Educational project
Development of a reconfigurable End Effector for tissue taking
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The diploma project resulted in the development of a modular End Effector, whose main function is the handling of textiles weighing up to 1 kg.
The system consists of a three-finger gripper, which can be automatically reconfigured, where two of them are opposed while the third is in the disengaged position. In addition, two fingers are considered 'active' in that they mount a belt system in order to premise the sliding of the fabric, while the third is 'passive' and only actuated in the reconfiguration movement.
After choosing the best variant for each of the system's functions, we proceeded with the dimensioning and selection from the catalogue of all the elements necessary for its proper functioning, with the aim of achieving a closing force of 30 N together with limited overall dimensions.
Finally, the tables of non-standardised components were produced, complete with tolerances, surface condition and heat treatments required to obtain the final product.
The system consists of a three-finger gripper, which can be automatically reconfigured, where two of them are opposed while the third is in the disengaged position. In addition, two fingers are considered 'active' in that they mount a belt system in order to premise the sliding of the fabric, while the third is 'passive' and only actuated in the reconfiguration movement.
After choosing the best variant for each of the system's functions, we proceeded with the dimensioning and selection from the catalogue of all the elements necessary for its proper functioning, with the aim of achieving a closing force of 30 N together with limited overall dimensions.
Finally, the tables of non-standardised components were produced, complete with tolerances, surface condition and heat treatments required to obtain the final product.
The main issue was the design of the two active fingers, which contain within them a system of toothed belts and pulleys capable of sliding the fabric between the fingers in the system's grip.
In order to allow a closing force of at least 30 N, linear electric actuators exerting a force of 100 N were used via a lever system.
The total mass of the system is approximately 2.5 kg and the estimated cost for its realisation is around CHF 4700.
The developed End Effector still needs some minor improvements, including the replacement of the outer cover, obtained by traditional machining, with one made by additive manufacturing, in order to improve the aesthetics of the system.
In order to allow a closing force of at least 30 N, linear electric actuators exerting a force of 100 N were used via a lever system.
The total mass of the system is approximately 2.5 kg and the estimated cost for its realisation is around CHF 4700.
The developed End Effector still needs some minor improvements, including the replacement of the outer cover, obtained by traditional machining, with one made by additive manufacturing, in order to improve the aesthetics of the system.