Design and experiment of a universal space-saving end-effector for multi-task operations

Abstract

Purpose

The purpose of this paper is to present the design and experiment of a universal space-saving end-effector for multi-task operations.

Design/methodology/approach

The universal end-effector is equipped with capture and actuation transmission capabilities with two corresponding subsystems, which are highly integrated systems of mechanics, electronics and sensors. A trefoil-shaped capture system is developed for closed envelop. The worm gear pair is adopted for self-locking and space-saving, and it is used in a unique manner for three grapple chains’ synchronous motion. The combination of optimal straight path linkage and pantograph mechanism is proposed in the transmission system. The electrical structure and the multi-sensory system provide the foundation for control strategy.

Findings

Simulations and experiments demonstrated characteristics of the universal end-effector. The compliance of the manipulator guaranteed the achievement of “soft capture” by the end-effector. Due to the self-locking property, the end-effector and the grapple interface could keep rigid connection when powered off.

Practical implications

The design process takes practical requirements into consideration. Through experiments, it is proved that the proposed end-effector can be used for the multi-task operations with corresponding tools.

Originality/value

Among end-effectors with operation function, the misalignment tolerance (MT) is originally regarded as a key factor. The adoptions of the worm gear pair and the linkage make it space-saving compared to conventional designs.

Citation

Wu, J., Fan, S., Jin, M., Sun, K., Zhou, C. and Liu, H. (2016), "Design and experiment of a universal space-saving end-effector for multi-task operations", Industrial Robot, Vol. 43 No. 2, pp. 193-203. https://doi.org/10.1108/IR-07-2015-0132