Design of Robotic Gripper for Mating Process of Electric Connector Using Axiomatic Design

Abstract

The aim of this study was to develop a gripper for the mating of electric connectors in the automation of assembly processes. First, the assembly characteristics were analyzed based on the characteristics of the electric connector. The assembly of an electric connector through a robot consists of three actions: “Grip", ”Path planning " and “Push in.” Furthermore, the gripping points that were suitable for assembly were analyzed. Based on the analyzed characteristics, a methodology was derived using an axiomatic design. Based on this methodology, the proposed double-held gripper was shaped using materials with different hardness values in the wire and the connector parts. The gripper was designed to equip the two types of tips that are available: universal tip and dedicated tip. Finally, based on the design, the proposed gripper was tested.