End Effector
As a part of my work on the Cornell Mars Rover project team, I designed and built an end effector to be mounted onto the rover's arm. This arm is used to pick up and transfer rocks, pick up weights up to 5 kg, type on a keyboard, screw in a screw, move around joysticks, and flip switches.
01
First Prototype
The first prototype of the end effector utilized a 4 linkage system and a dc motor. The end effector also had a camera and self-actuating screwdriver. Problems encountered with this prototype mostly involved too many points of failure in the 3D prints and too much weight.
02
Final Prototype
The final prototype of the end effector utilized a linear actuator and springs to create a gripping mechanism that could bend in more, allowing the end effector to better clamp onto rocks. Additionally, the end effector employed TPU grippers to better adjust to the rugged edges of rocks. The end effector had both a camera and a laser to make it easier for the controls team to use. This end effector no longer had the self-actuating screwdriver.
