12/30/2020

Automation and Robotics – RME 078

Vikash Kumar
Assistant professor, Mechanical Engineering Department
Ajay Kumar Garg Engineering College, Ghaziabad

Automation and Robotics – RME 078

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Robot and End Effectors

 An end effector is a device or tool that's connected to the end of a

robot arm where the hand would be.

 The end effector is the part of the robot that interacts with the
environment.

 The structure of an end effector and the nature of the programming

and hardware that drives it depend on the task the robot will be
performing.

Robot End Effectors

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End Effectors
End effectors used in manufacturing include:

 Anti-collision sensors
 Brushes
 Cameras
 Cutting tools
 Drills
 Grippers
 Magnets
 Screw drivers
 Spray guns
 Vacuum cups
 Welding guns

End Effectors

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End Effectors

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Vacuum grippers

Vacuum grippers are used in the robots for grasping the non – ferrous objects. It
uses vacuum cups as the gripping device, which is also commonly known
as suction cups. This type of grippers will provide good handling if the objects
are smooth, flat, and clean. It has only one surface for gripping the objects. Most
importantly, it is not best suitable for handling the objects with holes.

Vacuum grippers

Vacuum cups:
Generally, the vacuum cups (suction cups) will be in the round shape. These cups
will be developed by means of rubber or other elastic materials. Sometimes, it is
also made of soft plastics. Moreover, the vacuum cups are prepared of hard
materials for handling the soft material objects.

Two different devices are used in the suction cups for creating the vacuum. They
are:
• Venturi
• Vacuum pump

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Vacuum grippers

Applications of vacuum grippers:

 Vacuum grippers are highly useful in the heavy industries,

automobiles, compact disc manufacturing, and more for material
handling purposes.
 It is also used in the tray & box manufacturing, labeling, sealing,
bottling, and so on for packaging purposes.

Magnetic Grippers

Magnetic grippers are most commonly used in a robot as an end effector for
grasping the ferrous materials. It is another type of handling the work parts other
than the mechanical grippers and vacuum grippers.

Types of magnetic grippers:

The magnetic grippers can be classified

into two common types, namely:
Magnetic grippers with

• Electromagnets
• Permanent magnets

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Types of magnetic grippers:

The magnetic grippers can be classified into two common types,

namely:
Magnetic Grippers
• Electromagnets
• Permanent magnets

Electromagnets:
Electromagnetic grippers include a controller unit and a DC power for handling the materials. This type of
grippers is easy to control, and very effective in releasing the part at the end of the operation than the permanent
magnets. If the work part gripped is to be released, the polarity level is minimized by the controller unit before the
electromagnet is turned off. This process will certainly help in removing the magnetism on the work parts. As a
result, a best way of releasing the materials is possible in this gripper.

Permanent magnets:
The permanent magnets do not require any sort of external power as like the electromagnets for handling the
materials. After this gripper grasps a work part, an additional device called as stripper push – off pin will be
required to separate the work part from the magnet. This device is incorporated at the sides of the gripper.
The advantage of this permanent magnet gripper is that it can be used in hazardous applications like explosion-
proof apparatus because of no electrical circuit. Moreover, there is no possibility of spark production as well.

Magnetic Grippers

Benefits:

• This gripper only requires one surface to grasp the materials.

• The grasping of materials is done very quickly.
• It does not require separate designs for handling different size of
materials.
• It is capable of grasping materials with holes, which is unfeasible in the
vacuum grippers.

Drawbacks:

• The gripped work part has the chance of slipping out when it is moving
quickly.
• Sometimes oil in the surface can reduce the strength of the gripper.
• The machining chips may stick to the gripper during unloading.

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Active and Passive Gripper

Types of Gripper according to its movement

1. Rotation movement: As we can see in the following picture, the gripper is

based on a rotation movement to take the objects.

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Types of Gripper according to its movement

2. Translation Movement: As we can see in the following picture, the gripper is

based on a translation movement to take the objects.

In addition, the translation movement grippers are

classified in other groups according to the
mechanism used to move the gripper:

Types of Gripper according to its movement

Translation Movement:

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Types of Gripper according to its movement

Translation Movement:

Types of Gripper according to its movement

Translation Movement:

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Types of Gripper according to its movement

Translation Movement:

Types of Gripper according to its movement

Translation Movement:

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Types of Gripper according to its movement

• Angular grippers • Parallel grippers

• Less costly • More costly
• Save time when picking parts off • Slow in processing
a conveyor
• Cannot handle wide range of part • Can handle large sized parts
size
• Don’t resist side loads as well. • Can resist

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