This paper discusses the design and build of a multiple position turret used to simultaneously attach six end effectors to a four-degree of freedom Adept robot. The main objective of this thesis is to develop a prototype tool changer that is different, more cost effective, and offers more features and versatility than any other. Use of the turret allows the robot to quickly change the end effector in use by simply rotating any of the others into the ready position. This reduces the tool changing time in a high-speed assembly process that is normally associated with conventional tool changers disconnecting one end effector and picking up another. Employing the turret concept in a robotic assembly operation will also lengthen the life of the robot because there are fewer moves that have to be made by the robot itself. The turret is approximately 8 inches high, 7 inches wide and its turntable is 6.25 inches in diameter. This small envelope is a large benefit over the bulky system that would be needed for the more traditional tool changers. The turret's weight while populated with six small end effectors is approximately 10.5 pounds. The cost of the turret, not including end effectors, is approximately $5,500.
Library of Congress Subject Headings
Robotics; Robots; Tools; Harmonic drives
Department, Program, or Center
Mechanical Engineering (KGCOE)
Lang, William, "The Design of a multiple position turret for changing robot end effectors" (1997). Thesis. Rochester Institute of Technology. Accessed from
RIT – Main Campus