ECE315-T15–AT1-(Cat2&Cat3)

Name: Catamora, ER Denice D.

Year and Course: ECE03

Answer the following items shown below. Answers can be computerized (font style Arial with font size
11)or hand-written. The document size should be A4 and in PDF format.

1. State the advantages and disadvantages of each type of actuator utilized in industrial
robots.
2. Describe briefly (or define) the following software categories for industrial robots.
a. Positive-stop programs
b. Point-to-point programs
c. Continuous path programs
3. State and describe briefly (or define) the different type of grippers used in industrial robots.
4. State and describe briefly (or explain) the operation of the different types of proximity
sensors used by industrial robots.

Type or paste an image of your answers and solutions below:

1.) Advantages of Industrial Robots

➢ Increased efficiency
➢ Higher quality
➢ Improved working environment
➢ Increased profitability
➢ Longer working hours
➢ Prestige

Disadvantages of Industrial Robots

➢ Capital cost
➢ Expertise
➢ Limitations

2.)

A. It is a program where it produces only 2-position motions about any individual robot
axis or 2 possible positions that the waist, shoulder etc. can stop in.

B. It is a program that can move a robot axis to any position within its range.

C. It is a program that can move the tool device to a destination position very quickly
and to move it through a virtually invariable path. This is due to the initial actual
position of each axis is very close to the destination position.
 3.)
2-finger gripper – A type of mechanical gripper that can accomplish tasks like: to
grasp the object, sense the fact that it has been successfully grasp, move the
object/holding it steady while it is being operated by other tools, and to release the
object cleanly.
Mechanical grippers - This type of gripper is for material-handling and assembly
applications that robots must grasp a piece of work/part and move it to another
location.
Bellows gripper - Is a type of pneumatic gripper that provides safety when handling
fragile work parts.
Angular gripper – This is a type of pneumatic gripper that is used for gripping large or
odd shaped parts/pieces. It maximizes the gripping torque that also maximizes the
gripper force for holding the object.
Pneumatic gripper – It is a type of gripper that involves with either parallel or angular
motion of surfaces. This type of gripper provides its motion by using compressed air.
Pin Gripper – The reverse of a mandrel gripper. For this type of gripper, the object
itself must have a protruding pin over which the concave diaphragm is placed by the
robot arm.
Mandrel gripper – This is a type of pneumatic gripper that has an air-tight expandable
diaphragm on the outside surface of a mandrel that is inserted into a cavity on the
object to be gripped.

4.)
Inductive proximity sensor – is an inductor/capacitor oscillator in which it successfully
oscillates when there is no metal or conductive object nearby. It ceases oscillation when a
conductive object enters the magnetic field produced by the inductor.
Capacitive proximity sensor – These are non-contact devices that can detect the
presence/absence of virtually any object. The value of the variable capacitance is
determined by the closeness of a detected object between 2 detection plates.
Hall-effect sensor – It is a sensor wherein it measures the magnitude of a magnetic field. It
can sense the presence of an object without touching the actual object. It has a small
permanent magnet that is attached to the moveable object, and a hall-effect magnetic
detector mounted for the magnetic flux impinges on the detector’s surface when the object
comes near.