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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