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

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

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.

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.

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.

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.