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doi:10.3850/978-981-08-7723-1_P230
Lightweight Electromechanical Tool Changer with Integrated Power and Signal Interfaces for Service Robot Applications
David Gyimothy1,a, Andras Toth1,b, Richard Wohlfart2 and Mihaly Jurak1,c
1Department of Manufacturing Science and Technology, Budapest University of Technologies and Economics, Müegyetem rkp. 3., H-1111 Budapest, Hungary.
agd703@hszk.bme.hu
btoth@manuf.bme.hu
cjurak@mm.bme.hu
2Department of Applied Mechanics, Budapest University of Technologies and Economics, Müegyetem rkp. 3., H-1111 Budapest, Hungary.
wohl@mm.bme.hu
ABSTRACT
Proliferation of service robots in everyday domestic and business scenarios requires in certain cases automatic change from one powered functional tool to another tool. This paper analyses the state of the art of off-the-shelf available robotic tool changers and concludes their inappropriateness for the proposed task. The paper then sets the system requirements of a general purpose automatic service robot tool changer. An integrated mechatronics design and development approach was adopted to produce a fully functional prototype. The device was tested with an ABB IRB140 industrial robot. Finally the novel, lightweight, automatic tool changer system was integrated with the Acroboter service robot for in situ validation.
Keywords: Service robot, Robot peripheral, Tool changer, Power and signal transmission.
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