An exchangeable end effector for multi-part-assembly system

Automatic assembly is widely used in precision component fabrication, and the manually assembled task for a small batch of the precise component is replaced by automatic system gradually. One of the key issues is manipulating the workpiece reliably. With the quick updating of the products, the end effectors need to pick more parts with different dimensions and configurations. In this paper, an exchangeable end effector for laser gyroscope assembly is presented. The end effector integrated with adsorption and clamping is designed to suitable for different type of workpieces. The three-position two-way magnetic valve is used to switch the adsorption and clamping. Based on the dimension and shape characteristics of the parts, the adsorption and clamping position of the end-effector was calculated. The maximum weight of the part is 0.5N, thus vacuum degree required for adsorption is 0.078MPa and the reaction time is 0.653s. The clamp for this gas circuit can generate the clamping force of 10N, which meets the requirement of clamping. Finally, the assembly tests were carried out to prove the feasibility of this exchangeable end effort.