Title :
A space-saving end-effector with capture and actuation transmission capabilities
Author :
Jun Wu ; Shaowei Fan ; Fenglei Ni ; Hong Liu
Author_Institution :
State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China
Abstract :
A space-saving end-effector is designed for small scale manipulator in this paper. The end-effector is equipped with capture and actuation transmission capabilities. Two subsystems are highly integrated systems of mechanics, electronics and sensors. A trefoil shaped capture system is developed for closed envelop. The worm shaft and worm wheels are adopted for the self-locking property, and they are used in a unique manner. Straight path generation of linkage is proposed in the transmission system. The multisensory system and hardware architecture provide the foundation for control strategies. The effectiveness of the end-effector is verified by simulation and the capturing tolerance is obtained.
Keywords :
actuators; aerospace robotics; end effectors; sensors; actuation transmission capabilities; capture transmission capabilities; control strategies; hardware architecture; multisensory system; self-locking property; sensors; small scale manipulator; space-saving end-effector; straight path linkage generation; transmission system; trefoil shaped capture system; worm shaft; worm wheels; Assembly; Couplings; Grippers; Manipulators; Sensors; Shafts; Torque;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2014 IEEE International Conference on
DOI :
10.1109/ROBIO.2014.7090664
