End Effector on a 5R Schunk robotic manipulator. It has a modified Bosch rotary hammer drill, a US Digital encoder retrofitted on the drill to measure the rotating speed, an ATI force torque sensor, a screw rail with 4" traverse along with limit switches, a valve with a coolant hose to blow the debris, a valve and a special seal for filling an inorganic glue into delaminations, an ultrasonic sensor and accelerometer (currently not attached)

Check More Details

ATI sandwiched between screw rail attachment and drill mount

A US Digital Encoder retrofitted on the Bosch drill to measure the rotating speed of the drill

The seal and valve. On the right hand side there the drill controller.

Ran a marathon run of drilling 356 holes on 10 concrete samples. Interrupts occurred due to over-heating, low battery voltage and loose wiring. After all the problems were handled by drilling in an air conditioned room with new battery and fastening the wiring using zipties; we could drill up to 100 holes without any problems. This test showed the reliability of the design of the end-effector and all possible problems and solutions in long run.

Testing localization errors Results: Mean of Error = 2.06" (5.2 cm) Median of Error = 2.25" (5.7 cm) Standard deviation of Error = 0.98" (2.49 cm)

Holes 1 to 4. The circles are 14" (35.56 cm) in diameter

Holes 5 to 8 The circles are 14" (35.56 cm) in diameter