Presented By : S.Pradeep (AP/MCT) End - Effectors Presented By : S.Pradeep (AP/MCT)

categories of end-effectors Gripper Tools

gripper To grasp and hold objects. Machine loading / Unloading Pick parts from conveyor Arrange parts onto a pallet.

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 Grasp the object on its internal surface

External Gripper Grasp the object on its exterior surface

Mechanical gripper Mechanical fingers actuated by a mechanism . Fingers also called ‘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 KINEMATIC DEVICE: Linkage Actuation Gear and Rack Actuation Cam Actuation Screw Actuation Rope and Pulley Actuation

LINKAGE ACTUATION

Gear & Rack Mechanism

CAM Actuation

Screw actuation

Other types of gripper Vacuum Cups: Also called ‘Suction Cups’. Objects – flat, smooth and clean like glass. Cup material : Elastic, rubber, or soft plastic. Piston operated or vane-driven device powered by electric motor. Lift capacity : Effective area of cup & negative air pressure.

Other types of gripper Magnetic Gripper (Permanent/Electromagnet): To handle ferrous materials. Advantages: Pick time are very fast. Variations in part size can be tolerated Handle metal parts with holes. Require only one surface for gripping. Disadvantages: Residual magnetism in the work piece. Cant pick up a single sheet from a stack.

Magnetic grippers

Other types of grippers Adhesive Gripper To handle fabrics and other light weight materials. Hooks: Loading and Unloading from overhead conveyors. Scoops: To handle liquid or powder form of materials. Inflatable bladder or diaphragm For gripping fragile objects

Tools as end-effectors Spot Welding:

Tools as end-effectors Arc Welding:

Tools as end-effectors Spray Painting:

Tools as end-effectors Drilling:

Tools as end-effectors Grinding :

Tools as end-effectors Wire Brushing:

Tools as end-effectors Heating Torch :

Tools as end-effectors Water Jet Cutting :

Gripper selection Part surface should be reachable. Size variations of the part must be accounted for Scratching and distorting the part during gripping Replaceable fingers. Self – Aligning fingers Grasping forces Speed and acceleration of the robot arm.