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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.

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boeing end effector


ME 416 Washington State University

boeing end effector1
Boeing End Effector
  • GroupMembers:
    • 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
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
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 concepts
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.

design concepts1
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
final design
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.
  • 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 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
Bill of Materials/Cost

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

  • 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