End-Effectors & Tools

RESEARCH > End-Effectors and Tools Research Programs

 

AEODRS - Advanced EOD Robotic System

RE2 is developing the Dismounted End-Effector Capability Module (CM-EEF) for the Advanced Explosive Ordnance Disposal Robotic System (AEODRS) program of record, which is currently in the Engineering and Manufacturing Development Phase. The CM-EEF weighs approximately 1 pound and can grasp objects up to 6.9 inches in diameter with 20 pounds of force. As with the entire suite of AEODRS tools, this extremely light-weight gripper uses a standard interface and on-board processing so it can be swapped out for other tools as required by mission conditions. The CM-EEF uses JAUS to communicate over gigabit Ethernet.

CE2 – Conformal End-Effector

The Conformal End-Effector (CE2) is a research and development effort with the U.S. Navy focused on developing a dexterous (11 degrees of freedom) end-effector capable of securely grasping arbitrarily shaped objects ranging in size from 18 gauge wire to a 105mm shell. Two prototypes were produced for this program. Both prototypes contained three fingers that could be positioned around a central palm to give different basic gripping configurations. Each finger has three joints that allow the finger to wrap securely around an object. The fingers are also inherently stable to pinch very small items such as wires. The larger version of the CE2 gripper weighs 12 lbs. and is capable of lifting in excess of 120 lbs and objects up to 6.5 in. in diameter. The smaller prototype weighs 5 lbs and can securely grasp 65 lbs. The prototype gripper produced for this effort is part of the research being developed for the tactical class of Advanced EOD Robotic Systems (AEODRS).

Reconnaissance Manipulator Tools

The RECON manipulator, being developed under a BAA program with the Technical Support Working Group (TSWG), provides automatic tool change capability to currently fielded Explosive Ordinance Disposal (EOD) robots. RE2 is partnered with Northrup Grumman Remotec, the leader in robots deployed domestically for EOD defeat, to adapt this technology to their next generation robot arm, providing downrange automatic tool change and enhanced lifting capacity to the F6 Andros. The end-effectors being developed under this program provide enhanced Vehicle Borne Improvised Explosive Device (VBIED) defeat capability.

RDK – Robotic Door-opening Kit

The goal of the Robotic Door-opening Kit (RDK) project is to develop the software, sensors, and control technologies to allow a robotic mobile manipulator to automatically detect, open, and breach a doorway. The RDK is a Phase II SBIR project with the U.S. Army Tank Automotive Research, Development and Engineering Center (TARDEC). The pertinent technologies that are being developed include 3D sensing to locate and track a door knob, grasp planning and control, gripping force feedback, and simultaneous control of the robotic arm and base as the mobile manipulator platform maneuvers through the doorway. The end goal of the project is to demonstrate autonomous door opening and breaching on a robotic platform such as the iRobot Warrior.

SAPBER – Stand-Alone Pipe Bomb Endcap Remover

The Stand-Alone Pipe Bomb End-cap Removal (SAPBER) system was developed for the Department of Homeland Security (DHS) to provide bomb squad technicians with a low-cost tool aimed at better evidence collection for pipe bomb incidents. The SAPBER system uses non-sparking techniques for cutting or unscrewing end-caps from a wide variety of pipes ranging from PVC to structural steel with lengths from 6 inches to 2 feet and diameters from 0.5 inches to 2 inches nominal. The SAPBER system has been tested using live explosives and has gone through an extensive evaluation by several bomb squads including the Allegheny County and Fairfax County Bomb Squads.

TRT – Tangential Rotary-impact Tool

The Tangential Rotary-impact Tool (TRT) is an SBIR program with the U.S. Navy focused on creating a self-powered tool that can be mounted to a tactical sized robot (QinetiQ TALON or similar) in order to break up concrete, hard-packed soil, or masonry. Phase I of this program developed the concept and design and produced a prototype device to evaluate the effectiveness of the tool against a variety of substrates. Testing of the Phase I tool was very successful and RE2 was invited to submit a Phase II proposal to continue TRT development. The eventual TRT system will mount to a robotic arm and will be able to operate on both horizontal and vertical surfaces to uncover objects that may be buried under curbs or behind walls. The TRT is self-powered and shock isolated from the arm to prevent damage of more expensive robotic elements.