Apm at 19:06, 19 June 2026

2026-06-19T19:06:44Z

← Older revision		Revision as of 21:06, 19 June 2026
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			{{RepRec}}
	[[File:End-effector assembling end-effector.svg.png\|250px\|thumb\|right\|Concept of an end-effector assembling an other end-effector by adding in one of the spanning jaws.]]		[[File:End-effector assembling end-effector.svg.png\|250px\|thumb\|right\|Concept of an end-effector assembling an other end-effector by adding in one of the spanning jaws.]]
	{{wikitodo\|TODO split up this page in smaller sub pages ...}} <br>		{{wikitodo\|TODO split up this page in smaller sub pages ...}} <br>

Apm at 19:04, 19 June 2026

2026-06-19T19:04:44Z

← Older revision		Revision as of 21:04, 19 June 2026
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	== Related ==		== Related ==

	* Up: [[RepRec]]		* Up: [[RepRec]] & [[RepRec pick-and-place robots]]
	----		----
	* [[RepRec specialized end-effectors]]		* [[RepRec specialized end-effectors]]

Apm: /* Related */ fixed creation date typo 2027 => 2017

2026-06-19T17:38:19Z

Related: fixed creation date typo 2027 => 2017

← Older revision		Revision as of 19:38, 19 June 2026
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	* [[RepRec tool]] [[RepRec toolhead]] [[RepRec end-effector]]		* [[RepRec tool]] [[RepRec toolhead]] [[RepRec end-effector]]

	<small>Page started (off wiki): ~~2027~~-03-23 Thursday.</small> <br>		<small>Page started (off wiki): 2017-03-23 Thursday.</small> <br>
	{{Categrory:RepRec}}		{{Categrory:RepRec}}

Apm: Apm moved page RepRec end-effectors to RepRec end-effector: plural => singular

2026-06-19T17:32:09Z

Apm moved page RepRec end-effectors to RepRec end-effector: plural => singular

← Older revision	Revision as of 19:32, 19 June 2026
(No difference)

Apm: /* Related */

2026-06-19T16:52:04Z

← Older revision		Revision as of 18:52, 19 June 2026
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	== Related ==		== Related ==

			* Up: [[RepRec]]
			----
	* [[RepRec specialized end-effectors]]		* [[RepRec specialized end-effectors]]
	* [[RepRec general purpouse end-effectors]] being [[RepRec big part specialized end-effectors]]		* [[RepRec general purpouse end-effectors]] being [[RepRec big part specialized end-effectors]]

Apm: adding in an old illustrative image

2026-06-19T16:46:10Z

adding in an old illustrative image

← Older revision		Revision as of 18:46, 19 June 2026
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			[[File:End-effector assembling end-effector.svg.png\|250px\|thumb\|right\|Concept of an end-effector assembling an other end-effector by adding in one of the spanning jaws.]]
	{{wikitodo\|TODO split up this page in smaller sub pages ...}} <br>		{{wikitodo\|TODO split up this page in smaller sub pages ...}} <br>
	{{wikitodo\|add sketches old and new}} <br>		{{wikitodo\|add sketches old and new}} <br>

Apm: /* Keeping the RepRec end-effector DOFs in RepRec machine phase */

2026-06-19T16:34:51Z

Keeping the RepRec end-effector DOFs in RepRec machine phase

← Older revision		Revision as of 18:34, 19 June 2026
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	'''When an [[RepRec end-effector]] is transferred over to a [[RepRec clamp-board]] in [[RepRec stowage]]''' <br>		'''When an [[RepRec end-effector]] is transferred over to a [[RepRec clamp-board]] in [[RepRec stowage]]''' <br>
	'''then its internal [[DOFs]] need to remain constraint at all times.''' <br>		'''then its internal [[DOFs]] need to remain constraint at all times.''' <br>
	<s>(relying on friction self locking is not an option, it must be an energy barrier or [[positive locking]])</s> <br>		<small>(relying on friction self locking is not an option, it must be an energy barrier or [[positive locking]])</small> <br>
	Thus a different additional locking mechanism is needed. <br>		Thus a different additional locking mechanism is needed. <br>

Apm: page migrated from desktop-wiki with some cleaning and updating (clearly further improvable)

2026-06-19T16:33:50Z

page migrated from desktop-wiki with some cleaning and updating (clearly further improvable)

New page

{{wikitodo|TODO split up this page in smaller sub pages ...}} 
{{wikitodo|add sketches old and new}} 

Less precisely '''toolheads''' or just '''tools'''. 

The end-effectors essentially are 
'''adapters between the toolhead-flange and the handled part''' 

'''A RepRec must (per definition) have exchangable/switchable EndEffectors.''' 
Reason for this hard constraint: 
As a single end effector will not be sufficient for the broad variety of tasks needed 
for pick and place of modular robotics and eventual self replication. 

A [[RepRec]] systems end-effectors are a set of several different [[RepRec part manipulation]] devices that 
can be coupled and decoupled to and from the tip of 
the 6DOF positioning mechanism (the tip of the [[RepRec poser]] at the end of the [[kinematic chain]]) 
which we will refer to with [[RepRec tool to poser flange]] or "stump" for short. 

Zero or one end effectors can mount onto the [[ToolToPoserFlange]] 
(mounted on the mobile end of the '''2D parallel mechanics''' - whichever type is chosen) 

Just like a [[RepRec part adapter]] a [[RepRec end effector]] mediates between a more standardized interface (the stump) 
and a less standardized Interface (the manipulated parts). 

All [[RepRec end-effector]]s should grip parts in a sufficiently [[SelfCentering]] way to yield reliable and predictable outcomes 
When picking up the parts they are designed to handle. [[ReMec avoid inviting murphies law]]. 
Both in case of standardized surfaces (e.g. [[ReChain base-crate]]) or special part shapes. 

In general robotic end-effectors can use any means for picking things up not just gripping. 
That includes magnets, air pressure, electrostatics, surface tension force, and whatever works. 
With focus on [[self replication]] and [[scale transposed prototyping]] one will like to add further constraints. 
Though one may want to still allow for [[RepRec vanishing vitamins]]. 
Like to fake an analog of nanoscale vdW forces at the macroscale: 
– vaccum suction cups and polished flat spots on the parts 
– iron filled PLA and magnets (probably too heavy) 

== End-effector types & geometries ==

See [[RepRec end-effector geometry types]] 

'''Basic ones:'''
* clutch style spiral driven (as found in lathes)
* counter screw style (steep multi-start threads for fast action)
* [[ReChain]] inspired force-divider clamping ({{wikitodo|elaborate & add sketches}})
----
'''Specialized EndEffectors:''' 
See page: [[RepRec specialized end-effectors]] 

== First prototype plans ==

Plans for a first [[EndEffector]] Prototype ... 

* desired: fast acting
* much preferable: parallel acting
* probably not going for a clutch style (big & bulky, spiral, ...)

== Number of [[RepRec end-effector]] types ==

The optimal number of [[RepRec end-effector types]] is an optimization problem. 
'''Too few end-effectors''' and there's the aforementioned [[RepRec spacial overhead]] 
which can render a [[RepRec]] design (and all its products!!) inefficient. 
'''Too many EndEffectors''' ⇒ much more head swapping movements ⇒ slower operation. 

If the product in assembly is big enough to make distances to the [[RepRec end-effector]][[RepRec stowage]] area increase 
and there are so many [[RepRec end-effectors]] that they can't be carried around with the [[RepRec crawler]] but need a separate magazine unit for them. 
then algorithmic complexity goes from O(n) to O(n^2). The [[street marking painter joke]]. 

== Storage of [[RepRec end-effector]]s ==

The [[ReChain clamp-board]] would provide "passive locking" of EndEffectors on other places than the [[RepRec head-flange]]. 
{{wikitodo|Add ideas on how to do end-effector storage.}}
This allows for transferring [[RepRec end-effectors]] away from the [[RepRec tool to poser flange]]. 

That is: All the unused end-effectors can be kept on a [[ReChain clamp-board]] inside the [[RepRec working area]] for quick access. 
If too many are present some can be kept on a clamp-board outside the working area 
(in a cache extension area) that can be dragged in (by a special clamp-board dragging end-effector?) 

All [[RepRec end-effectors]] are [[RepRec multi part assemblies]] and thus need to be assembled themselves. 
Assembly of an end effector may involve the usage of the same type oof end effector that is being assembled. 
And as the usage of [[RepRec assembly helper jigs]] that themselves may also be [[RepRec multi part assemblies]] needing pre-assembly. 

The end-effector constituent parts need their own specialized [[RepRec stowage]] [[RepRec part magazine]]s. 
[[RepRec part magazine]]s may come in vastly different sizes. 
– Bigger ones be located outside the [[RepRec working area]] in a separate [[RepRec unit]]. 
– Really small ones might even fit onto a [[RepRec clamp-board]] withing the [[RepRec working area]]. 
Related: [[RepRec working zones]] 

== Keeping the [[RepRec end-effector]] DOFs in [[RepRec machine phase]] ==

Related to this section: [[Machine phase]] 

When the [[RepRec end-effector]] is attached to the [[RepRec poser]] via the [[RepRec poser to tool interface]] 
its internal [[DOFs]] are ultimately linked to and constraint by the driving system. 

* (0) Locking at the [[RepRec tool to poser interface]] from the [[RepRec poser to tool interface]] side. 

'''When an [[RepRec end-effector]] is transferred over to a [[RepRec clamp-board]] in [[RepRec stowage]]''' 
'''then its internal [[DOFs]] need to remain constraint at all times.''' 
<s>(relying on friction self locking is not an option, it must be an energy barrier or [[positive locking]])</s> 
Thus a different additional locking mechanism is needed. 

The [[EndEffector]] could be locked from several places. 

* (1) Locking at the [[RepRec tool to poser interface]] from the [[RepRec tool to poser interface]] side.
* (2) Locking at the [[RepRec tool to clamp-board interface]] from the [[RepRec tool to clamp-board interface]] side.
* (3) Locking at the [[RepRec tool to clamp-board interface]] from the [[RepRec clamp-board to tool interface]] on the [[RepRec clamp-board]].

For convenience of macroscale operation one might want to be able to 
take off the end-effector completely by human hands. 
I.e. it is no longer attached to the machine but still preserves its position state reliably 
That would motivate to put the locking mechanism inside the [[RepRec end-effector]] ⇒ (1) or (2) — eliminating (3) 
Eventual active actuation of the locking mechanism may motivate to put the locking mechanism at (1). 
''Much more likely is simpler locking by spring though.'' 
'''Nice, we have the winner (1) for now giving us a starting point for design.''' 

'''More concrete design idea : ''' 
Assuming the interface is an axial [[hirth joint]] then 
a partial radial slide on [[splined joint]] that is activated via an integrated spring 
might lock the angular position into a known state. 
Locking the [[RepRec end-effector]] to the [[RepRec poser to tool flange]] pushes the lock away in such a way 
that at no point in time the rotative DOF in the [[RepRec end-effector]] loses its angular constraint. 

'''Different tension for hull and bearings inside:''' 
Additionally the moving elements in side the [[RepRec end-effector]] should (via that flange locking) 
receive just the right tension to become properly self centered but not excessive in wear/friction. 
The housing of the [[RepRec end-effector]] should be fastened 
much more strongly via separate tensioning mechanisms. 

== Recursion: end-effectors gripping (assembled) end-effectors ==

{{wikitodo|discuss}} 

== Related ==

* [[RepRec specialized end-effectors]]
* [[RepRec general purpouse end-effectors]] being [[RepRec big part specialized end-effectors]]
* [[RepRec small part specialised end-effectors]]
----
* [[RepRec starting points for RepRec system design]]
* [[RepRec fir-tree-clamp end-effector]]
----
* [[RepRec tool]] [[RepRec toolhead]] [[RepRec end-effector]]

Page started (off wiki): 2027-03-23 Thursday. 
{{Categrory:RepRec}}

← Older revision		Revision as of 18:46, 19 June 2026
Line 1:		Line 1:
			[[File:End-effector assembling end-effector.svg.png\|250px\|thumb\|right\|Concept of an end-effector assembling an other end-effector by adding in one of the spanning jaws.]]
	{{wikitodo\|TODO split up this page in smaller sub pages ...}} <br>		{{wikitodo\|TODO split up this page in smaller sub pages ...}} <br>
	{{wikitodo\|add sketches old and new}} <br>		{{wikitodo\|add sketches old and new}} <br>

RepRec end-effector - Revision history