BOEING END EFFECTOR
ME 416 Washington State University
Boeing End Effector
Group Members:
»A.M.
• Adam Dirkes, Jared Haight, Luna Michael
»P.M.
• Brett Buchholtz, Bryce Eschenbacher, Chi Jinchi,
• Chung-Chi Chen, Jayson Eleccion, Shuko Kusaka
Contact: Alex van Schoonhoven
Problem Statement
• Design an End Effector
 Used to remove or install aircraft components
 specific needs provided by Boeing
• Boeing has requested our services to build a
manipulating end effector
 End Effector must connect to existing hoist
 Will be used to remove parts for maintenance
• The end effector should be capable of
translating
three inches and rotating 30 degrees in the x, y and z
planes.
Key Needs
 6 degrees of freedom
 3 inches of controlled linear movement
 Rotational movement of 30 degrees
 Lift 100-150 lbs
 Weigh less than 250 lbs
 Capable of removing/installing components
safely
 Compatible with existing boom
Design Concepts
Conceptual Design #1- Stewart Platform
Design Basics:
 Two parallel plates
 Six triangulated
pistons
 Coordinated
movements facilitates six
degrees of freedom
 Universal joints
connect the piston to the
plates
A Stewart Platform basically consists of a base (lower
platform) and end effector (top platform) connected by six
actuator driven legs.
Design Concepts
Conceptual Design #2- Translational Plates
Design Basics:
 Power jacks used for
translational movement
by way of worm gears
 Power jacks provide
the 3 axis of lateral
movement
 Rotational movement
provided by an arm and
piston mechanism
Final Design
•Vertical Motion (translational
and rotational) is controlled
by machine screw jacks.
•Translation in Horizontal
plane controlled by lead
screws and linear bearing.
•Last two degrees of rotation
controlled by turntables.
Benchmarking
•Majority of Metrics and needs met
•Strength
•Travel and Rotation Distance
•Ease of Operation
•Translation/Machine Jack
Controllability
•Some metrics were not fully met:
•Turntable Controllability
•Volume of End Effector
•Weight of End Effector
Manufacturing Report
•Manufacturing required basic shop skills
•All plates cut using a shear
•Drill press used to drill and tap all holes
•Welding was done by Norm Martel (in
charge of ME student shop)
•Minimal Mill and Lathe work was
necessary
•Materials Used
•Hot rolled low carbon steel was used for
all plates
•Brass ACME lead screws and nuts
•All bolts and screws are SAE Grade 5
or higher
•Linear bearings made of 10-60 Al with
Teflon coated sliders
Bill of Materials/Cost
Total Cost: $2,755.30
(Parts only, no labor)
Acknowledgements
Special thanks to the following people who contributed to the successful
completion of this project.
 Dr. Chuck Pezeshki
 Dr. Findley
 Kelley Racicot
 Alex van Schoonhoven
 Alan Cooke
 Norm Martel
 Jon Grimes
 Robert Ames
Any Questions?