Unit 2

• A robot will require a drive system for moving their arm, wrist, and
body. A drive system is usually used to determine the capacity of a
robot. For actuating the robot joints, there are three different types of
drive systems available such as:

(i) Electric drive system,

(ii) Hydraulic drive system, and

(iii) Pneumatic drive system.

 Hydraulic Drive System
• The hydraulic drive systems are completely meant for the large –sized
robots.
• It can deliver high power or speed than the electric drive systems.
• This drive system can be used for both linear and rotational joints.
• The rotary motions are provided by the rotary vane actuators, while the
linear motions are produced by hydraulic pistons.
• The leakage of hydraulic oils is considered as the major disadvantage of
this drive.
• An example for the hydraulic drive system is Unimate 2000 series robot.
Applications
• Spray coating robot
• Heavy part loading robot
• Material handling robot
• Translatory motions in cartesian robot
• Gripper mechanism
Pneumatic Drive System
• The pneumatic drive systems are especially used for the small type
robots, which have less than five degrees of freedom.
• It has the ability to offer fine accuracy and speed.
• This drive system can produce rotary movements by actuating the
rotary actuators.
• The translational movements of sliding joints can also be provided by
operating the piston.
• The price of this system is less when compared to the hydraulic drive.
• The drawback of this system is that it will not be a perfect selection for
the faster operations.
Electric Drive System
• Rotor, stator, brush and commutator assembly
• Rotor has got windings of armature and stator has got magnets
• The brush and the commutator assembly switch the current in
armature windings
• The most commonly used are DC servomotors, AC servomotors and
stepper motors
Stepper Motor
• Like the DC motor above, Stepper Motors are also electromechanical actuators that
convert a pulsed digital input signal into a discrete (incremental) mechanical
movement are used widely in industrial control applications.
• A stepper motor is a type of synchronous brushless motor in that it does not have an
armature with a commutator and carbon brushes but has a rotor made up of many,
some types have hundreds of permanent magnetic teeth and a stator with individual
windings.
• As it name implies, the stepper motor does not rotate in a continuous fashion like a
conventional DC motor but moves in discret rotational movement or step dependant
upon the number of stator poles and rotor teeth the stepper motor has.
• Because of their discrete step operation, stepper motors can easily be rotated a finite
fraction of a rotation at a time, such as 1.8, 3.6, 7.5 degrees etc. So for example, lets
assume that a stepper motor completes one full revolution (360o in exactly 100 steps.
Then the step angle for the motor is given as 360 degrees/100 steps = 3.6
degrees per step. This value is commonly known as the stepper motors
Step Angle.

There are three basic types of stepper motor, Variable Reluctance,

Permanent Magnet andHybrid (a sort of combination of both). A Stepper
Motor is particularly well suited to applications that require accurate
positioning and repeatability with a fast response to starting, stopping,
reversing and speed control and another key feature of the stepper motor,
is its ability to hold the load steady once the require position is achieved.
Operation
• In our simple example of a variable reluctance stepper motor above, the motor
consists of a central rotor surrounded by four electromagnetic field coils labelled
A, B, C and D.

• All the coils with the same letter are connected together so that energising,
say coils marked A will cause the magnetic rotor to align itself with that set of
coils.

• By applying power to each set of coils in turn the rotor can be made to rotate or
"step" from one position to the next by an angle determined by its step angle
construction, and by energising the coils in sequence the rotor will produce a
rotary motion.
Application of Servo Motors

Servo Motor are also called Control motors. They are used in feedback
control systems as output actuators and does not use for continuous
energy conversion.
Uses:
• They are used in Radar system and process controller.
• Servomotors are used in computers and robotics.
• They are also used in machine tools.
• Tracking and guidance systems.
DC Servo Motor
• The motors which are utilized as DC servo motors, generally have
separate DC source for field winding and armature winding.
• The control can be archived either by controlling the field current or
armature current.
• Field control has some specific advantages over armature control and
on the other hand armature control has also some specific
advantages over field control.
• Which type of control should be applied to the DC servo motor, is
being decided depending upon its specific applications.
• In this arrangement the field of DC motor is excited be the amplified error
signal and armature winding is energized by a constant current source .

• The field is controlled below the knee point of magnetizing saturation curve.
• At that portion of the curve the mmf linearly varies with excitation current.
That means torque developed in the DC motor is directly proportional to the
field current below the knee point of magnetizing saturation curve From
general torque equation of DC motor it is found that, torque T ∝φIa. Where,
φ is armature field current. Flux But in field controlled and IDC servo motor,
the armature is excited by constant current source , hence Ia is constant.
AC Servo Motor
• Servos are controlled by sending an electrical pulse of variable width, or pulse width
modulation (PWM), through the control wire.
• There is a minimum pulse, a maximum pulse and a repetition rate.
• A servo motor can usually only turn 90° in either direction for a total of 180° movement.
• The motor's neutral position is defined as the position where the servo has the same
amount of potential rotation in the both the clockwise or counter-clockwise direction.
• The PWM sent to the motor determines position of the shaft, and based on the duration of
the pulse sent via the control wire the rotor will turn to the desired position.
• The servo motor expects to see a pulse every 20 milliseconds (ms) and the length of the
pulse will determine how far the motor turns.
• For example, a 1.5ms pulse will make the motor turn to the 90° position. Shorter than
1.5ms moves it to 0° and any longer than 1.5ms will turn the servo to 180°, as diagramed
below.
Variable Pulse Width Control Servo Position
• When these servos are commanded to move, they will move to the
position and hold that position.
• If an external force pushes against the servo while the servo is holding
a position, the servo will resist from moving out of that position.
• The maximum amount of force the servo can exert is called the
torque rating of the servo.
• Servos will not hold their position forever though; the position pulse
must be repeated to instruct the servo to stay in position.
End Effectors
In robotics, an end effector is the device at the end of a robotic arm, designed to interact with the
environment.
The exact nature of this device depends on the application of the robot.
In the strict definition, which originates from serial robotic manipulators, the end effector means
the last link (or end) of the robot. At this endpoint the tools are attached.
In a wider sense, an end effector can be seen as the part of a robot that interacts with the work
environment.
This does not refer to the wheels of a mobile robot or the feet of a humanoid robot which are also
not end effectors—they are part of the robot's mobility.
A gripper is a motion device that mimics the movements of people, in the case of the gripper, it is
the fingers.
A gripper is a device that holds an object so it can be manipulated.
It has the ability to hold and release an object while some action is being performed.
The fingers are not part of the gripper, they are specialized custom tooling used to grip the object
and are referred to as "jaws."
They come in a variety of styles and powered designs.
Three common types are parallel, three-finger, and angled designs.
The most common are parallel designs, with two fingers that close on a
workpiece to grip it or open it out by creating pressure on the inside.
Three-finger designs hold the workpiece in the center, and have three
fingers offset by 120°.
Finally, angled designs feature jaws that work at a variety of different
angle openings (for example, 30°, 40°, etc.).
Basic Types

• Grippers – to grasp and manipulate objects (e.g., parts) during work

cycle
• Tools – to perform a process, e.g., spot welding, spray painting
Tools as end effectors

• A tool is equipped in the robot for carrying out several operations on the
work parts instead of grasping it.
• A tool acts as an end effector when it is attached directly to the robot’s wrist.
• In some applications, there will be a need for multi-tool task, and changing
the tool all the time from the robot wrist will be highly difficult.
• As a result, a gripper is used in this process to grasp and manipulate the tool.
• It certainly helps the robot to handle several tools in an operation, and thus
makes the multi-tooling function possible. Moreover, the time taken to
change the tool is very low.
Grippers
• Grippers are the end effectors used for holding the parts or objects.
• Grippers are devices which can be used for holding or gripping an object.
• They include what you might call mechanical hands and also anything like
hooks, magnets and suction devices which can be used for holding or gripping.
• Grippers take advantage of point-to-point control (exact path that the robot
takes between what it is picking up and where it is placing it.
• Grippers should be designed so that it requires the minimum amount of
maneuvering in order to grip the work piece
• Applications of grippers :- Machine Loading and unloading, picking and placing
of parts on conveyor, material handling, bottle handling, arranging parts onto
pallets, etc.
Unilateral vs Multilateral Gripper

• Unilateral– only one point or surface is touching the object to be

handled.
Example : vacuum pad gripper & Electro magnetic gripper
• Multilateral – more than two points or surfaces touching the
components to be handled .
• Two main types of action are performed by grippers
• External: This is the most popular method of holding objects, it is the
most simplistic and it requires the shortest stroke length. When the
gripper jaws close, the closing force of the gripper holds that object.
• Internal: In some applications, the object geometry or the need to
access the exterior of the object will require that the object is held
from the center. In this case the opening force of the gripper will be
holding the object.
Types of Grippers
Based on the source of energy
• Magnetic Grippers
• Hydraulic Grippers
• Pneumatic Grippers
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
• 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.
• 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
• 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.
Hydraulic Gripper
• In addition, three choices of power are available; the most common being
pneumatic grippers; electromechanical grippers are second most common; and
the least common being hydraulic grippers.
• Hydraulic grippers are most often used in conjunction with a piece of equipment
that only has a hydraulic power source for actuators.
• Most hydraulic grippers are designed for a hydraulic system where the cylinder
diameter is made with less surface area, meaning that a hydraulic gripper would
have the same force at 60 bar as a pneumatic gripper of the same size at 6 bar.
• The direct acting piston design is used when a hydraulic force acts directly on a
piston that is directly connected to the jaw or finger that is touching or gripping
the part.
• The piston wedge design features a hydraulic force acting on a piston while the
piston itself is acting on a wedge.

• The wedge translates this force to the jaws or fingers, providing the grip force to
grip the part.

• The wedge can give a mechanical advantage as it can increase grip force while
keeping the piston diameter and pressure to the piston the same.

• This allows more grip force in a smaller package compared to the directing piston.
When selecting a hydraulic gripper, it is important to consider the following:
• Part weight and size to be lifted
• Part material
• Clearance issues around the part that could interfere with the gripping part
• The environment the gripper will be used in (corrosive, food or beverage, etc.)
• The motion path of the robot or linear device that is moving the gripper
• The power supply that will be available and the pressure ratings available
Pneumatic grippers
• Based on the Mechanism used
• Mechanical Grippers
• Hooks and Scoops
• Vacuum Grippers
• Expandable Bladder Type Grippers
• Adhesive Grippers
Mechanical Gripper

• It is an end effector that uses mechanical fingers actuated by a

mechanism to grasp an object.
• Two ways of constraining part in gripper
1. Physical construction of parts within finger. Finger encloses the part to some
extent and thereby designing the contact surface of finger to be in approximate
shape of part geometry.
2. Holding the part is by friction between fingers and workpart. Finger must
apply force that is sufficient for friction to retain the part against gravity
• Single gripper

• Double gripper

• Multiple gripper
Single gripper

• Only one grasping device

• Machine loading

• Machine unloading
Double gripper

• Two gripping devices

• Actuate independently

• Simultaneous Loading /

Unloading
Multiple gripper

• Two or More grasping devices.

• May/ May not actuate

independently.

• Holding large-flat objects like

Glass.
Internal gripper

• Grasp the object on its internal

surface
External Gripper

• Grasp the object on its exterior

surface
Two-fingered gripper
• Based on type of FINGER MOVEMENT:

• Pivoting Movement

• Linear or translational movement.

Types of Gripping Mechanism

1. Linkage actuation
2. Gear-and-Rack actuation
3. Cam actuation
4. Screw actuation
5. Rope-and-pulley actuation
6. Miscellaneous
LINKAGE ACTUATION
Gear & Rack Mechanism
• The rack gear would be attached to a piston or some other mechanism that would provide a linear
motion. Movement of the rack would drive two partial pinion gears, and these would in turn open
and close the fingers.
CAM Actuation
• A cam-and-follower arrangement, often using a spring loaded follower, can provide the opening
and closing action of the gripper. For example, movement of the cam in one direction would force
the gripper to open, while movement of the cam in the opposite direction would cause the spring
to force the gripper to close. The advantage of this arrangement is that the spring action would
accommodate different sized parts.
Screw Actuation
• The screw is turned by a motor, usually accompanied by a speed reduction mechanism. When the
screw is rotated in one direction, this causes a threaded block to be translated in one direction.
When the screw is rotated in the opposite direction, the threaded block moves in the opposite
direction. The threaded block is, in turn, connected to the gripper fingers to cause the
corresponding opening and closing action.
Other types of Grippers

In addition to mechanical grippers, there are a variety of other devices that can be designed to lift
and hold objects. Some of them are discussed below.
1. Vacuum cups
2. Magnetic grippers
3. Adhesive grippers
4. Hooks, Scoops and other miscellaneous devices
Vacuum cups
Vacuum cups
• Vacuum cups, also called suction cups can be used as gripper devices for handling certain types of
objects.
• The suction cups used in this type of robot gripper are typically made of elastic material such as rubber
or soft plastic.
• The shape of the vacuum cup, as shown in the Figure, is usually round.
• Some means of removing the air between the cup and the part surface to create the vacuum is required.
• The vacuum cup and venturi are two common devices used for this purpose.
• The vacuum pump is a piston-operated or vane-driven device powered by an electric motor. It is capable
of creating a relatively high vacuum.
• The venturi is a simpler device as shown in Figure and can be driven by means of “shop air pressure.”
• Its initial cost is less than that of a vacuum pump and it is relatively reliable because if its simplicity.
• The lift capacity of the suction cup depends on the effective area of the cup and the negative air pressure
between the cup and the object.
• The negative pressure is the pressure difference between the inside and the outside of the vacuum cup.
• The relationship can be summarized in the following equation.
F =PA
Where, F = the force or lift capacity
P = the negative pressure
A = the total effective area of the suction cup(s) used to create the vacuum
• Some of the features and advantages of suction cup grippers used in robotic
applications are:
• Requires only one surface of the part for grasping
• Applies a uniform pressure distribution on the surface of the part
• Relatively light weight gripper
• Applicable to a variety of different materials.
Adhesive Grippers
• Gripper designs in which an adhesive substance performs the grasping action can be
used to handle fabrics and other lightweight materials.
• The requirements on the items to be handled are that they must be gripped on one side
only and that other forms of grasping such as a vacuum or magnet are not appropriate.
• One of the potential limitations of an adhesive gripper is that the adhesive substance
loses its tackiness on repeated usage.
• Consequently, its reliability as a gripping device is diminished with each successive
operation cycle.
• To overcome this limitation, the adhesive material is loaded in the form of a continuous
ribbon into a feeding mechanism that is attached to the robot wrist.
• The feeding mechanism operates in a manner similar to a typewriter ribbon mechanism.
Magnetic grippers
• Magnetic grippers can be a very useful means of handling ferrous
materials. In general, magnetic grippers offer the following
advantages in robotic handling applications.
Hooks, Scoops and Other Miscellaneous Devices
• A variety of other devices can be used to grip parts or materials in robotics applications. Hooks
can be used as end effectors to handle containers of parts and to load and unload parts hanging
from overhead conveyers.
• Scoops and ladles can be used to handle certain materials in liquid or powder form.
• Chemicals in liquid and powder form, food materials, granular substances and molten materials
are the examples that can be handled by a robot using this method of holding.
• Other types of grippers include, inflatable devices, in which an inflatable bladder or diaphragm is
expanded to grasp the object.
• The inflatable bladder is fabricated out of rubber or other elastic material which makes it
appropriate for gripping fragile objects.