Modular design of detachable tool holder for multi-process applications for collaborative robot end-effectors

Abstract

This master thesis delves into the realm of collaborative robotics, focusing on enhancing tool adaptability, both hand tools and machine tools within multiple cobot. The end effectors used in cobot systems are often limited to specific applications and specific manufacturers, resulting in a lack of modularity and adaptability. By developing a modular detachable tool holder, this research extends the functionality of the cobot to accommodate diverse end effectors. The importance of this study lies in its potential to revolutionize cobot applications, reducing operational costs for end users and augmenting productivity by enabling change between variety of tasks, from screw-driving to welding to painting and many more within the same fitment of tool holder. The research methodology integrates industrial questionnaires, Quality Function Deployment (QFD) analysis, comprehensive design scrutiny, and prototyping through CAD concepts and cardboard model. The results showcase a versatile tool holder, adaptable to multiple robots, promising a streamlined cam lock-based approach to tool interchangeability. This advancement not only signifies a shift towards human-machine collaboration but also holds implications for quicker process changes.