BOEING END EFFECTOR

ME 416 Washington State University

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

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.

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

Design ConceptsConceptual Design #1- Stewart Platform

Design Basics:Design Basics: Two parallel Two parallel plates plates Six triangulated Six triangulated pistonspistons Coordinated Coordinated movements movements facilitates six facilitates six degrees of freedomdegrees of freedom Universal joints Universal joints connect the piston connect the piston to the platesto the plates

A Stewart Platform basically consists of a base (lower platform) and end effector (top platform) connected by six actuator driven legs.

Design ConceptsConceptual Design #2- Translational Plates

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

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.

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

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

Bill of Materials/Cost

Total Cost: $2,755.30 (Parts only, no labor)

AcknowledgementsSpecial 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

Any Questions?