DEVELOPMENT AND ANALYSIS OF RECONFIGURABLE ROBOTIC END-EFFECTOR FOR MACHINING AND PART HANDLING

Authors

DOI:

https://doi.org/10.7166/32-1-2293

Keywords:

Reconfigurable, End-effector, Machine Tool, Gripper, Robotic, Milling, Stability Lobe Diagram, Frequency Response, Grasp Force

Abstract

Advanced robotic systems are an Industry 4.0 enabler in smart factories. Industrial robotic manipulators require an end-effector to perform tasks. The purpose of this study was to research and develop a reconfigurable robotic end-effector for machining and part handling. The device eliminates the need for separate robots to perform part handling and machining operations. A reconfigurable, dual-purpose design eliminates lengthy end-effector changes. The paper presents the mechanical conceptualisation, detailed design, manufacturing, and testing of the end- effector and spindle system. The concept uses a flexible, cable-driven gripper system in conjunction with a compact, lightweight milling system that is capable of machining non-ferrous metals. The results demonstrate the versatility and high compliance of the gripper. An experimental study revealed the influence that reconfigurability has on the spindle dynamics. The dynamic response of the gripping system was also experimentally examined during machining to evaluate the practicality of a dual-purpose design. Experimentally developed stability lobe diagrams are presented, which characterise the stable operating parameters of the machining system.

Author Biographies

Clydene Emmanual Reddy, The University of KwaZulu-Natal

Mechanical Engineering, Mechatronics and Robotics Research Group

Jared Padayachee, The University of KwaZulu-Natal

The author is a Senior Lecturer in the Department of Mechanical Engineering, University of KwaZulu-Natal

Glen Bright, The University of KwaZulu-Natal

The author is a Professor in the Department of Mechanical Engineering, University of KwaZulu-Natal and Dean of Engineering, University of KwaZulu-Natal

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Published

2021-05-28

How to Cite

Reddy, C. E., Padayachee, J., & Bright, G. (2021). DEVELOPMENT AND ANALYSIS OF RECONFIGURABLE ROBOTIC END-EFFECTOR FOR MACHINING AND PART HANDLING. The South African Journal of Industrial Engineering, 32(1), 56–70. https://doi.org/10.7166/32-1-2293

Issue

Vol. 32 No. 1 (2021)

Section

General Articles

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