END EFFECTORS

What are End Effectors?

In the terminology of robotics, end effectors can be
defined as a device which is attached to the robots
wrist to perform a specific task.
The task might be work part handling, spot
welding, spray painting, or any of a great variety
of other functions.
The end effectors are the special purpose tooling
which enables the robot to perform a particular job.
Categories of End effectors
Grippers

Tools
Grippers:
 To grasp and hold objects
Machine loading and unloading
Pick parts from the conveyor
Arrange parts onto a pallet
Grippers: are generally used to grasp and hold an
object and place it at a desired location.
Classification
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
Grip the object on its internal surface
External gripper
Grip the object on its exterior surface
Mechanical gripper
Mechanical finger actuated by a mechanism
Fingers also called as “Jaws”
Attached or Integrated part of the mechanism
Types of Gripper mechanism
Based on type of finger movement
Pivoting movement
Linear or translational movement
Types of Gripper mechanism
Based on type of kinematic drive
Linkage actuation
Gear and rack actuation
Cam actuation
Screw actuation
Rope and pulley actuation
Miscellaneous
Linkage actuation
Design of linkage determines how the input force Fa to
the gripper is converted into gripping force Fg applied
by the fingers.
The linkage also determines how far the fingers will
open and how quickly the gripper will actuate.
Gear and rack actuation
The rack and gear would be attached to a piston or
some other mechanism that would proved a linear
motion.
Movement of the rack would drive parallel 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.
Movement of the cam in one direction
would force the gripper to open, while
movement of the cam in opposite direction
would cause the spring to force the gripper
to close.
Screw actuation
Other type of Grippers
Vacuum cup
Also called ‘suction cup’
Objects – flat, smooth and clean like glass
Cup materials –Elastic –rubber or soft plastic
Piston operated or vane driven powered by electric
motor
Lift capacity-effective area of cup and negative pressure
Other types of grippers
Magnetic Grippers (Permanent magnet/Electromagnet)
To handle ferrous materials
Advantages
 Pick times are very fast
 Variations in part size can be tolerated
 Handle metal parts with holes (not possible with vacuum
grippers)
 Require only one surface for gripping
Disadvantages
 Residual magnetism in the work piece
 Cant pick a single sheet from a stack
Other types of grippers
Adhesive gripper
To handle fabrics and other light materials
Hooks
Loading and unloading from overhead conveyors
Scoops
To handle liquid or powder type of materials
Inflatable bladder or diaphragm
For gripping fragile objects
Tools
Tools: a robot is required to manipulate a tool to
perform an operation on a work part.
Here the tool acts as end-effectors. Spot-welding
tools, arc-welding tools, spray-painting nozzles, and
rotating spindles for drilling and grinding are typical
examples of tools used as end-effectors.
Gripper selection
Part surface should be reachable
Size variation of the part must be accounted for
Scratching and distortion the part during gripping
Replaceable fingers
Self-aligning fingers
Grasping forces
Speed and acceleration of the robotic arm
 General Design Practices
Minimize weight- affects robot performance
Material selection
Lightening holes
Minimize size
Helps minimize weight
Reduce cantilever load and moment of inertiaMay conflict with flexibility
Maximize rigidity
Improves positional accuracy and repeatability
Reduce vibrations
Maximize holding force
Reliably hold part (without damage)
Orient part to maximize force in direction of motion
Maintenance and form factor change considerations
Classification
Mechanical grippers
 Vacuum or suction cups
 Magnetic grippers
 Adhesive grippers
 Hooks,
 Scoops, and so forth.
Tools as end effectors
Spot welding
Arc welding
Spray painting
Drilling
Grinding
Wire brushing
Heating torch
Water jet cutting