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Fig. 6 | Robotics and Biomimetics

Fig. 6

From: A bio-inspired approach for the design of a multifunctional robotic end-effector customized for automated maintenance of a reconfigurable vibrating screen

Fig. 6

Maintenance tasks performed by the robotic end-effector on different RVS machine subsystems: this image showcases the different activities that the multifunctional end-effector is capable of carrying out the “gripping and ungrasping”, “loosening and bolting” and “unpinning and hammering” functions on the RVS machine. a Describes how the two rectangular fingers modules lap on each side of the screen panel in transporting it to and fro during the machine maintenance. b Explains the hitting actions performed by the multifunctional end-effector in hammering the screen panel pins into the screen deck frame using the electric actuation cylinder module. c Indicates how the two rectangular finger modules lap on each side of the side plate to transport it to and fro during the machine maintenance. d Demonstrates the hitting actions performed by the multifunctional end-effector in unpinning the screen panel pins from the screen deck frame using the electric actuation cylinder module. e Illustrates a fork-like bracket attached to one of the finger modules in gripping the loosened worn-out or new screen panel pins during the RVS machine maintenance. f Portrays the loosening and tightening of bolts holding or fastening two RVS machine subsystems together. g Articulates how the two rectangular finger modules lap on each side of the torsion bar bracket in transporting it to and fro during the machine maintenance. h Describes how the two rectangular finger modules of the robotic end-effector lap on a new or worn-out torsion bar during the RVS machine maintenance. i Unfolds how the two rectangular finger modules of the robotic end-effector lap on each side of the suspension bracket during the RVS machine maintenance

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