Design, Development and Deployment of Reconfigurable End-of-Arm Gripper for Industrial Robots

In robots, the end effector is a critical component responsible for performing various tasks in a manufacturing environment. To maximize the efficiency and versatility of robots, there is a growing demand for mechanically reconfigurable end effectors in small-scale industries that can adapt to different tasks and workpieces. This paper proposes a design for a mechanically reconfigurable end effector that utilizes a modular structure and a series of mechanical linkages to achieve different configurations. The end effector consists of a base module that attaches to the robot arm and two movable tools that can be swapped in and out depending on the size of the object. The design was implemented and tested on a standard industrial robot arm ABB IRB1410 for demonstrating its ability to adapt to various workpieces and tasks. The end effector was able to switch between different sizes in under a minute, significantly reducing setup time and increasing overall efficiency. The reconfigurable end effector design offers a cost-effective and flexible solution for industrial robots, allowing them to perform a wide range of tasks without requiring multiple specialized robots or complex programming. The modular nature of the design also enables easy customization and adaptation to change manufacturing needs. Overall, this paper presents a promising direction for the development of mechanically reconfigurable end effectors that can enhance the versatility and productivity in small-scale industries.