END EFFECTORS

End Effectors

• In robotics, an end effector is a device or tool that's connected to the end of

a robot arm where the hand would be. The end effector is the part of the
robot that interacts with the environment. The structure of an end effector
and the nature of the programming and hardware that drives it depend on
the task the robot will be performing.
• 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.
Concept
Concept
End Effectors
Grippers-types
1. Robot gripper
with 2 fingers
• These are the simplest robot
grippers, suitable for many industrial
products and easy to manufacture.
• Within this group, different
alternatives can be found: with
opening control, pressure control,
with distance control in the opening
and closing, picking up pieces by
inserting the two fingers inside a
hole. 
• They can also have pneumatic or
electric actuation.
2. Robot grippers with 3
fingers

• This type of robot gripper is not used

that often since most automation cases
can be solved with a two-finger gripper.
• However, when it is necessary to pick
up delicate objects with strength and
precision, three fingers grippers are the
solution.
• Besides, they adapt even better to non-
flat surfaces with articulated fingers. 
3. Robot grippers with
flexible fingers

• The robot grippers with flexible fingers

are newer and more fit to pick up
different objects.
• Although they are more limited in
general regarding volume and weight of
the object to be picked, they are perfect
for delicate things, like food. 
4. Vacuum
grippers

• The vacuum gripper has been a

standard tool for robots in
manufacturing due to its high level of
flexibility.
• The tool is made of polyurethane or
rubber suction cup to catch the
objects.
• There are some vacuum grippers that
use closed-cells foam rubber layer,
instead of the suction cups.
5. Hydraulic grippers

• Hydraulic Grippers are the ones that can

apply the most strength and often are
used in applications that require a huge
amount of force.
• Although their strength, they are
messier than any other gripper due to
the oil that the pumps are using.
• Also they need more maintenance
because of the huge amount of force
that they can apply.
6. Pneumatic
grippers
• Pneumatic grippers are popular due
to their light weight and compact
size.
• They can be design for tight spaces,
which can be helpful in
manufacturing industry.
• This kind of gripper can be open and
close; because of this their nickname
is “bang bang” actuators, given by
the sound they do when the metal-
on-metal is operating.
7. Magnetic grippers

• Magnetic grippers can be configured by

permanent magnets or electromagnets.
• Permanent magnets, don’t need of an
external supply for grasping, once an
object is grasped there is an additional
device called stripper push which
separate the object from the gripper.
• In the other hand, there are the
electromagnets, including a controller
unit and a DC power which can grasp
magnetic objects
END EFFECTORS
Operation
 It originates from serial
robotic manipulators, the end
effector means the last link (or
end) of the robot.

It is a device at the
end of
a robotic arm,
designed to interact
with the
environment.
Various Purposes:
• spot welding in an assembly.
• spray painting where uniformity of painting is
necessary.
• other purposes where the working conditions are
dangerous for human beings.
Applications
1. Welding- spot welding is the most common application of
welding robots.
2. Assembly- robots are also commonly used to put things
together.
3. Coating- robots that paints or spray adhesives are most
common in many industries.
Applications
4. Dispensing- another common application where robots
are given what amounts to a hot glue gun.
5. Inspection- inspection robots use lasers, vision systems,
or another type of measurement tool as an end effector.
6. Material Handling- range from palletizers to machine
loading and unloading.
 Applications
7. Material Removal- exist in two forms.

8. Other strange applications- robots can virtually be outfitted

with anything that does not exceed the payload limitation of
the robot.
END EFFECTORS
Mechanical Gripper Mechanisms
and
Force Analysis
Finger Movement Classification
Pivoting Movement
In this movement, the rotation of
fingers is conducted with the fixed
pivot points of the gripper for
providing open and close actions. A
linkage mechanism is often used for
achieving this movement.
Finger Movement Classification
Linear or Translational
Movement
During linear movement, the guide
rails are used to move the fingers
parallel to each other for closing
and opening. In translational
movement, the fingers are
maintained in parallel orientation.
As in pivoting movements, linkage
mechanisms are used for actuation.
Mechanisms for Actuation

Linkage Actuation
A linkage is an assembly of links
connected by joints to manage
forces and movement. The design of
linkage actuation helps in finding
out the conversion of gripper’s
input force into the gripping force,
the time taken to actuate the
gripper, and the maximum
capability to open the finger.
Mechanisms for Actuation

Screw Actuation
The screw -type actuated gripper consists of a screw connected with a threaded block. To
rotate the screw, a motor is used along with a speed reduction device. If the screw is turned
in one direction, the threaded block is moved in one direction. Similarly, the threaded
block moves in the opposite direction if the screw is turned in the other direction. As the
threaded block is attached with the gripper, it makes the fingers open and close.
Mechanisms for Actuation

Gear and Rack Actuation

In this actuation, the gear and
rack are connected with a
piston, which provides linear-
type movement. The two
partial pinion gears are driven
when the rack is moved. As it
is linked with gripper, the
opening and closing of fingers
are accomplished.
Mechanisms for Actuation

Rope and Pulley Actuation

In this actuation, a tension device is
required to control the rope tension
and keep it taut during movement in
the pulley. When the pulley is
activated in one direction for opening
the gripper, the tension device will
allow the change in rope length while
maintaining the tension. Similarly,
the gripper is closed by activating the
pulley on the other direction.
Mechanisms for Actuation

Cam Actuation
A cam-actuated gripper with spring-loaded follower can be used to provide
open and close actions of fingers. The spring function is to force the gripper to
close if the cam is moved in one direction, while the movement of cam on the
other direction causes the gripper to open. This type is useful for holding
various sizes of work parts
Force required to grip the object
Though there are numerous forces acting over the body that has been
lifted by the robotic arm, the main force acting there is the frictional
force. The gripping surface can be made of a soft material with high
coefficient of friction so that the surface of the object is not damaged. The
robotic gripper must withstand not only the weight of the object but also
acceleration and the motion that is caused due to frequent movement of
the object.
Force required to grip the object
To find out the force required to grip the object, the following formula is
used

F > m(g+a)/u *(safety factor)

To make sure the part doesn’t slip during static prehension, the gripping
force should be higher than the weight of the part itself.
 Tools as End
Effectors
Consideration in
Gripper Selection
and Design
Design Selection

• Cost
• Flexibility
• Changeover
• Safety (Lost of Power, Collision)
• Handling Of Damage Product
• Sensing
 Gripper Selection

• The industrial robots use grippers as an  end effector for

picking up the raw and finished work parts. A robot can
perform good grasping of objects only when it obtains a
proper gripper selection and design. Therefore, Joseph F.
Engelberger, who is referred as Father of Roboticshas
described several factors that are required to be
considered in gripper selection and design.
 Gripper Selection

• The gripper must have the ability to reach the surface of a work part.
• The change in work part size must be accounted for providing
accurate positioning. 
• During machining operations, there will be a change in the work part
size. As a result, the gripper must be designed to hold a work part
even when the size is varied. 
• The gripper must not create any sort of distort and scratch in the
fragile work parts. 
 Gripper Selection

• The gripper must hold the larger area of a work part if it

has various dimensions, which will certainly
increase stability and control in positioning.
•  The gripper can be designed with resilient pads to
provide more grasping contacts in the work part.
The replaceable fingers can also be employed for holding
different work part sizes by its interchangeability facility. 
THANK YOU FOR LISTENING

PRESENTORS:
• CUEVAS, JUNIX JHENVO A.
• FALOGME, ANTHONY M.
• BEJASA, SHEENA
• DINGLASAN, KARL ANTHONY A.