Fasteners robot end effector design for removing a door in remote handling application

Abstract

Distant Eye Monitoring Operation (DEMO) is a method of remote maintenance using modern technology. It is widely used in remote operation applications, allowing workers to monitor, diagnose and maintain equipment or systems remotely. This thesis aims to design the end effector of a fastener robot for removing bolts on the doors in remote handling applications. The design results are compared with other existing results. The existing remote-operated robot systems often face the challenge of low efficiency and complex operation, especially when delicate operations such as remote installation and disassembly of doors are required. The end effector design proposed in this thesis aims to improve the efficiency and safety of remote handling operations. 3D modeling software and finite element analysis software are used to model and analyse the end effector.

In the mechanical design phase, the main components of the end effector, including the operating rotor, gear and gear shaft, are selected or designed. The design process, design specification and implementation mechanism of these components are presented in detail. The operating rotors are rotated through the gear matching progress, thus achieving the goal of disassembling the door in remote handling applications and improving work efficiency. In the analysis phase, finite element analysis is used to test the components, observe the stress distribution, until the test results meet expectations. Finally, the results are integrated and analysed, and the limitations and challenges existing in the current technology are identified. Potential solutions and alternative methods are then proposed.

This thesis presents an innovative solution for the task of disassembling doors in remote handling applications. It also provides a useful reference for future research and application in related fields.