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

2. categories of end-effectors
Gripper
Tools

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

4. classification
Single gripper
Double gripper
Multiple gripper

5. Single gripper Only one grasping device Machine loading
Machine unloading

6. Double gripper Two gripping devices Actuate independently
Simultaneous Loading / Unloading

7. Multiple gripper Two or More grasping devices.
May/ May not actuate independently.
Holding large-flat objects like Glass.

8. Internal gripper
Grasp the object on its internal surface

9. External Gripper
Grasp the object on its exterior surface

10. Mechanical gripper Mechanical fingers actuated by a mechanism .
Fingers also called ‘Jaws’.
Attached or Integrated part of the mechanism.

11. Types of gripper mechanism
Based on type of FINGER MOVEMENT:
Pivoting Movement
Linear or translational movement.

12. Types of gripper mechanism
Based on KINEMATIC DEVICE:
Linkage Actuation
Gear and Rack Actuation
Cam Actuation
Screw Actuation
Rope and Pulley Actuation

13. LINKAGE ACTUATION

14. Gear & Rack Mechanism

15. CAM Actuation

16. Screw actuation

17. 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.

20. 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.

21. Magnetic grippers

25. 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

26. Tools as end-effectors
Spot Welding:

27. Tools as end-effectors
Arc Welding:

28. Tools as end-effectors
Spray Painting:

29. Tools as end-effectors
Drilling:

30. Tools as end-effectors
Grinding :

31. Tools as end-effectors
Wire Brushing:

32. Tools as end-effectors
Heating Torch :

33. Tools as end-effectors
Water Jet Cutting :

34. 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.