End Effectors
PRESENTED BY
S.K.NITHARSHANA JUVALA
End effector
A robotic end effector is an object attached to the robot
flange(wrist) that serves a function.
In robotics an end effector is the device at the end of a
robotic arm, designed to interact with the environment.
It is a device that attaches to the robot arm and enables
the general purpose robot to perform a specific task.
Robot end effectors are also known as robotic
peripherals, robotic accessories, robot tools, or robotic
tools , and end-of-arm tooling, tool tips, or end of arm
devices.
End effectors
Classification of end effectors
Impactive -jaws or claws which physically grasp by
direct impact upon the object.
Ingressive- pins, needles or hackles which
physically penetrate the surface of the object
(used in textile ,carbon and glass fiber handling)
Astrictive - suction forces (includes
magnetic)applied to the objects surface.
Contigutive - requiring direct contact for adhesion
to take place (such as glue , surface tension or
freezing).
Basic types
Grippers-to grasp and munipulate
objects(parts)during Work cycle
Tools-to perform a process , eg: spot welding,
spray painting.
Tools as end effectors
In robot application the most commonly used
three tools as end effectors are listed below
Sot welding tools
Spray painting nozzle
Arc welding torch
grippers
Grippers are the end effectors used for holding the parts or
objects.
Grippers are devices that 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 takes minimum
amount of manoeuvring in order to grip the work piece.
Application of grippers
Machine loading and unloading .
Picking and placing of parts on conveyor.
Material handling.
Bottle handling.
Arranging parts onto pallets.
Types of grippers
Mechanical grippers.
Hooks and scoops.
Vaccum grippers.
Expandable bladder type grippers.
Adhesive grippers.
Mechanical grippers
We can think of a mechanical gripper as a robot hand .a basic
robot hand we have only two or three fingers.
A mechanical hand that wraps around an object will rely on
friction in order to secure the object it is holding,
Friction between the gripper and the object will depend on
two things
First is the type of surface whether it be metal on metal,
rubber on metal, smooth surfaces, or rough surfaces .
Second is the force which is pressing the surfaces together.
Mechanical grippers are often fitted with some type of pad
usually made of polyurethane as this provides greater
friction. Pads are also used so to have a better grip as the
polyurethane will make contact with all parts of the surface
when the gripper is closed.
Mechanical gripper
Hooks and scoops
Hooks and scoops are the simplest type of end effectors that can be
classified as grippers.
A scoop or ladle is commonly used to scoop up molten metal and
transfer it to the mold.
Hooks are used to load and unload parts hanging from the over
head conveyors .The parts to be handled by a hook must have some
sort of handle ,eyebolt or ring to enable the hook to hold it.
Scoops are used for handling the materials in liquid or powder form,
the limitation of scoop is it is difficult to control the amount of
material being handled by the scoop .In addition spilling of the
material during handling is another problem.
Hooks and scoops
Magnetic grippers
Magnetic grippers will work only on magnetic objects and therefore
are limited in working with certain metals.
The magnet needs to have complete contact with the surface of the
metal to be gripped. Any air gaps will reduce the strength of the
magnetic force, hence flat sheets of metals are used.
If the magnet is strong enough , a magnet gripper can pick up an
irregular shaped object. In some cases the shape of the magnet
matches the shape of the object.
The disadvantage of using magnetic gripper is temperature.
permanent magnet tends to become demagnetized when heated
and so there is the danger that prolonged contact with a hot work
piece will weaken them. where they can no longer be used. Most
magnetic materials are relatively unaffected by temperatures up to
around 100 degrees.
Magnetic gripper
Suction grippers
There are two types of suction grippers
Devices operated by a vaccum the vaccum may be provided by a
vaccum pump or by compressed air.
Devices with a flexible suction cup this cup presses on the work piece.
compressed air is blown into the suction cup to release the work piece.
the advantage of the suction cup is that if there is a power failure it will
still work as the work piece will not fall down. the disadvantage of the
suction cup is that they only work on clean, smooth surfaces.
There are many advantages for using a suction cup rather than a
mechanical grip including there is no danger of crushing fragile objects.
the exact shape and size does not matter and the suction cup does not
have to be precisely positioned on the object.
Suction gripper
Expandable bladder type grippers
A bladder gripper or bladder hand is a specialised robotic end
effector that can be used to grasp ,pick up, and move rod shaped or
cylinder objects.
The main element of the gripper is an inflatable ,donut shaped or
cylindrical sleeve that resembles the cuff commonly used in blood
pressure measuring apparatus.
The sleeves is positioned so it surrounds the object to be gripped ,
and then the sleeve is inflated until it is tight enough to accomplish
the desired task.
The pressure exerted by the sleeve can be measured and regulated
using force sensors.
Bladder grippers are useful in handling fragile objects. However
they do not operate fast, and they can function only with objects
within rather narrow range of physical sizes.
Expandable bladder type gripper
Adhesive grippers
Adhesive substance can be used for grasping action in adhesive
grippers.
In adhesive grippers the adhesive substance losses its tackiness due to
repeated usage..this reduces the reliablility of the gripper. In order to
overcome this difficulty the adhesive material is continuously fed to
the gripper in the form of ribbon by feeding mechanism
A major asset of the gripper is the fact that it is simple.As long as the
adhesive keep its thickness it will continue to function without
maintanence ,however there are certain limitations, the most
significant is the fact that the adhesive cannot readily be disabled in
order to release the grasp on an object. Some other means such as
devices that lock the gripped object into place. Must be used.
The adhesive grippers are used for handling fabrics and light weight
materials.
Adhesive gripper
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