5. End Effector Components
End-effector mounted on the wrist enables the robot
to perform specified tasks.
Various types of end-effectors are designed for the
same robot to make it more flexible and versatile.
Two types of end effector:
Gripper
Tools
7. End Effector Actuation
Electrical:
DC motors (speed proportional to voltage)
Stepper motors (fixed move per pulse)
Pressurised:
Liquid: Hydraulics
Air: Pneumatics, air muscles
8. Grippers
Generally used to grasp and hold an object and place it
at a desired location.
Different shape, size or strength
Grippers can be classified as mechanical grippers:
vacuum or suction cups, magnetic grippers, adhesive
grippers, hooks and scoops.
Magnetic grippers are useful for applications involving
steel
9. Four general categories of robot grippers, these are:
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 fibre handling).
Astrictive – suction forces applied to the objects surface
(whether by vacuum, magneto- or electro-adhesion).
Contigutive – requiring direct contact for adhesion to
take place (such as glue, surface tension or freezing).
10.
11. Tools
Robot is required to manipulate a tool to perform an
operation on a work part.
Tools for specific purposes
The tool acts as end-effector: Spot-welding tools, arc-welding
tools, spray-painting nozzles, and rotating
spindles for drilling and grinding.
