MODELLING AND ANALYSIS OF DC MOTOR ACTUATOR FOR AN ELECTRIC GRIPPER

Abstract

Robot technology has seen developments to support both the needs of industry and human life. This paper presents a brief review on the modelling and simulation of robotic grippers. The design of two fingered electric gripper, actuated by a direct current motor, is described for pick and place of spark plug. Mathematical modelling of the motor is carried out to understand and relate the control parameters. Angular velocity and torque response of the motor for a step input are verified by simulation. Controlling the direct current motor with pulse width modulation technique gives gentle variation of velocity and relatively greater torque. Further, it results in quick response of motor torque.

Keywords

• DC motor
• SimMechanics
• Gripper
• MATLAB Simulink