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

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. Gevorderde robot stelsels is 'n Industrie 4.0 bemagtiger in slimfabrieke. Industríele robot manipuleerders vereis 'n eindeffek werktuig om take te verrig. Die doel van hierdie studie was om 'n herkonfigureerbare robot eindeffek werktuig vir masjinering en onderdeel hantering na te vors en te ontwikkel. 'n Herkonfigureerbare, tweedoelige ontwerp verwyder tydsame werktuigwisseling. Hierdie artikel bespreek die meganiese konseptualisering, detailontwerp, vervaardiging en toets van die eindeffekwerktuig en spilsisteem. Die konsep gebruik 'n aanpasbare, kabelgedrewe greepstelsel in samewerking met 'n kompakte, liggewig frees stelsel wat nie-ysterhoudende metale kan masjineer. Die resultate demonstreer die veelsydigheid en hoë styfheid van die greepstelsel. 'n Eksperimentele ondersoek het die invloed van herkonfigureerbaarheid op die spil dinamika aangetoon. Die dinamiese respons van die greepstelsel tydens masjinering is ook eksperimenteel ondersoek om die uitvoerbaarheid van 'n tweedoelige ontwerp te evalueer. Die stabiliteit van die stelsel word deur middel van stabiliteit lob diagramme aangedui.