Foam pad stickers are commonly used on automobile parts to reduce rattling, but they are practically exclusively applied by hand. Automating this task presents numerous challenges that need to be addressed to successfully implement a robotic station in industries. In this thesis, we attack this problem by designing a novel robotic gripper that can be adapted to a variety of different foam pad sizes. This gripper uses a combination of mechanical and pneumatic grasping means to successfully peel and place foam stickers. We also demonstrate how five different variations of this gripper can be integrated into a collaborative robotic end-effector and can pick and place five different foam pads in under 45 seconds. To manage the complexity of such an end-effector, we combined pneumatic circuits and mechanical functionality into single, 3D-printed parts. Additionally, extensive experimental tests are conducted on different vacuum openings for grasping foam pads. Finally, we developed a method to apply pressure to the foam stickers to firmly stick them. This method, which consists of using an admittance-generated trajectory at a higher speed, showed promising results.
| Date | 20 Dec 2023 |
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| Original language | American English |
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| Awarding Institution | - École de technologie supérieure
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| Supervisor | Jean-Philippe Roberge (Supervisor) |
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Bilodeau, F. (Author),
Roberge (Supervisor),
20 Dec 2023Student thesis: Master's thesis › Master in Engineering: Mechanical Engineering