3654 501882.6018 1803473.366 -967694.9665 1495847.591 152.534004

13 0.1 147099.75 681102.929 286176.9995 1593716.662 669627.2073 1426624.347 145.4751976

 references:

• G.J.Monkman-' Robot gripper for used with fibrous materials'- Research article (01-04-1995)

• De Baere ;W. Van Paegemen;J. Degriek;-' Design of mechanical clamps with extra long wedge grips for
static and fatigue testing '- “Experimental-techniques “(May 2008)

• Baiju .R.Dabhi;Prof.(Dr).V.D.Chauhan;-' Review of design of grippers in UTM '- “ IJSRD “

( vol 4- issue jan-2016)

• Park.J.B,Okabe;Takeda;- ' Modelling by electro-mechanical behaviour of unidirectional carbon-fibre

reinforced plastic under tensile loading ' - “Smart materials and structures 12(1)”
(2003)

• Pierron.F; Alloba.D ;Surrel.Y;- ' Off axis tensile testing of unidirectional composites ' - “Composites
science & Technology”

• Pierron.F;Vaupran.A; - ' New ideas on the measurement of the in-plane shear strength of
unidirectional composites ' - “Journal of composite materials”
• https://www.zwickroell.com/en/specimen-grips/wedge-grips

• http://www.instron.in/en-in/products/testing-accessories/grips/static-tensile-grips/mechanical-wedge-
action-grips

• https://www.google.com/search?rlz=1C1NDCM_enIN817IN817&q=wedge+type+grippers+dimensions+an
d+parameters+and+material+used&tbm=isch&source=univ&sa=X&ved=2ahUKEwigrtnGlKHgAhXNc3AKHX
zeDe0QsAR6BAgFEAE#imgdii=2Jirws2-6zBU1M:&imgrc=nxXAe0AZG5kF7M:

• https://dspace.cc.tut.fi/dpub/bitstream/handle/123456789/24210/Aparisiiescriva.pdf?sequence=3
(DESIGN OF A SMART GRIPPER FOR INDUSTRIAL APPLICATIONS)

• https://www.testresources.net/accessories/grips-fixtures/tensile-grips/mechanical-wedge-action-grips/

• https://www.admet.com/5-things-know-buying-tensile-testing-grips/

• wikipedia