Introduction: Bend Effector: Robot End Effector for Bending Plates
Aim: Forming and fixing of tertiary bending active elements onto a primary/secondary structural element/frame.
Group Members: Babasola Thomas, Niloofar Imani, Plant Songkhroh.
Step 1: Ingredients
What we need is:
1X Uno R3 Controller Board
1X USB Cable
1X Servo Motor(SG90)
1X Stepper Motor
1X ULN N2003 Stepper Motor Driver Board
1X Ultrasonic Sensor
2X Extrusion RollersWood ( Or baby toilet papers :P )
Sticks, Tape, Glue, Pins
Step 2: Schematic Circuit
Step 3: Robot and Effector Interaction
The end effector is able to grip/pick up a strip/sheet and induce elastic bending to the desired height. The robot arm primarily serves as a means to maneuver the formed strip in the workspace.
So the hierarchy is basically:
1. Robot arm: move effector to strip depot
2.Effector: sense strip and grip (inform robot arm that strip is gripped)
3.Robot arm: Manoeuvre strip(while forming) to designated placement zone
4.Effector: once desired elastic height has been reached, request operator permission to release strip (once fixed to a substrate)
5.Effector: inform robot arm that formed strip has been released
6. Robot arm: move back to the depot to pick up next strip
Step 4: The End Effector Logic
Image 1: The ultrasonic sensor senses the strip as it is fed into the end effector, this is a cue for the servo motor to ‘grip’ the strip
Image 2: The servo motor acts as a grip
Image 3: Once the strip is securely fastened, the stepper motor begins rotating which induces elastic bending in the strip
Image 4: When the peak of the bent strip reaches a certain height, the information from the ultrasonic sensor conditionally stops the rotation of the stepper motor.
Step 5: Diagrams
In the first image you can see a schematic diagram of the hardware circuit, and in the second image a sequence diagram of the process.
Step 6: Final Result!
And finally, we have a KUKA robot end effector which can bend plates for your bendy days!