Experimental evaluation of a novel automatic service robot tool changer

This paper introduces the design of a novel service robot tool changer based on the critical review of the state of the art. Distinguishing property of the novel tool changer is its small size, weight and unconventional locking mechanism. The tool changer is actuated by a DC motor and integrates electrical power and signal interfaces. The paper presents the fully functional prototype of the tool changer which underwent extensive experimental evaluation in order to validate its performance characteristics against its design specifications. The experiments verified the specifications of the tool changer except for the bending stiffness and torque that needs to be taken into consideration in application design.