Robot End Effector

ROBOT END
EFFECTORS
BY
R. C. SAINI
www.rcsaini.blogspot.com
TYPES OF END EFFECTORS

1. Grippers
Used to grasp and hold objects.
e.g. loading and unloading, etc
2. Tools
End effectors designed to perform work
on the part rather that to merely grasp
it.
e.g. spot welding, spray painting, etc.
MECHANICA GRIPPERS
A mechanical gripper is
an end effector that
uses mechanical fingers
actuate by a mechanism
to grasp an object.
The function of the
gripper mechanism is to
translate some form of
power input into the
grasping action of the
finger against the part.
MECHANICA GRIPPERS
Two
ways
of
constraining
the
part in the gripper
Physical
Constriction of
part
within
fingers.
Friction b/w
fingers and
work-part.
the
the
the
the
TYPES OF GRIPPER
MECHANISM
As per actuating mechanisms :1. Pivoting Movement.
2. Linear or Translational Movement.
As per types of kinematic device:1.

2.
3.
4.
5.
6.
Linkage actuation
Gear and rack actuation
Cam actuation
Screw actuation
Rope and pulley actuation
Miscellaneous
Some Linkages for Robot Grippers
Gear & Rack Method of Actuating the

Gripper.
Cam-Actuated Gripper
Screw-Type Gripper Actuation
GRIPPER FORCE ANALYSIS

E.g.1) Suppose the gripper is a simple pivot-type device
used for holding the cardboard carton, as fig. The gripper
force Fg= 60lb. The gripper is to be actuated by a piston
device to apply an actuating force Fa. The corresponding
lever arms for the two forces are shown in fig.
Ans) Moments about
the pivot arms be
summed and made
equal to zero.
FgLg - FaLa = 0
(60lb)(12in) (Fa)
(3in) = 0
10

E.g.2) The fig. shows the linkage mechanism and
dimensions of a gripper used to handle a
workpart for a machining operation. Suppose it
has been determine that the gripper force is to
be 25 lb. What is required is to compute the
actuating force to deliver this force of 25 lb.
11

Ans2)
Due to symmetry of the
gripper consider only one half of
the mechanism.
Moments :25(4cos 15) = F sin 45(1.5cos15)
+ Fcos45(1.5sin15)
96.6 = F(1.0246+0.2745) =1.2991F
F = 74.4 lb
The actuation force applied to the
plunger to deliver this force of
74.4 lb to each finger.
So,
Fa = 2 X 74.4 X cos45
Fa = 105.2 lb
12
OTHER TYPES OF GRIPPERS

1.
2.
3.
4.
Vacuum Cups
Magnetic Grippers
Adhesive Grippers
Hooks, Scoops and other
miscellaneous devices
13

Vacuum cups, also called suction cups
Requirements on the objects to be handled are that they
be flat, smooth and clean, to form satisfactory vacuum.
Gripper made of some elastic material i.e. rubber,
plastic , etc.
Venturi Device used to Operate a Suction Cup

14

MAGNETIC GRIPPERS
Stripper Device operated by sir cylinder used with a permanent

Magnet Gripper
15
Adhesive Grippers
Adhesive substance performs the grasping action

e.g. Handle fabric and other lightweight materials.
Hooks, Scoops and other miscellaneous devices
Expansion Bladder used to grasp inside of a Cup-Shaped

Container
16
TOOLS AS END EFFECTORS

In most of the robot application in which a tool is
manipulated, the tool is attached directly to the robot
wrist. In these cases the tool is the end effector.
E.g. :
Spot-welding tools
Arc-welding tools
Spray painting tools
Rotating spindles for operation such as:
Drilling
Routing
Wire brushing
Grinding
Liquid cement application for assembly

Heating torches
Water jet cutting tool
17
ROBOT/END EFFECTOR
INTERFACE
Important aspect
Physical support during the work cycle
Power to actuate must be supplied through
the interface
Control signal to actuate
Feedback signal
High reliability of the interface
Protection against the environment
Overload protection in case of disturbance
during the work cycle
18
ROBOT/END EFFECTOR
INTERFACE
Achieved by the mechanical connection
between the end effector and robot wrist.
Ideally, three characteristics :1. Strength
2. Compliance
3. Overload Protection
19
ROBOT/END EFFECTOR
INTERFACE
1. Strength
Its ability to withstand the forces associated with the

operation of the end effector.
2. Compliance
Its refers to the wrist sockets ability to yield elastically

when subjected to a force.
In effect, it is opposite of rigidity.
Remote Center Compliance (RCC) devices have been
designed to provide high lateral compliance for
centering the object relative to the hole.
20
ROBOT/END EFFECTOR
INTERFACE
3.Overload Protection
When some unexpected event happens to the end

effector such as a part becoming stuck in a die or a tool
caught in a moving conveyor. Whatever the cause, the
consequences involve possible damage to the end
effector or maybe even the robot itself.
To eliminate this potential damage

Use Breakaway Feature in the wrist socket.
Sensor to indicate, so somehow take
preventive action to reduce further
overloading.
21
ROBOT/END EFFECTOR
INTERFACE
Power and Signal Transmission
Pneumatic
Electric
Hydraulic
Mechanical
Pneumatic Power Using Shop Air Pressure
22
GRIPPER SELECTION AND

DESIGN
Factor that should be consider in assessing
gripping requirements :1. The part surface to be grasped must be reachable.
2. The size variation of the part must be accounted.
3. The gripper design must accommodate the change in
size the occurs between part loading and unloading.
4. Consideration must be given to the potential problem
of scratching and distorting the part during gripping,
if the part is fragile or delicate surface.
5. If there is a choice b/w two different dimensions on a
part, the larger dimension should be selected for
gripping.
6. Gripper fingers can be deigned to conform to the part
shape by using resilient pads or self-aligning fingers.
23
24
THANK YOU
25

Robot End Effector

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Robot End Effector

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ROBOT END

TYPES OF END EFFECTORS

As per types of kinematic device:1.

Some Linkages for Robot Grippers

Gear & Rack Method of Actuating the

Screw-Type Gripper Actuation

GRIPPER FORCE ANALYSIS

GRIPPER FORCE ANALYSIS

GRIPPER FORCE ANALYSIS

OTHER TYPES OF GRIPPERS

OTHER TYPES OF GRIPPERS

Venturi Device used to Operate a Suction Cup

OTHER TYPES OF GRIPPERS

Stripper Device operated by sir cylinder used with a permanent

OTHER TYPES OF GRIPPERS

Adhesive substance performs the grasping action

Hooks, Scoops and other miscellaneous devices

Expansion Bladder used to grasp inside of a Cup-Shaped

TOOLS AS END EFFECTORS

Liquid cement application for assembly

Its ability to withstand the forces associated with the

Its refers to the wrist sockets ability to yield elastically

When some unexpected event happens to the end

To eliminate this potential damage

GRIPPER SELECTION AND

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