A space-saving end-effector with capture and actuation transmission capabilities

Author

Jun Wu ; Shaowei Fan ; Fenglei Ni ; Hong Liu

Author_Institution

State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China

fYear

2014

Firstpage

2203

Lastpage

2208

Abstract

A space-saving end-effector is designed for small scale manipulator in this paper. The end-effector is equipped with capture and actuation transmission capabilities. Two subsystems are highly integrated systems of mechanics, electronics and sensors. A trefoil shaped capture system is developed for closed envelop. The worm shaft and worm wheels are adopted for the self-locking property, and they are used in a unique manner. Straight path generation of linkage is proposed in the transmission system. The multisensory system and hardware architecture provide the foundation for control strategies. The effectiveness of the end-effector is verified by simulation and the capturing tolerance is obtained.

Keywords

actuators; aerospace robotics; end effectors; sensors; actuation transmission capabilities; capture transmission capabilities; control strategies; hardware architecture; multisensory system; self-locking property; sensors; small scale manipulator; space-saving end-effector; straight path linkage generation; transmission system; trefoil shaped capture system; worm shaft; worm wheels; Assembly; Couplings; Grippers; Manipulators; Sensors; Shafts; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics (ROBIO), 2014 IEEE International Conference on

Type

conf

DOI

10.1109/ROBIO.2014.7090664

Filename

7090664