This document discusses robot end effectors and their components. It explains that end effectors enable robots to perform tasks and come in different types like grippers and tools. It provides examples of common end effectors like grippers, cutting tools, drills, and welding guns. Grippers are generally used to grasp and hold objects and can be mechanical, vacuum, magnetic or adhesive. Tools allow robots to directly manipulate work pieces for operations like welding, painting, drilling or grinding.

1. CHAPTER 3:
ROBOTS AUTOMATION MANIPULATOR

2. Learning Outcomes:
Upon completion this chapter, student should be
able:-
1. Explain the End Effector components

3. Contents
1. End effector components; tool and gripper

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

6. End effectors used in manufacturing include:
• anti-collision
sensors
• brushes
• cameras
• cutting tools
• drills
• grippers
• magnets
• sanders
• screw drivers
• spray guns
• vacuum cups
• welding guns

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).

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.

14. THANK YOU