Material handling is a crucial part of manufacturing and assembly in industry. In state-of-the-art handling systems, robots use various end-effectors to grip and transport different shapes of workpieces. The exchange process of fitted end-effectors to appropriate workpieces, often requires to interrupt the manufacturing process. From the prospective of economic efficiency, there is an inherent benefit creating a reconfigurable end-effector that is able to adjust automatically to different workpiece geometries. In this work a novel end-effector prototype based on shape memory alloys (SMA’s) is developed and experimentally validated. The end-effector prototype has four arms with two SMA driven reconfigurable degrees of freedom (DOF’s) to allow gripping of different workpiece shapes and geometries. Each arm is rotatable by 90 degrees (1. DOF) and uses a counterweight to relieve the SMA wire. The tip of the arm is driven by a separate SMA in a 20 degree range and it has a special locking mechanism to hold different positions without any flowing current. The designs of the actuator constructions are presented and a prototype is produced via rapid-prototyping. Future work will include the characterization of the second DOF and controlling the positions of both DOF’s by using a PID controller based on the SMA self-sensing ability.
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ASME 2017 Conference on Smart Materials, Adaptive Structures and Intelligent Systems
September 18–20, 2017
Snowbird, Utah, USA
Conference Sponsors:
- Aerospace Division
ISBN:
978-0-7918-5826-4
PROCEEDINGS PAPER
Development of a Reconfigurable End-Effector Prototype
Frank Khelfa
,
Frank Khelfa
Center for Mechatronics and Automation Technologies (ZeMA) gGmbH, Saarbruecken, Germany
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Lukas Zimmer
,
Lukas Zimmer
Saarland University, Saarbruecken, Germany
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Paul Motzki
,
Paul Motzki
Center for Mechatronics and Automation Technologies (ZeMA) gGmbH, Saarbruecken, Germany
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Stefan Seelecke
Stefan Seelecke
Saarland University, Saarbruecken, Germany
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Frank Khelfa
Center for Mechatronics and Automation Technologies (ZeMA) gGmbH, Saarbruecken, Germany
Lukas Zimmer
Saarland University, Saarbruecken, Germany
Paul Motzki
Center for Mechatronics and Automation Technologies (ZeMA) gGmbH, Saarbruecken, Germany
Stefan Seelecke
Saarland University, Saarbruecken, Germany
Paper No:
SMASIS2017-3788, V002T04A011; 6 pages
Published Online:
November 9, 2017
Citation
Khelfa, F, Zimmer, L, Motzki, P, & Seelecke, S. "Development of a Reconfigurable End-Effector Prototype." Proceedings of the ASME 2017 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. Volume 2: Modeling, Simulation and Control of Adaptive Systems; Integrated System Design and Implementation; Structural Health Monitoring. Snowbird, Utah, USA. September 18–20, 2017. V002T04A011. ASME. https://doi.org/10.1115/SMASIS2017-3788
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