The document discusses different types of end effectors used in robotics, specifically focusing on grippers. It describes two main types of end effectors - grippers and tools. Grippers are used for holding parts and objects, and come in several varieties, including mechanical grippers, hooks/scoops, magnetic grippers, vacuum grippers, expandable bladder grippers, and adhesive grippers. Each type is suited to different applications and has unique advantages and limitations. The document provides details on the design and use of each gripper type.
Robotics and Autoamtion_ manipulators, actuators and end effectorsJAIGANESH SEKAR
Construction of manipulators – manipulator dynamics and force control – electronic and pneumatic manipulator control circuits – end effectors – U various types of grippers – design considerations.
Introduction
Types of end effectors
Mechanical gripper
Other types of grippers
Tools as end effectors
The Robot/End effectors interface
Considerations in gripper selection and design
Robotics and Autoamtion_ manipulators, actuators and end effectorsJAIGANESH SEKAR
Construction of manipulators – manipulator dynamics and force control – electronic and pneumatic manipulator control circuits – end effectors – U various types of grippers – design considerations.
Introduction
Types of end effectors
Mechanical gripper
Other types of grippers
Tools as end effectors
The Robot/End effectors interface
Considerations in gripper selection and design
Robotics and automation _ power sources and sensorsJAIGANESH SEKAR
Hydraulic, pneumatic and electric drives – determination of HP of motor and gearing ratio – variable speed arrangements – path determination – micro machines in robotics – machine vision – ranging – laser – acoustic – magnetic, fiber optic and tactile sensors.
Introduction to robotics, Laws,Classification,Types, Drives,Geometry Mohammad Ehtasham
Introduction to robotics , Basic overview ,Classification of robotics,laws of robotics,Types of robot, Robot Geometry, Robot drives, Some of the key benefits of robots in industry and society
The Presentation is on Welding Robots What is a Welding Robot
How it is Helpful for the upgrading Technology and industrial Applications.. What is their work Envelope and What are the sensors used advantages and disadvantages.
Material handling (MH) makes use of the robot's simple capability to transport objects. By fitting the robot with an appropriate end of arm tool (e.g. gripper), the robot can efficiently and accurately move product from one location to another.
Robot is a Machine designed to execute one or more tasks automatically by means of variable programmed motions with high speed and precision.
The end effector presentation focuses on the essential components used in robotics and automation. It explains what end effectors are, their types (e.g., grippers, suction cups, welding tools), and their role in manipulating objects or performing specific tasks in different industries. The presentation also highlights design considerations and selection criteria for end effectors.
Robotics and automation _ power sources and sensorsJAIGANESH SEKAR
Hydraulic, pneumatic and electric drives – determination of HP of motor and gearing ratio – variable speed arrangements – path determination – micro machines in robotics – machine vision – ranging – laser – acoustic – magnetic, fiber optic and tactile sensors.
Introduction to robotics, Laws,Classification,Types, Drives,Geometry Mohammad Ehtasham
Introduction to robotics , Basic overview ,Classification of robotics,laws of robotics,Types of robot, Robot Geometry, Robot drives, Some of the key benefits of robots in industry and society
The Presentation is on Welding Robots What is a Welding Robot
How it is Helpful for the upgrading Technology and industrial Applications.. What is their work Envelope and What are the sensors used advantages and disadvantages.
Material handling (MH) makes use of the robot's simple capability to transport objects. By fitting the robot with an appropriate end of arm tool (e.g. gripper), the robot can efficiently and accurately move product from one location to another.
Robot is a Machine designed to execute one or more tasks automatically by means of variable programmed motions with high speed and precision.
The end effector presentation focuses on the essential components used in robotics and automation. It explains what end effectors are, their types (e.g., grippers, suction cups, welding tools), and their role in manipulating objects or performing specific tasks in different industries. The presentation also highlights design considerations and selection criteria for end effectors.
International Journal of Computational Engineering Research(IJCER) is an intentional online Journal in English monthly publishing journal. This Journal publish original research work that contributes significantly to further the scientific knowledge in engineering and Technology.
Components of industrial robotics types of arms and end effectorsJayanth Krishna
Components of industrial robotics and function line diagram representation of robot arms and common types of arms, components, architecture, Number of degrees of freedom, Requirements and challenges of end effectors and determination of end effectors and Comparison of electric, hydraulic and pneumatic types of locomotion devices.
Hybrid fuzzy-sliding grasp control for underactuated robotic handTELKOMNIKA JOURNAL
A major part of the success of human-robots integration requires the development of robotic
platforms capable of interacting in human environments. Human beings have an environment designed for
their physical and morphological capacity, robots must adapt to these conditions. This paper presents a
fuzzy-sliding hybrid grasp control for a five-finger robotic hand. As a design principle, the scheme takes
into account the minimum force required on the object to prevent the object from slipping. The robotic hand
uses force sensors on each finger to determine the grasp state. The control is designed with two control
surfaces, one when there is slippage, the other when there is no slippage. For each surface, control rules
are defined and unified by means of a fuzzy inference block. The proposed scheme is evaluated in
the laboratory for different objects, which include spherical and cylindrical elements. In all cases, an
excellent grasp was observed without producing deformations in the fragile objects.
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About
Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
• Remote control: Parallel or serial interface.
• Compatible with MAFI CCR system.
• Compatible with IDM8000 CCR.
• Compatible with Backplane mount serial communication.
• Compatible with commercial and Defence aviation CCR system.
• Remote control system for accessing CCR and allied system over serial or TCP.
• Indigenized local Support/presence in India.
• Easy in configuration using DIP switches.
Technical Specifications
Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
Key Features
Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
• Remote control: Parallel or serial interface
• Compatible with MAFI CCR system
• Copatiable with IDM8000 CCR
• Compatible with Backplane mount serial communication.
• Compatible with commercial and Defence aviation CCR system.
• Remote control system for accessing CCR and allied system over serial or TCP.
• Indigenized local Support/presence in India.
Application
• Remote control: Parallel or serial interface.
• Compatible with MAFI CCR system.
• Compatible with IDM8000 CCR.
• Compatible with Backplane mount serial communication.
• Compatible with commercial and Defence aviation CCR system.
• Remote control system for accessing CCR and allied system over serial or TCP.
• Indigenized local Support/presence in India.
• Easy in configuration using DIP switches.
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3. What is an end effector?
An end effector is the device that is at the end of a robotic arm.
There are two main types of end effectors: Grippers and tools.
We can think of an end effector like a human hand. Even though a
human hand is very versatile, an end effector has one great
advantage that humans do not have and that is the interchangeability
of end effectors. If the end effector is not suitable than it can be
changed unlike the human hand.
4. Grippers
Grippers are the end effectors used for holding the parts or objects
Grippers are devices which can be used for holding or gripping an object.
They include what you might call mechanical hands and also anything like hooks,
magnets and suction devices which can be used for holding or gripping.
Grippers take advantage of point-to-point control (exact path that the robot takes
between what it is picking up and where it is placing it.
Grippers should be designed so that it requires the minimum amount of
manoeuvring in order to grip the work piece
Applications of grippers :- Machine Loading and unloading, picking and placing
of parts on conveyor, material handling, bottle handling, arranging parts onto
pallets, etc
5. Types of Grippers
1. Mechanical Grippers
2. Hooks and Scoops
3. Magnetics Grippers
4. Vacuum Grippers
5. Expandable Bladder Type Grippers
6. Adhesive Grippers
6. 1) Mechanical Grippers
We can think of a mechanical gripper as a robot hand. A basic robot hand will have only two or three
fingers
A mechanical hand that wraps around an object will rely on friction in order to secure the object it is
holding.
Friction between the gripper and the object will depend on two things, First is the type of surface
whether it be metal on metal, rubber on metal, smooth surfaces or rough surfaces and the second is the
force which is pressing the surfaces together.
Mechanical grippers are often fitted with some type of pad usually made from polyurethane as this
provides greater friction. Pads are less likely to damage the work piece. Pads are also used so to have a
better grip as the polyurethane will make contact with all parts of the surface when the gripper is closed
Mechanical grippers can be designed and made for specific purposes and adjusted according to the size
of the object. They can also have dual grippers. We are all familiar with the saying ‘two hands are better
than one” and robots benefit from having dual grippers as they can increase productivity, be used with
machines that have two work stations where one robot can load two parts in a single operation,
operations in which the size of objects or part change due to the machining processes and where the
cycle time of the robot is too slow to keep up with the production of other machines.
8. In a mechanical gripper, the holding of an object can be done by two different methods such as:
1) Using the finger pads as like the shape of the work part.
2) Using soft material finger pads.
In the first method, the contact surfaces of the fingers are designed according to the work part for achieving the estimated shape. It will
help the fingers to hold the work part for some extent.
In the second method, the fingers must be capable of supplying sufficient force to hold the work part. To avoid scratches on the work
part, soft type pads are fabricated on the fingers. As a result, the contact surface of the finger and co – efficient of friction are improved. This
method is very simple and as well as less expensive. It may cause slippage if the force applied against the work part is in the parallel direction.
The slippage can be avoided by designing the gripper based on the force exerted.
µ nf Fg = w ………………… 1
µ => co – efficient of friction between the work part and fingers
nf => no. of fingers contacting
Fg => Force of the gripper
w => weight of the grasped object
The equation 1 must be changed if the weight of a work part is more than the force applied to cause the slippage.
µ nf Fg = w g …..……………. 2
g => g factor
During rapid grasping operation, the work part will get twice the weight. To get rid out of it, the modified equation 1 is put forward by Engel
Berger. The g factor in the equation 2 is used to calculate the acceleration and gravity.
The values of g factor for several operations are given below:
g = 1 – acceleration supplied in the opposite direction.
g = 2 – acceleration supplied in the horizontal direction.
g = 3 – acceleration and gravity supplied in the same direction.
9. 2) Hooks and Scoops
Hooks and scoops are the simplest type of end effectors that can be classes as grippers.
A scoop or ladle is commonly used to scoop up molten metal and transfer it to the mould
A hook may be all that is needed to lift a part especially if precise positioning in not
required and if it is only to be dipped into a liquid.
Hook are used to load and unload parts hanging from the overhead conveyors. The parts to
be handled by a hook must have some sort of handle, eyebolt or ring to enable the hook to
hold it.
Scoops are used for handling the materials in liquid or power from, the limitation of scoop
is, it is difficult to control the amount of martial being handled by the scoop. In addition,
spilling of the material during handling is another problem.
11. 3) Magnetic Grippers
Magnetic grippers obviously only work on magnetic objects and therefore are limited in working with
certain metals.
For maximum effect the magnet needs to have complete contact with the surface of the metal to be
gripped. Any air gaps will reduce the strength of the magnetic force, therefore flat sheets of metal are
best suited to magnetic grippers.
If the magnet is strong enough, a magnetic gripper can pick up an irregular shaped object. In some
cases the shape of the magnet matches the shape of the object
A disadvantage of using magnetic grippers is the temperature. Permanent magnets tend to become
demagnetized when heated and so there is the danger that prolonged contact with a hot work piece will
weaken them to the point where they can no longer be used. The effect of heat will depend on the time
the magnet spends in contact with the hot part. Most magnetic materials are relatively unaffected by
temperatures up to around 100 degrees.
Electromagnets can be used instead and are operated by a DC electric current and lose nearly all of
their magnetism when the power is turned off.
Permanent magnets are also used in situations where there is an explosive atmosphere and sparks from
electrical equipment would cause a hazard
13. 4) Suction Grippers
There are two types of suction grippers:
1. Devices operated by a vacuum – the vacuum may be provided by a vacuum pump or
by compressed air
2. Devices with a flexible suction cup – this cup presses on the work piece. Compressed
air is blown into the suction cup to release the work piece. The advantage of the
suction cup is that if there is a power failure it will still work as the work piece will not
fall down. The disadvantage of the suction cup is that they only work on clean, smooth
surfaces.
There are many more advantages for using a suction cup rather than a mechanical grip
including: there is no danger of crushing fragile objects, the exact shape and size does
not matter and the suction cup does not have to be precisely positioned on the object
The downfalls of suction cups as an end effector include: the robot system must
include a form of pump for air and the level of noise can cause annoyance in some
circumstances
15. 5) Expandable Bladder Type Grippers
A bladder gripper or bladder hand is a specialized robotic end effector that can be
used to grasp, pick up, and move rod-shaped or cylindrical objects.
The main element of the gripper is an inflatable, donut-shaped or cylindrical sleeve
that resembles the cuff commonly used in blood pressure measuring apparatus.
The sleeve is positioned so it surrounds the object to be gripped, and then the sleeve
is inflated until it is tight enough to accomplish the desired task.
The pressure exerted by the sleeve can be measured and regulated using force
sensors.
Bladder grippers are useful in handling fragile objects. However, they do not operate
fast, and they can function only with objects within a rather narrow range of physical
sizes.
17. 6) Adhesive Grippers
Adhesive Substance can be used for grasping action in adhesive grippers.
In adhesive grippers, the adhesive substance losses its tackiness due to repeated
usage. This reduces the reliability of the gripper. In order to overcome this
difficulty, the adhesive material is continuously fed to the gripper in the form of
ribbon by feeding mechanism.
A major asset of the adhesive gripper is the fact that it is simple. As long as the
adhesive keep its stickiness it will continue to function without maintenance,
however, there are certain limitations, the most significant is the fact that the
adhesive cannot readily be disabled in order to release the grasp on an object.
Some other means, such as devices that lock the gripped object into place,
must be used.
The adhesive grippers are used for handling fabrics and other lightweight
materials.