Design of end-effector structure for aviation socket assembly system

Abstract

Assembly tasks of conventional end-effectors are generally performed by complex compliance mechanisms, sophisticated control strategies and force sensing. The process is often costly, coupled with difficulty in picking up such small parts as aviation sockets. A low-cost solution end-effector was designed for the above problem, implementing two pick-up strategies: inward-clamped and outward-supported. First, the geometric constraints of the gripping fingers and the advantages of gravity were used to pick up and place different structural types of parts such as small sheet-like or hollow cylindrical parts, and then the experimental assembly system is built and physically assembled for verification. The experimental results show that the end-effector can complete the tasks of picking up and placing parts with different sizes, with the assembly task finished in the system, and the coaxiality error is less than 0.3 mm.

Keywords

• end-effector
• assembly system
• precision pick-up
• aviation socket