BOEING END EFFECTOR

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BOEING END EFFECTOR

• ME 416 Washington State University

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Boeing End Effector

• Group Members
• A.M.
• Adam Dirkes, Jared Haight, Luna Michael
• P.M.
• Brett Buchholtz, Bryce Eschenbacher, Chi Jinchi,
  
• Chung-Chi Chen, Jayson Eleccion, Shuko Kusaka

Contact Alex van Schoonhoven
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Problem Statement

• Design an End Effector
• Used to remove or install aircraft components
• specific needs provided by Boeing
• Boeing has requested our services to build a
  manipulating end effector
• End Effector must connect to existing hoist
• Will be used to remove parts for maintenance
• The end effector should be capable of translating
  three inches and rotating 30 degrees in the x, y
  and z planes.

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Key Needs

• 6 degrees of freedom
• 3 inches of controlled linear movement
• Rotational movement of 30 degrees
• Lift 100-150 lbs
• Weigh less than 250 lbs
• Capable of removing/installing components safely
• Compatible with existing boom

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Design Concepts
Conceptual Design 1- Stewart Platform

• Design Basics
• Two parallel plates
• Six triangulated pistons
• Coordinated movements facilitates six degrees
  of freedom
• Universal joints connect the piston to the
  plates

A Stewart Platform basically consists of a base
(lower platform) and end effector (top platform)
connected by six actuator driven legs.
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Design Concepts
Conceptual Design 2- Translational Plates

• Design Basics
• Power jacks used for translational movement by
  way of worm gears
• Power jacks provide the 3 axis of lateral
  movement
• Rotational movement provided by an arm and
  piston mechanism

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Final Design

• Vertical Motion (translational and rotational) is
  controlled by machine screw jacks.
• Translation in Horizontal plane controlled by
  lead screws and linear bearing.
• Last two degrees of rotation controlled by
  turntables.

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Benchmarking

• Majority of Metrics and needs met
• Strength
• Travel and Rotation Distance
• Ease of Operation
• Translation/Machine Jack Controllability
• Some metrics were not fully met
• Turntable Controllability
• Volume of End Effector
• Weight of End Effector

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Manufacturing Report

• Manufacturing required basic shop skills
• All plates cut using a shear
• Drill press used to drill and tap all holes
• Welding was done by Norm Martel (in charge of ME
  student shop)
• Minimal Mill and Lathe work was necessary
• Materials Used
• Hot rolled low carbon steel was used for all
  plates
• Brass ACME lead screws and nuts
• All bolts and screws are SAE Grade 5 or higher
• Linear bearings made of 10-60 Al with Teflon
  coated sliders

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Bill of Materials/Cost
Total Cost 2,755.30 (Parts only, no labor)
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Acknowledgements

• Special thanks to the following people who
  contributed to the successful completion of this
  project.
• Dr. Chuck Pezeshki
• Dr. Findley
• Kelley Racicot
• Alex van Schoonhoven
• Alan Cooke
• Norm Martel
• Jon Grimes
• Robert Ames

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Any Questions?