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Mechanical design of end-effector for installation of "shingles" structures
The goal of this project is to design an end-effector that would allow the quadrupedal robot ALMA to assemble wooden shingle envelopes. An end-effector prototype is already available, but it should be optimized to enable its integration on a mobile manipulator.
Keywords: Mechanical design, Robot end-effector, Automation of construction processes
This project is part of a research collaboration on the onsite construction of vernacular architecture with the help of digital tools and machines. The main focus of the research is to use mobile robots for the construction process of building roofs using unprocessed wood. The robots are expected to learn and replicate the tasks of craftspeople to assemble small wooden pieces called shingles on the roof. In order for robots to be able to assemble shingle structures, it is required to design an end-effector with specific properties. For instance, the end-effector should act both as a suction gripper and as a nailgun, and its weight should be within the payload capabilities of the robot. We have already built an end-effector that can be used by humans. The student should take inspiration from the prototype and optimize its design for robotic applications.
This project is part of a research collaboration on the onsite construction of vernacular architecture with the help of digital tools and machines. The main focus of the research is to use mobile robots for the construction process of building roofs using unprocessed wood. The robots are expected to learn and replicate the tasks of craftspeople to assemble small wooden pieces called shingles on the roof. In order for robots to be able to assemble shingle structures, it is required to design an end-effector with specific properties. For instance, the end-effector should act both as a suction gripper and as a nailgun, and its weight should be within the payload capabilities of the robot. We have already built an end-effector that can be used by humans. The student should take inspiration from the prototype and optimize its design for robotic applications.
Literature study on gripping mechanisms and nailguns Conceptual design and preliminary sizing of the full system Weight optimization using FEM 3D print prototypes Manufacturing and Testing of the prototype Perform experiments for the validation
Literature study on gripping mechanisms and nailguns Conceptual design and preliminary sizing of the full system Weight optimization using FEM 3D print prototypes Manufacturing and Testing of the prototype Perform experiments for the validation