Scribd
Upload
65 views

Consider Typical Robots Consider Typical Robots

Mechanical grippers rely on friction to grasp objects, while vacuum grippers use suction cups connected to an air supply. Mechanical grippers come in parallel or angular designs with 2-4 fingers, can grip a wide range of part sizes, and are useful for specific applications. Vacuum grippers can handle various materials gently without crushing and do not require precise positioning, but only work on clean surfaces and require an air supply. Both have advantages for industrial robot applications like packaging and material handling.

Uploaded by

Others ATBP.
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
65 views

Consider Typical Robots Consider Typical Robots

Mechanical grippers rely on friction to grasp objects, while vacuum grippers use suction cups connected to an air supply. Mechanical grippers come in parallel or angular designs with 2-4 fingers, can grip a wide range of part sizes, and are useful for specific applications. Vacuum grippers can handle various materials gently without crushing and do not require precise positioning, but only work on clean surfaces and require an air supply. Both have advantages for industrial robot applications like packaging and material handling.

Uploaded by

Others ATBP.
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
You are on page 1/ 16

Consider typical robots…

What could a robot do without “end effectors”?


Robot Mechanical Gripper

 A two-finger mechanical gripper for grasping rotational


parts
Main Types of Mechanical Grippers

Parallel Angular 2 or more


“fingers”
Mechanical Grippers
 We can think of a mechanical gripper as a robot hand. A basic robot hand will
have only two or three fingers
 A mechanical hand that wraps around an object will rely on friction in order to
secure the object it is holding.
 Friction between the gripper and the object will depend on two things, First is
the type of surface whether it be metal on metal, rubber on metal, smooth
surfaces or rough surfaces and the second is the force which is pressing the
surfaces together.
 Mechanical grippers are often fitted with some type of pad usually made from
polyurethane as this provides greater friction. Pads are less likely to damage
the workpiece. Pads are also used so to have a better grip as the
polyurethane will make contact with all parts of the surface when the gripper is
closed
 Mechanical grippers can be designed and made for specific purposes and
adjusted according to the size of the object. They can also have dual grippers.
We are all familiar with the saying ‘two hands are better than one” and robots
benefit from having dual grippers as they can increase productivity, be used
with machines that have two work stations where one robot can load two parts
in a single operation, operations in which the size of objects or part change
due to the machining processes and where the cycle time of the robot is too
slow to keep up with the production of other machines.
4
Main Types of Mechanical Grippers
Parallel Angular
2 or more
“fingers”
Mechanical Gripper Specifications

Grip force: ranges tiny forces .1 lbs to over 1600 lbs


Part sizes: typically .01 to 36 inches
Number of jaws: typically 2 to 4 jaws or fingers
Repeatability: typically +/- .001 to .005 inches
Cycles to failure: up to 10 million cycles
Supporting technologies: air valves, air compressors, sensors, I/O interfaces
Mechanical Grippers: Limitations

•Watch out for dynamic forces and moments when sizing a gripper.

•Gripper could drop part with loss in air pressure (can order spring clamps to solve this
problem)

•Angular grippers are less expensive, but the arcing motion of the jaws may require
additional tooling clearance and will grip at varying points as part width varies. A parallel
gripper is simpler to tool to compensate for part size variance.
Advances in Mechanical Grippers

 Dual grippers
 Interchangeable fingers
 Sensory feedback
 To sense presence of object
 To apply a specified force on the object
 Multiple fingered gripper (similar to human hand)
 Standard gripper products to reduce the amount of
custom design required
Vacuum Grippers (suction cups)
Types of Vacuum Grippers
Uneven
objects
“A suitable suction cup is available for virtually any situation – with
very few exceptions. Suction cups are very well suited for a wide
variety of needs and circumstances. They can handle plate, eggs,
paper, wood – practically any material. Be it smooth, irregular,
bent, porous, airtight, lightweight, heavy, angled, hot or cold, the
material can be handled by suction cups safely, gently and
quickly.”

Small to
medium Large, heavy
objects objects
Types of Vacuum Grippers

Level compensator
A level compensator compensates for differences in level and absorbs shocks.
The mounting also reduces the need for accurate positioning in height.

Ball joint
A ball joint adjusts itself automatically to different contact angles and reduces the bending
moments on the suction cup. The ball-joint is recommended in the following typical cases:
•for lifting heavy objects or plates
•for handling workpieces that are in motion
•for handling workpieces that are curved or have irregular surfaces
Suction Grippers
 There are two types of suction grippers:

1. Devices operated by a vacuum – the vacuum may be provided by a


vacuum pump or by compressed air

2. Devices with a flexible suction cup – this cup presses on the


workpiece. Compressed air is blown into the suction cup to release
the workpiece. The advantage of the suction cup is that if there is a
power failure it will still work as the workpiece will not fall down. The
disadvantage of the suction cup is that they only work on clean,
smooth surfaces.

 There are many more advantages for using a suction cup rather
than a mechanical grip including: there is no danger of crushing
fragile objects, the exact shape and size does not matter and the
suction cup does not have to be precisely positioned on the object

 The downfalls of suction cups as an end effector include: the robot


system must include a form of pump for air and the level of noise
can cause annoyance in some circumstances
12
Vacuum Gripper Specifications

Gripping force: generally up to 300 lbs. Multiple cups can pick up to 6,000 lbs.
Pressures: requires –3 to –15 psi gauge
Sizes: suction cups typically range between .05 and 18 inch diameters
Supporting Technologies: Compressors, valves, air filters, controllers
Advances in Vacuum Grippers

 Improves considerably the safety of the company and


human beings
 Allows the possibility of doing many different activities
related to shipments
 This increases his profitability and faster rate of work
performance
 Less maintenance of the robots vacuum cup gripper to
keep them running smoothly
 The level of incidents is very small
Disadvantages in Vacuum Grippers

 Vacuum cup gripper marks on some surfaces


 Dirty surface can clog the airlines circuit.
 Curvy and sharp angled surfaces might not has
sufficient flat surface contact to has enough of the cup
exerting the required force on the contact surface.
 Vacuum cup gripper decreases the repeatability
Vacuum Grippers Application

PACKAGING:
Canning
Tray Making
Bottling
Box Making
Capping
Labeling
Bagging & Sealing
MATERIAL HANDLING:
Auto Manufacturing
Steel Fabricators
Conveyors
Manufacture & Packaging of Compact Disc
Electronics
Heavy Industry

You might also like