Research On Robot End-Effector Exchange Device

This paper conducts a research on the robotic end-effector operation system that based on a requirement of teleoperation robot because of the dangerous working environment.It also proposes a design of an end-effector exchange device that helps the operator to change the robot ic end-effector by teleoperating.This paper first introduced the working principle of the end-effector exchange device,propose the design objective th at based on the needs of teleoperation robot platform.Then designed the mechanical structure of the end-effector exchange device,and analyzed the working process of the locking structure and locking principle.Meanwhile,determine the exchanging structure and driving method for the power out-put structure.Next,after finishing design the 3D model of the end-effector exchange device by using 3D software CATIA.The capability of position error compensation of the device theoretically based on the needs of the robot was analyzed.Meanwhile,by using d ynamic simulation software ADAMS.The simulation of the docking process and the locking status of the end-effector exchange device was conducted and analyzed.According to the result of the analysis of the simulation,Static Strength Analysis was conducted to the crucial components by using the Finite Element Analysis Software – Workbench.Finally,the prototype of the end-effector exchange device was created and put into test for adjustment.This paper finished the whole design process by designing the robotic end-effector exchange device,using simulation software to run virtual test of the prototype and producing the prototype.Meanwhile,it also made comparison between theoretical fact,simulation and experiment which provides evidence for the further development of the end-effector exchange device.