Design and Analysis of a Robotic End-Effector for Automated Hi-Lok Nut Installation

Abstract

The automated installation of hi-lok nuts by the robot is an effective way to replace tedious manual labor. For this purpose, an appropriate end-effector needs to be designed to carry out the feeding, alignment and fastening tasks. According to the installation process of hi-lok nuts, a motor driven fastening tool is designed with two parts: the front nut runner and rear driving shaft. The fastening task is modeled based on the force balances in the nut screwing action, which present the nut runner can rotate the nut as well as feed it axially. Then, a feeding-alignment (FA) device is designed to engage the nut feeding for fastening tool. The alignment action is modeled through the force balance about hi-lok nut involved with the nut gripper and nut runner. Finally, a tool end-effector has been built and integrated with an industrial robot. The successful implementation of automated installation of hi-lok nut demonstrates the effectiveness of the proposed installation method and the validation of the designed robotic end-effector.