Scribd
Upload
346 views

Robot End Effector

This document discusses robot end effectors. It describes that end effectors are either grippers, used to grasp objects, or tools, used to perform work on parts. It provides details on different types of grippers, including mechanical grippers that use fingers to grasp, and other grippers like vacuum cups, magnetic grippers and adhesive grippers. It also discusses tools as end effectors, and the robot/end effector interface requirements including strength, compliance and overload protection.

Uploaded by

tarasasanka
Copyright
© © All Rights Reserved
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
346 views

Robot End Effector

This document discusses robot end effectors. It describes that end effectors are either grippers, used to grasp objects, or tools, used to perform work on parts. It provides details on different types of grippers, including mechanical grippers that use fingers to grasp, and other grippers like vacuum cups, magnetic grippers and adhesive grippers. It also discusses tools as end effectors, and the robot/end effector interface requirements including strength, compliance and overload protection.

Uploaded by

tarasasanka
Copyright
© © All Rights Reserved
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
You are on page 1/ 25

ROBOT END

EFFECTORS
BY
R. C. SAINI
www.rcsaini.blogspot.com

TYPES OF END EFFECTORS


1. Grippers
Used to grasp and hold objects.
e.g. loading and unloading, etc

2. Tools
End effectors designed to perform work
on the part rather that to merely grasp
it.
e.g. spot welding, spray painting, etc.
www.rcsaini.blogspot.com

MECHANICA GRIPPERS
A mechanical gripper is
an end effector that
uses mechanical fingers
actuate by a mechanism
to grasp an object.
The function of the
gripper mechanism is to
translate some form of
power input into the
grasping action of the
finger against the part.
www.rcsaini.blogspot.com

MECHANICA GRIPPERS
Two
ways
of
constraining
the
part in the gripper
Physical
Constriction of
part
within
fingers.
Friction b/w
fingers and
work-part.

the
the
the
the

www.rcsaini.blogspot.com

TYPES OF GRIPPER
MECHANISM
As per actuating mechanisms :1. Pivoting Movement.
2. Linear or Translational Movement.

As per types of kinematic device:1.


2.
3.
4.
5.
6.

Linkage actuation
Gear and rack actuation
Cam actuation
Screw actuation
Rope and pulley actuation
Miscellaneous
www.rcsaini.blogspot.com

Some Linkages for Robot Grippers

www.rcsaini.blogspot.com

Gear & Rack Method of Actuating the


Gripper.

www.rcsaini.blogspot.com

Cam-Actuated Gripper

www.rcsaini.blogspot.com

Screw-Type Gripper Actuation

www.rcsaini.blogspot.com

GRIPPER FORCE ANALYSIS


E.g.1) Suppose the gripper is a simple pivot-type device
used for holding the cardboard carton, as fig. The gripper
force Fg= 60lb. The gripper is to be actuated by a piston
device to apply an actuating force Fa. The corresponding
lever arms for the two forces are shown in fig.
Ans) Moments about
the pivot arms be
summed and made
equal to zero.
FgLg - FaLa = 0
(60lb)(12in) (Fa)
(3in) = 0
www.rcsaini.blogspot.com

10

GRIPPER FORCE ANALYSIS


E.g.2) The fig. shows the linkage mechanism and
dimensions of a gripper used to handle a
workpart for a machining operation. Suppose it
has been determine that the gripper force is to
be 25 lb. What is required is to compute the
actuating force to deliver this force of 25 lb.

www.rcsaini.blogspot.com

11

GRIPPER FORCE ANALYSIS


Ans2)
Due to symmetry of the
gripper consider only one half of
the mechanism.
Moments :25(4cos 15) = F sin 45(1.5cos15)
+ Fcos45(1.5sin15)
96.6 = F(1.0246+0.2745) =1.2991F
F = 74.4 lb
The actuation force applied to the
plunger to deliver this force of
74.4 lb to each finger.
So,
Fa = 2 X 74.4 X cos45
Fa = 105.2 lb

www.rcsaini.blogspot.com

12

OTHER TYPES OF GRIPPERS


1.
2.
3.
4.

Vacuum Cups
Magnetic Grippers
Adhesive Grippers
Hooks, Scoops and other
miscellaneous devices

www.rcsaini.blogspot.com

13

OTHER TYPES OF GRIPPERS


Vacuum cups, also called suction cups
Requirements on the objects to be handled are that they
be flat, smooth and clean, to form satisfactory vacuum.
Gripper made of some elastic material i.e. rubber,
plastic , etc.

Venturi Device used to Operate a Suction Cup


www.rcsaini.blogspot.com

14

OTHER TYPES OF GRIPPERS


MAGNETIC GRIPPERS

Stripper Device operated by sir cylinder used with a permanent


Magnet Gripper
www.rcsaini.blogspot.com

15

OTHER TYPES OF GRIPPERS

Adhesive Grippers

Adhesive substance performs the grasping action


e.g. Handle fabric and other lightweight materials.

Hooks, Scoops and other miscellaneous devices

Expansion Bladder used to grasp inside of a Cup-Shaped


Container
www.rcsaini.blogspot.com

16

TOOLS AS END EFFECTORS


In most of the robot application in which a tool is
manipulated, the tool is attached directly to the robot
wrist. In these cases the tool is the end effector.
E.g. :

Spot-welding tools
Arc-welding tools
Spray painting tools
Rotating spindles for operation such as:

Drilling
Routing
Wire brushing
Grinding

Liquid cement application for assembly


Heating torches
Water jet cutting tool
www.rcsaini.blogspot.com

17

ROBOT/END EFFECTOR
INTERFACE
Important aspect
Physical support during the work cycle
Power to actuate must be supplied through
the interface
Control signal to actuate
Feedback signal
High reliability of the interface
Protection against the environment
Overload protection in case of disturbance
during the work cycle
www.rcsaini.blogspot.com

18

ROBOT/END EFFECTOR
INTERFACE
Physical support during the work cycle
Achieved by the mechanical connection
between the end effector and robot wrist.
Ideally, three characteristics :1. Strength
2. Compliance
3. Overload Protection

www.rcsaini.blogspot.com

19

ROBOT/END EFFECTOR
INTERFACE
Physical support during the work cycle
1. Strength

Its ability to withstand the forces associated with the


operation of the end effector.

2. Compliance

Its refers to the wrist sockets ability to yield elastically


when subjected to a force.
In effect, it is opposite of rigidity.
Remote Center Compliance (RCC) devices have been
designed to provide high lateral compliance for
centering the object relative to the hole.
www.rcsaini.blogspot.com

20

ROBOT/END EFFECTOR
INTERFACE
Physical support during the work cycle
3.Overload Protection

When some unexpected event happens to the end


effector such as a part becoming stuck in a die or a tool
caught in a moving conveyor. Whatever the cause, the
consequences involve possible damage to the end
effector or maybe even the robot itself.

To eliminate this potential damage


Use Breakaway Feature in the wrist socket.
Sensor to indicate, so somehow take
preventive action to reduce further
overloading.
www.rcsaini.blogspot.com

21

ROBOT/END EFFECTOR
INTERFACE
Power and Signal Transmission
Pneumatic
Electric
Hydraulic
Mechanical
Pneumatic Power Using Shop Air Pressure

www.rcsaini.blogspot.com

22

GRIPPER SELECTION AND


DESIGN
Factor that should be consider in assessing
gripping requirements :1. The part surface to be grasped must be reachable.
2. The size variation of the part must be accounted.
3. The gripper design must accommodate the change in
size the occurs between part loading and unloading.
4. Consideration must be given to the potential problem
of scratching and distorting the part during gripping,
if the part is fragile or delicate surface.
5. If there is a choice b/w two different dimensions on a
part, the larger dimension should be selected for
gripping.
6. Gripper fingers can be deigned to conform to the part
shape by using resilient pads or self-aligning fingers.

www.rcsaini.blogspot.com

23

www.rcsaini.blogspot.com

24

THANK YOU

www.rcsaini.blogspot.com

25

You might also like