Industrial Robotics

ME5510

Dr. M V A Raju Bahubalendruni

National Institute of Technology Puducherry
 Syllabus
▰ Introduction of Robot - Classification and characteristics, Advantages and Disadvantages of
Robots –Robot selection - work cell – Vision –Accidents – Safety – Maintenance- Installation

▰ Introduction of Robotic sensors – Types of Sensors - Robot with sensors

▰ Robot end effectors – Classification of end effectors

▰ Robot Programming

▰ Applications of Robots – Manufacturing Applications – Material handling applications –

Cleanroom robots

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 Syllabus
▰ Introduction of Robot - Classification and characteristics, Advantages and Disadvantages of
Robots –Robot selection - work cell – Vision –Accidents – Safety – Maintenance- Installation

▰ Introduction of Robotic sensors – Types of Sensors - Robot with sensors

▰ Robot end effectors – Classification of end effectors

▰ Robot Programming

▰ Applications of Robots – Manufacturing Applications – Material handling applications –

Cleanroom robots

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Robot End Effectors
How the objects are lifting??? A Rational spare parts policy

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Robot End Effectors (Contd…)
Incase Objects are Heavy (or) Repetitive Transferring A Rational spare parts policy

Then Prefer Robot is best choice

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Robot End Effectors(Definition)
End effector is a device placed at the end of a robotic arm, designed to interact with the
A Rational spare parts policy

environment. The exact nature of this device depends on the application of the robot.

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 Syllabus
▰ Introduction of Robot - Classification and characteristics, Advantages and Disadvantages of
Robots –Robot selection - work cell – Vision –Accidents – Safety – Maintenance- Installation

▰ Introduction of Robotic sensors – Types of Sensors - Robot with sensors

▰ Robot end effectors – Classification of end effectors

▰ Robot Programming

▰ Applications of Robots – Manufacturing Applications – Material handling applications –

Cleanroom robots

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Classification of End Effectors
A Device attached to wrist of the robot arm and enables the robot to perform a task

End Effectors

Grippers Tools

Used to grasp and hold End effectors designed to

objects. perform work on the part
rather that to merely grasp
e.g. loading and unloading, it. e.g. spot welding, spray
pick and place etc., painting, etc 8
Classification of End Effectors

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Classification of Grippers
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Grippers

Mechanical Vacuum Magnetic Adhesive Other

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Mechanical Grippers(Construction)
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• End effector uses mechanical fingers actuate by a mechanism to grasp an object.
• Function is to translate some form of power input into the grasping action.

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Mechanical Grippers(working) Work Part

Type of Object Pads with ShapeAof workspare parts policy

Rational
Work Part part

Fingers

Pressure pads
Gripper
w
Friction between µpart & gripper:

F𝑔 F𝑔
µnfFg=w

W 12
Mechanical Grippers (Types)
A Rational spare parts policy

Types of Mechanical Grippers

Motion kinematic device that causes the motion

Linear or Rope and

Pivoting Linkage Gear and rack Screw
Translational Cam actuation pulley Miscellaneous
Movement. actuation actuation actuation
Movement. actuation

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Pivoting based grippers

The motion is about a

pivot point to open and
close

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Linear or Translational Movement.
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The gripper fingers

move parallel and in
linear

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Linkage Actuation
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Fa – Actuating Force
Fg – Gripper Force

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Linkage Actuation
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Gear & Rack Actuation
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CAM Mechanism
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Screw Mechanism

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Rope Mechanism

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Mechanical Grippers(Problems)
Problem 1: A simple pivot-type device used for holding the cardboard carton, asAfig. Thespare
Rational gripper
parts force
policy F g=
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.

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Sol: Moments about the pivot arms be summed 3
and made equal to zero.

FgLg - FaLa = 0
𝐹𝑔 𝐹𝑎
(60lb)(12in) – (Fa)(3in) = 0

Fa = 720/3 = 240 lb
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Mechanical Grippers(Problems)
Problem 2: The figure shows the linkage mechanism and dimensions of a gripper used
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spare handle
policya work part
for a machining operation. Compute the actuating force to deliver the gripper force of 25 lb.

Sol: 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, 23
Fa = 2 X 74.4 X cos45°,Fa = 105.2 lb
Classification of Grippers
A Rational spare parts policy

Grippers

Mechanical Vacuum Magnetic Adhesive Other

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Vacuum Grippers
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It works when the difference between
atmospheric pressure and the
vacuum(negative pressure) is enough
to provide the ability to lift, hold, move
and more.
This can only occur when one side of
a part is large enough and flat enough
for a vacuum gripper to create enough
difference in pressure

*over all reliability is dependent on 25

the source of air pressure
Vacuum Grippers (Contd…)
Level Compensator: For differences in level and A Rational spare parts policy

absorb shocks
mounting also reduce accurate positioning in height

Ball joint: Automatically holds different angles of

parts and reduce bending moments On suction cup.
It is specially designed for holding
• Heavy weight objects
• Workpieces on motion
• Curved and irregular
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Vacuum Grippers (Contd…)
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Classification of Grippers
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Grippers

Mechanical Vacuum Magnetic Adhesive Other

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Magnetic Grippers
Magnetic grippers are divided into 2 Categories A Rational spare parts policy
1. Electromagnet gripper:
Where electro magnetic grippers are easier to control
but require source of power and appropriate control unit.
It is easier to accomplish with electro magnet than
permanent magnet. Electro magnetic gripper are easier
to control but require source of D.C Power
When part is to be released the controller unit
reverses the polarity at a reduced power level before
switching of the electro magnet. (In electro magnet)

2. Permanent magnet gripper :

It is considered for handling tasks in hazardous environments requiring
explosion proof apparatus because of no electrical circuit is needed to
operate the magnet reduces danger sparks might cause ignition in such 29
environment
Magnetic Grippers
Holding ferrous items such as punched steel parts, blanks and perforated steel sheet
in robotic applications in the automotive industry

Advantages: Disadvantages:
• Pickup times are very fast • possibility of slippage
• Variations in part size can be tolerated. • Problem of picking only one sheet from
• They have the ability to handle metal parts with holes stack
• Require only one surface for gripping
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Classification of Grippers
A Rational spare parts policy
Mechanical

Vacuum
Grippers

Magnetic

Adhesive

Other
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Dr. M V A Raju Bahubalendruni
Classification of Grippers
A Rational spare parts policy

Grippers

Mechanical Vacuum Magnetic Adhesive Other

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Adhesive Gripper
it grasps objects by literally sticking to them. In its most primitive form, this type of gripper consists of a rod,
sphere, or other solid object covered with two-sided tape.

Limitations:
• adhesive substance losses its tackiness on repeated usage
• Reliability of gripping device is diminished with each successive operation cycle. This
limitation can be overcome by loading of adhesive material in form of continuous ribbon
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into feeding mechanism that attached to robot wrist
Hooks, Scoops & other devices
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• Scoops and ladles can be used to handle
certain materials in liquid or powder form.
• Chemicals in liquid or powder form, food
materials, granular substances, and molten
metals

Limitations:
• Amount of materials being scooped by the robot is
sometimes difficult to control.
• Spillage during the handling cycle is also a
problem.

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 Tools as End Effectors
In most of the robot application in which a tool is manipulated, the tool is attached directly
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parts robot wrist.
In these cases the tool is the end effector

Arc welding Spray painting Spot welding Robot

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End effector interface & considerations
1. A physical support is required to interface(face plate/ A Rational spare parts policy
wrist socket) with robot arm

2. Robot payload = (End effector +part)

3. Overload protection – breakaway (to prevent the damage to robot/EF) eg. Shear-pin/sensors

4. Power transmission to EF (compatible with Robot)

• Pneumatic
• Electric
• Hydraulic
• Mechanical
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Gripper Characteristics
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Gripper Selection
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1. Surface roughness of the part
2. Size of the part (longest is preferred to grasp)
3. Change in size of the part while holding (eg. Machining)
4. Scratching/distortion/brittle ness(deformable/brittle)
5. Gripper finger Alignment for contour of the part (geometry)
6. Force range (weight of the object)
7. Type of actuation (mechanical/Vacuum/Magnetic/etc.,)
8. Power transmission (Pneumatic/Electric/Mechanical/Etc.,)
9. Service conditions (wearability /life)
10. Temperature
11. Mechanical behaviour (friction/stiffness/)
12. Cost

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THANKS!
Any questions?
You can find me at
bahubalindruni@gmail.com

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