Improvements to robotic arm end effectors and their use in the preparation and application of production materials

摘要

An end effector for holding and moulding / shaping / manipulating a subject material 11 (e.g composite, pre-impregnated, carbon fibre, weave structured, wet fibre, dry fibre, thermoset, thermo plastic etc.), that is to be attached to a robotic arm comprises: a plurality of individually extending and retracting vertically positioned adjustable arm members 1, actuated by a plurality of actuator arms 2, said arm members 1,2 being controlled via a computer program or other intelligent controlling feed; suction cups 5 or other manipulation tools located on the ends and sometimes sides of the vertical arms 1; an air flow passing through air tubes 6 used to generate a vacuum at the suction cups 5; a horizontal base plate 3 to which all actuator arm members 1,2 are housed / connected to; provisions to vary the spacing between each of the plurality of arms. The space between arm members 1,2 may be varied by detachably connecting arm members 1,2 to the base plate 3 via actuator locating points 4.