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Robotics End Effector

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Robotics End Effector

  1. 1. ME3403-ROBOTICS AND MACHINE VISION SYSTEM 1
  2. 2. ROBOT END EFFECTORS 2
  3. 3. Unit-2 Syllabus 3 Robot End effectors: Introduction- types of End effectors- Mechanical gripper- types of gripper mechanism- gripper force analysis- other types of gripper- special purpose grippers.
  4. 4. Consider typical robots 4 What could a robot do without “end effectors”?
  5. 5. End effector 5  Device that attaches to the wrist of the robot arm and enables the general-purpose robot 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
  6. 6. Unilateral vs Multilateral Gripper 6 Unilateral– only one point or surface is touching the object to be handled. (fig 1) Example : vacuum pad gripper & Electro magnetic gripper Multilateral – more than two points or surfaces touching the components to be handled (fig.a)
  7. 7. Gripper 7 End-effector that holds or grasp an object (in assembly, pick and place operation and material handling) to perform some task. Four Major Types of gripper 1.Mechanical 2.Suction or vaccum cups 3.Magnetised gripper 4.Adhesives
  8. 8. Mechanical Gripper 8  It is an end effector that uses mechanical fingers actuated by a mechanism to grasp an object. Two ways of constraining part in gripper 1. Physical construction of parts within finger. Finger encloses the part to some extent and thereby designing the contact surface of finger to be in approximate shape of part geometry. 2. Holding the part is by friction between fingers and workpart. Finger must apply force that is sufficient for friction to retain the part against gravity.
  9. 9. Mechanical Gripper 9  To resist the slippage, the gripper must be designed to exert a force that depends on the weight of the part, coeff of friction and acceleration of part.
  10. 10. Mechanical Gripper 10
  11. 11. Mechanical Gripper Mechanism 11 Two ways of gripper mechanism based on finger movement 1.Pivoting movement – Eg. Link actuation 2.Linear or translational movement – Eg. Screw and cylinder Four ways of gripper mechanism based on kinematic devices 1.Linkage actuation 2.Gear and rack actuation 3.Cam actuation 4.Screw actuation
  12. 12. Mechanical Gripper Mechanism 12 1. Linkage actuation
  13. 13. Mechanical Gripper Mechanism 13 2. Gear and rack actuation
  14. 14. Mechanical Gripper Mechanism 14 3. Cam actuation
  15. 15. Mechanical Gripper Mechanism 15 4. Screw actuation
  16. 16. Pneumatic or air operated Gripper 16  Equipped with roller membrane cylinder with a rolling motion replacing conventional piston cylinder.  This motion is transmitted to fingers by means of lever mechanism.  The grippers are actuated by switching valves in the circuit.  The finger stroke is limited by end stops or workpiece to be gripped.
  17. 17. Gripper force analysis 17
  18. 18. Adhesive Gripper 18  Used to handle fabrics and light weight materials  Adhesive substance can be used for grasping action.  One contact surface is needed.  The reliability is diminished with successive operation.  It is used to lift light weight object.
  19. 19. Textbooks 1.M. P. Groover, Industrial Robotics - Technology, programming and Applications, Tata McGraw-Hill 2.Publishing Company. Ltd., New Delhi, 2011. 3.K. S. Fu, R. C. Gonzalez and C. S. G. Lee, Robotics Control, Sensing, Vision and Intelligence, Tata McGraw-Hill Publishing Company Pvt. Ltd., New Delhi, 2003.   References 1.D. Richard, Klafter A. Thomas, Chmielewski and Michael Negin, Robotics Engineering – An Integrated Approach, Prentice Hall of India, New Delhi, 2009.   19 References:(Books/Periodicals/Journals)

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