Design of a Mechanical End Effector by 3R72K6vb


									Design of a Mechanical
     End Effector
Matt Robson and Mike Severance
   Idaho Mechanical Engineering
     Senior Capstone Design
 The Mechanical Engineering program at
  the University of Idaho incorporates a real
  world engineering design project into its
  senior curriculum.
 The goal is to produce a working product
  and/or design solution to the customer
  with a given time and budget constraint.
          Bechtel Hanford, Inc.
   Bechtel Hanford, Inc., the
    project customer, has
    been contracted by the
    U.S. Department of
    Energy (DOE) to clean
    up the nuclear waste left
    from the Cold War era at
    the Hanford Site on the
    Columbia River in
            Bechtel’s Problem
   The current design of the robotic gripper is
    capable of handling most of the objects in
    the hot cell, but is incapable of effectively
    plugging and unplugging Staubli fluid
    couplings. Bechtel needs a mechanical
    device which can attach to the existing
    gripper, known as an end effector, to
    manipulate the fluid couplings more
Major Design Considerations
                 End Effector
                 Park Stand
                 Testing Platform
                  (mock up of a power
                  manipulator gripper
                  for testing purposes)
         Design Constraints
 Connection tolerance of ¼ inch and 5°
 End effector must be able to operate
  within a 2.5 by 5 inch envelope to avoid
  interference with other objects in the hot
 End effector must be able to hold up to 60
  lbs. of deadweight.
 $5,000 budget.
        Conceptual Designs
 All conceptual designs must meet the
  design constraints, and even further,
  should meet or exceed the functional
  performance requirements of the design
  expected by the customer.
 The following conceptual designs are
  broken down to the individual parts of the
  design which must be considered to meet
  the functional requirements.
End Effector
Park Stand
Test Platform
               Testing the Design
   Statistical experiment design
       Design must successfully connect the fluid couplings
        with a probability of 95%.
       End effector must be picked and placed from the park
        stand successfully with a probability of 99%.
   Test Platform design
       Apparatus has 3 degrees of freedom, or 3-
        dimensional motion.
       Simulates all forces applied to and by the power
        manipulator arm and gripper.
Conceptual Design Highlights
Design Recommendations

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