This document discusses robotic joints and end effectors. It explains that robotic joints allow relative movement between parts of a robot arm and enable the robot to move its end effector along a desired path. The basic joint movements are rotational, radial, and vertical. End effectors are the special tools that allow a robot to perform specific tasks, and can be grippers to grasp objects or tools to perform processes like welding or painting. Common grippers include mechanical grippers, suction cups, magnets, and hooks, while common tools are welding guns, drills, and sprayers.

1. Shree Ramchandra College of Engineering, Pune
Department of Mechanical Engineering
The Robotic Joints And End
Effectors
Presented By: Avinash Repale
Ankit Thakur
Guided By: Prof. M. K. Jadhav

2. A robot joint is a mechanism that permits
relative movement between parts of a robot
arm. The joints of a robot are designed to
enable the robot to move its end-effector along
a path from one position to another as desired.
The Robotic Joints

3. The Robotic Joints
The basic movements required for a desired
motion of most industrial robots are:
1. Rotational Movement: This enables the robot to
place its arm in any direction on a horizontal plane.
2. Radial Movement: This enables the robot to
move its end-effector radially to reach distant points.
3. Vertical Movement: This enables the robot to
take its end-effector to different heights.

4. The Robotic Joints

5. The Robotic Joints

6. End Effectors
The special tooling for a robot that
enables it to perform a specific task
Two types:
•Grippers – to grasp and manipulate
objects (e.g., parts) during work
cycle
•Tools – to perform a process, e.g.,
spot welding, spray painting

7. Grippers
– Mechanical Grippers
– Suction cups or vacuum cups
– Magnetized grippers
– Hooks
– Scoops (to carry fluids)
Tools
– Spot Welding gun
– Arc Welding tools
– Spray painting gun
– Drilling Spindle
– Grinders, Wire brushes
– Heating torches
End Effectors

8. End Effectors