UNIT cOMPONENTS OF THE

INDUSTRIAL ROBOTICS
SIA GROUP

PART-A
SHORTQUESTIONS WTHSOLUTioNS
Q1. What are the design considerations of airobot?
Answer
Desiga Considerations ofa Robot
A robot can be designed by considering the factors such as, system stifness, naturaB frequency, system compatibility ce
along with the assumption of static and rigid body. Thefollowing are different design considerations ofa robot

System speciication Range, work envelopg, load capacityandreach.

System configuration Number ofdegreesoffreedom,jointconfguration.,jointtravelrangeand driveconiguraion
System performance Velocity and acceleration,repestability,resolution,accuracy,andservice life.
Design of major components Robotstructure, joint_, acnuators,transnuission,wiringand routing of cabies.
02. What is the work envëlope of a robot?.
Model Paper-wg
Answer
Work eavelope of a robot is a temm that represenis the space, in which the robot manipulator can position itself. It issals
called aswork space or wotk volume. It determines the space that canbe swept by themanipulator: Robotmanipulator
performing any task bas to reach to a number of work piees, fixtures, etc., without making any collision with them. Work eavelop
is detemined by physical cbaracteristics of the robot sufh as, is physical confguration, sizes of its components andlimitations
on its joint movements. Therefore, work envelöpe can lje represented in terms of radial an extension, vërtical motión, degre
of rotation etc., and should becompatible with differen paths and positionsrequiredin the application.
Q3. Define the tem end effector.

Answer
An end ef+ector is an object faatened to the wrisgor robot flange, in order to bompleté the regquired work.I s also a
as Gripper or end-of-arm tooling. Examples: Grippers, Sensors, Tools, etc.

In some cases, it also acts as a tool holder and tfhe robot should hav the ability [Link] the tool to place it as per the
position of wodspiece or job. Some of the applications fend efisetors are arc welding torch, spray painting gun, ete. Theg
also known as multi purpose devices and their design ispased on shape or size ofthe part to be gripped, self weight and mome
of inertia.
04. Write about the characteristics öfend effectors.
Answer: Model Paper-
Characteristics of End Efectors
1 End efectors should have the ability to hold or iplease the components required, during the operation.
2. They should sense the existéace ofcomponent i the gripper, with the aid of sensors.
3. They must be light in weight.
[Link], should verify the presence of component h the holder duriog maximum acceleration, during the presehgeoffo
plate and whn the gripper, or bolder power is lojt
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 Robotics
the Industrial
UNIT-2 Components of
2.2 ROBOTICS UNTU-KAKINADA System
5. What function does end-of-arm tooling serve? Advantages of Multi-gripper
Minimum operation time.
ADSWer :

of robot amms and controls

Ex-ofam tooiing ofa robot is also kxownas end eftor or gnipper. Varnety ofend effectors depending on theapplicefion Elhcicnt usage

are atiched to the wrist of the manipuiator. These range frompneumatic gripgersto special tóols for arc welding: spray painting. Improvedorkcellcapaity. disadvantages of vacuum cups.
handliag of silicon wafers in harmful environment. Some apptications make use ofcustomized end-cffectors including additional What are the advantagés and
Q9.
comporents like force measuring devices. mechanica! linkages, eic The choice of chd-of-am tooling deperids on the type of
application: Following are the ypes of end-ofam tooling ad their intended purposes in the industry Answerr

Vacuum Cups
End-of-arm Tooling APplications
Advantages the surface of the part.
Grippers Material handling. gripper, pressure is
distributed uniformly on

machinc loading and In vacuun cup

surfacc of the object
for grasping.
unlgading. palletizing, etc.
It requires only one
Cutting tool Machining It is relativcly light in weight.
Welding torch Welding It is applicabie to a wide range of materials.
Spray gun Paigting Disadvantages
SCTew driver Assembly asks 1. it takes more time to CTEate
vacuum in the cup.

Q6. Classity different types of grippers.

2 It is not applicable for curved surfacc cormponents.
Model Paper-,Q1) oñ size of suction cups.
Answer: The maximum force to be applied depënds
Diferent types of grippers are given below component may notbe accurate.
.
Thc positioning of workpiece or drive systems.
Mechanical type grippers, Q10. Differentiate between pneumatic and hydraulic
Nov-11. Se3. 02:, Mze ?rpei
(a) Fat type
Answer:
6) V-blockiype drive systems are as follows,
The differences between pncunmatic and hydraulic
(c)Circularart type. Paeumatic DriveSystem
Hydraulie Drive System
2 Non-mechanical type gnppers. repeatabiiy
and of hyraui.: dne
The accuracy and repeatability of pncumatic drive iThe 2ccuracy
a)Vacuum cup type gppers systcm are moderatc.
system are relatively less
6) Magnetic grippers 2. This drive system requires more ioc: spae
2. This drive system requircs less iloor space.
(). Adhesive grppers 3. Tl is ideally suited for both roiation
It is idealiy suited for transletio
*id} Expandablebladdertype gTPpers. and linear motions.
or rolational motiors.

Q7. State the important factors that have

to be cönsidered in determining the required grasping force. 4. It is usually camployed in iergerrobos
I is gencrally employed in smalles robots,
Answer: limted to "pick-and-placc" operations.
Factors to be considered in detemining the requiredigrasping force are,
development of moments.
Weight of the object to be grasped and ability withstand
to
.
2. Speed and acccleration of the robol arm.
3. Relation between the direction of movèment and thegripper posilion.
to hold the object.
4: *Use of friction or any type of physical construction iéquired

[Link] of friction éxisting berween the objectarfd the gripper.

state the advantages of multi-gripper system.
Q8: List the basic types of end-of-arm toòling ard

Answer
Basic Types of End-of-arm Tooling

. Attachment devices.

2. Supporting and holdingdevices

5. Pneumatic pick-up devices.

. Magnetic pick-up devices.

S. Mechanical graspingdevices. SIA-GROLR

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 ROBOTICS IJNTU-KAKINADAI UNIT-2 Components of the Industrial Robotics 2.5
2.4
Non-tactile Sensors
PART-B These are also called contactiess sensors, whiçh are used to obtain signals, by means of remole controller, within limied
ESSAY QUESTIONS WITH SOLUTIONS distances from the object.
. Examples: Electro-optical sensors, proximityjsensors, ange sensors, etc.

[Link],LINE DIAGRAM REPRESENTATION OF ROBOT ARMS,cOMMON TYPES OF 3. Controller

FREEDOM
ARMS, COMPONENTs, ARCHITECTURE NUMBER OF DEGREES OF t is a device, which controls the manipulato system. The signals obtained frorm sensors are fed to controller, waich
decodes these signals and direct the actuator to perform the task accordingly. Control systemcompriseso
011. With the help of line diagram, show the basic components of a robot connected to a system.
Answer :
May/June-14, Set-2. 02(D)| Model Paper-l, O6(al (a) Memory storage
The basi componeots of a rubot
coanected to a system are, (b) Computational unit
. Manipulator (c)Hardware, that receives signals from seisors and feed them to actuator.
Sensor devices
(d) User interface, which enables an operator to control the operation of robot
3Conroller PowerConversion Unit
4 Powe conversion un:t. It is an assembly of components, which is used to convert the digital signal to machin level program, by which actuators
Maripulator can beoperated.
Q12. Define robot anatomy. Explain common types of robot arms.
Sensor device
Jont odelPapatl e
Answer:
Robot Anatomy
Robot anatomy deals with the study of physiçal construction of a robor's structural parts such as body, arm and wist.
at the end of am. Seies of joints are used to
Link The body linked with arm assembly is connected to the base and wrist is provided
berween diferent components of body, arm and [Link], assembly of
have rotating slding motioi)
relative motton (either or
body, arm and wrist may be refered as manipulator.

End effector. Types of Arms

Cartesian Robot
robot is cuboidal. It bas
Cartesian robot has simplest confguration wih prismatic joints. The work envelope of Cartesian
aa shown below.
large work volume, but low density. It consists of three linear axes,

77
Joint sensor data
Coatroller

Power to achuators
JOms
77 figure Cartesian Robot
Powet conversioo Cylindrical Robot
The work envelope of a cyindri-
un
Cylindrical robot makes use of two perpepdicilar prismatic joints and one revolute joint.
cal robot approximates to a cylinder. It consiss of two linear and one rotary axes.
. Manipulator
manly consists ofmajor liaks, minor links and end effector. The manipulator arm has the major and minor links, of .

wbrcb tree end is provided with an end elcctor. This am is positioned on the fixed base or movable basc. The major links are
Telened
or robot
as robot body and they help the end effector to move at required location. While, the minor links are referred as wris
ilangc, which enables location of manipulator énd points.
Sensor Devices
hey are used 1o govem further actions of both manipulator am and end effector, by providing a feedback signal. They
are classifñed as,
(a) Tactile Sensors .

hese are also called contact sensors, which are held in physical contact with the body
detenine the reqaired
to receive signals; in order to
parameters.
Examples: Force seasors,
torque sensors, position sensorS, ee ure LYndricalkpbot
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 2.6 ROBOTICS IJNTU-KAKINADA) [Link]
of the Industrial
Robotics
Planar Joint
3. Polar Robot
. Revolute Joint (Rotational Motion) . It consists of three degrees oi recdom
Polar robot consists ofà rotating base and a constitute purely rotational
motion as sho
telescopig link which can be, raised or lowered about a horizontal revolute Revolute joints ound inngure
i.C.. onc rotary and nvo sliding motions
iions
joint. it has a work envciope of a partial spherical shell. It consists of one linear and two rotary axes. are most commonly
along the joint axis. These joinis is one and there is no.
industrial robots. The degree offreedom
translation motion.

Figure: Planar Joint

5. Cylindrical Joint

4. Anthropomorphic Robot
Figure:Polar Robot It consists of two degrees of freedom. as shoua n t
one rotary and one sliding motion.
Figure: Revolute Joint figure i.e.,
Anthropormorphic robot is also knowD as articulated robot, jointed-arm robot or revolute robot. It functions similar to the
human arm. t consists of two
straight links, Similar tdi human foream and upper arm. These two links are mounted on Examples
a rotary table and possess a work envelope of sphetical shape. It is the most eficient Elbow joint, waist joint.
type of arm, since all the joints are
revoBute joints i.e:, it consists of three revolute joints cannot rotate completely
rotary axes However, most constrained.
i.e., a full 360°, as they are mecbanically
.
Screw Joint (Linear and Rotational Motion)
Serew joints are a combination of two types of joints
and linear motion
i.e., they constitile a simultaneous rotation
used in tools for
along a joint axis. Thesc joints are more often
a robot cnd effector, rather than a joint of
motion for a robot.

This joint follows the thread of a screw; to move aiong

axis.

Figure: Cylindrical Join

Hgure: Joited-arm Robot 7. Twisting Joint
Q13.
What
joint.
are the different types of joints used in
robots? Give the degrees of freedom associated with each It consists of single degrec of freedom, as shewn inta
figure.
Answer Nov-10, Set-1, 02/6) | Mode! Paper:V, 03tb]
The different types of joints used in robots are,
1. Prismatic joint (linear motion) Input link
2. Revolute joint (rotational motion
Screw joint (linear and rotational motion) Figure: Twisting Joint
Q14. Explain resolution, payload, repeatability and
4Spherical joint Figure: Screw Joint accuracy of a manipulator.
5. Planar joint
4. Spherical Joint Answer :
6. Cylindrical joint oi dy1amie
is a measure
7. Twisting joint. Sphericaljoints are most utilizedjoints and they possess Tecsion of Ovement
[Link] the robot which is concermed wid ine
Prismatie Joint (Linear Motion) a revolving movement about a point, as showm in below. responise sSpeed and stability of the robot. Therefore, precision
of movement of a robot is a îinction of featues like spera
Prismatice joints are also called sliders, coristinuting puYely linéar notionalong the joint axis. The joint sides in ether
directións along a singular axis. This type of motion is common in hydraulic or pneumatic cylinders. Since, there is no rotation. resolution, accuraey and repeatability.
he degree of freedom is one (i.e., transiation). Spatial Resolution
t is the Sma!lest increment in the movemeni o rc

joints. The work volume of the robot is often dvded uto

these increments. Spatial resolution is dependertt on uo e i c

i.e., control resolution of the robot's position contoi syste
and nechanical inaccuracies of the robot Controt res

Sider (contrained to slide.

28
determined by the position control system and its ie
measurement sýstem, while mechanical inaccuracies in 0
alongthe axis of bar) . . and links of the robot are caused by elastic deflectio o
SEnlcrural members, leakage of hydranlic tduds. gear backis
FigureRrismaic Joint .Figurè: Spherical Joint. etc.
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2.8 UNIT-2 Components of the Industrial Robotics
ROBOTICs (JNTU-KAKINADAJN UN
Accuracy Q17. Givelinediagram ofaCartesiantobotindicating iv) [Link]
Te ability of a robot to
various joints and. their relative motions
position its wnst end at a
required point within its work volume refers to the
Determine the total degrees of fredom t the (vYaw motion
accuracy robot. Show its work volume.
t h e robet. Accuracy can also be defined in (vi) Pitch motion.
terms of
resout:on because, the ability to reach a desired spatial
point depends Now.-10, Set-3 02()
on the control increments ot the
joints movement. Factors Such
Answer Vertical Motioa
2s work volume, mechanical errors and Cartesian Robot
the load to be carried
by the robo: eitects the The arm ofthe robot can be raised [Link]
accuracy of manipulator.
by eithertumingaround the horizontal axis or by sliding
vertically
Repeatability along the vertical axis.
The ability of a robot to
position its wrist end at the
same po:nt in a space continuously refers to the (i) Radial Motion
oa tobot. It ditkers from repeatability
accuracy, as it is the ability 1o reurm
The radial motion of the robot is provided at th
to a
programmed point. When desired robot does not retum to Figure: Cylindrical Robot am

he seme pount on
subsequent repetitions, a cluster of points elbow, i.e., stretching out and pulling back actions3ti.
on both sides of the
specifñed point is formed, giving rise to Asshowa in the figure, cylindrical up of
robotsare made
TWO prismatic joints and a revolute joint, which enables, three
referred as elbow extension.
repeat2b?lity errors.
Payload
degrees of ffeedom i.e., wo linear motions and one rotational i) Rotational Motion
motion. The work volume of a cylindrical robot is a cylinder,
The rotational motion is obtained at the am, by
The weight that a robot can
carTy, while remaining within as shown by dotted lines. The following are the three relative rotating
its other specifications is known as
payload. Payload of a robot is motions of the joints,
-- it in cither clockwise or counter clockwise
is also called as arm sweep.
direction
different from the weight robot
of the and fs usually very smal,
compared to the robot's weight. Maximum weight carried by 1 Radial in or out translation (R) of the horizontal
the robot is usually speciñed at low or
normai
speeds. Higher artm. iv) Rolling Motion
payioad capacity ot a robot can be obtained by. compensat1ng The rolling of the arm imparts this moion. It is also
the other 2 Angular motion (8) about the vertical axis: Figure: Cartesian Robot
speciñcations such as. maximum speed, accuracy known as wrist swivel.
and acceleration. Payloads for very Upward or downward motion of the carriage ina
large robots ranges about 5. As shown in the figure, cartesian robots are
made p
Severalhundred kilograms. the z-direction. ofthrec prismatic joints and hence, gives only linear mtions Yaw Motion
Q15. Define "degrees of along the three prinipal axes (X, Y, 2). Therefore, it hasjthree!
freedom". Give tine diagram Q16. Give line diagram
of a cyiindrical robot indicating the relative
of a polar
coordinate robot The movement of arm in left or right direction prov+d
and show the associated degrees of freedom. degrees of freedom (r, y, 3) in translation oaly.
the yaw motion: It is also called as wrist yaw.
motions of its joints. Determine its total degrees and work volume.
The volume of spac swept by the robot is knoýn as
of freedom.
Answer :
Nov-10, Set4, 021a) | Model Pager:, Q7p)) work volume and it is a cuboid for cartesian robot, as shown(vi) Pitch Motion
Answer INo 10, Set-2, 02(b)} Hcdeil Paper-il, 02a) by dotted lines. The movement of wrist in upward and downwar
Degrees of Frecdom directions provides the pitch motion. It is also calleda
he commonBy used configurations for Cartesian obots
Degrees of freedom are the number of independent are, wrist bendL
mobons that body can undergo in three dimensional space. A
a a

igid body tree to move in space has six degrees offreedom ie., . Gantry type robot All these motíons are utilized to perform the tasks
three translaúons and three revoutions. A manipulator with six typical PUMA robot is shown in figure below.
degrees of freedom is known as a spatial manipulator. Among
2 Robotwith slideway mounted am.
18. Describe a 6 degree of freedom robot ith a Waist rottion
these six degrees of freedom, three are utilized for positioning
u l d e rrotanon
the end-etfector and he remaining three for proper orientation neat sketch.
of end eftector.
However, there are many manipulators that do not have
Answer
6-Degree of Freedom Robot
full six degrecs of freedom. Since, not all the tasks require six Figure: Polar Coordinate Rabot
degrees of freedom, a large percentage of existing industrial Arobot with six degrees offreedom is used for. various
robots possess 5 DOF. Also, symmetrical parts reduce the
Asshown in
the figure,anpolar coordinaterobotis made up industrial purposes: It is based on a computer controlled
.

of
rotary or rcctangular base, elevatedpivot and a telescopic
required number of degrees of freedom of the manipulator. arm which moves in and out it
i.e., consists of two revolute manipulator, whichcpopsesofvariaisrigidlinks coninctees.
in series by either prismatic or revolute joints. PUM and.
Example joints and one prismatic joint. This robot has one linear and Wist
Cylindrical parts can be picked up and, placed, two angular motions. Hence, it is associated with the following Cincinnati milcron are the examples of [Link]. robot
independent of gripper orientation with respect to the cylinder three degrees of freedom, PUMA Robot with 6-D.O:F
axis. Spatial manipulatos baving more than 6 DOF with
surpBus Radial in or out translátion (R)
The six degrees of freedom or the motions ofaPJMA Flange
jomts are known as redundant manipulators. These extra degrees 2. Angular rotation (8) abour the vertical axis :**
robot are, roanion
of freedon enhance the robot's capability in reaching the sub- . Angular rotation (9) about he axis perpendicular to
spaces obstructed by objects around them. Depending on the vertical axis. () Vertical motion ' WTStrotation."
application, the types and arangement ofthe robot manipulator
varies considerabiy:
Tbe work volume of a polar coordinate robotis a sphere. . Radialmotion . Figure: PUMA Rabot with Six d0
encet is also known as spherical robot. ü) Rotational-motion
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 2.1
Robotics
2.10 of the
Industrial
sas SCen in aTd ftree
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ROBOTICS 1JNTU-KAKINADAI ; UNIT-2:Components
lozding and unloading.
scen
iirEIR2 T
betwcen
occuTing
in size of the object
Similarly, change
2:2 REQuIRËMENTS AND CHALLENGES O NDEFFECTORS berERMINATIONOF THE .
must be taken
into c o n s i d e r a t i o n .
object during 3riPping
may cause severe problens in k
END EFFECTORS, GoMPARISONOF ELECTRC YDRAUEIC AN PNEUMATiC TYPES OF Scratching, distorting
or causing any
damage to
the

LOGoMOTION DEVIGES delicate objects.

with te obice
contact

Q19. What is an end effector? Explain different iypes of grippers. fragile and
is achieved. if there is a larger surface be given preference
Better control and stability
in positioning an object pan. larger
dimension should

dimensions on a
Answer Nov-11, Sel3, 02(a) : 5.
choice among
difterént
grip. Als0, to comperisate e
there exists a 2
more
if enabic
as ihesc
End EsTector wherever possibie.
must be used.
Self-aligningfîngers
emdeffector is component, which is attached totherobot's wrist, oftasks like gripping, cuting fingers should be preteTed.
An .
to enable completion
a
pairting. ctc. t is aiso càlied as ripper or end-of-arm tooling Interchangeabiiity, replaccable mechanical
operation of
grippersS.

Explain the
basic definition and
Types of End-effcctors Q21.
End-efectors are categorized into thrce types, io gTrasp an object. Tiese mechania hiages
Auswer ihat consisis ot
mecharical
nngers uses sutasie m
i) Grippers Mechanical gripper is a type ofend-cfiector with ihe object
to be Jifted. I he gnpper
which makes contact de desSigned to accomTndate any n
( ) Tools are the extensions
of the gripper, unppers can
or jaws detachablc or integral fingers to serve the desirea purpose.
ii) Universal fingers.
along with two fingers are generally
sutñcientto hold [Link].
hydrauiic, mechzzia
Grippers fingers. However, the powver input
trom the robot i.t., pneumatic, clectricai,
by close fingers whenever required.
Gripper mechanism operated
is
Grippers are used to hold either work parts or tools. Tese are furtber classifed 2s,
to hold the part
and must open and
exert suficient force required
(a) Mechanical grippers t must be able to are physical constriction of the part
berween the snes
there are two gerneral ways. they
(b Suctions or vacuum cups To hold the part with fingers. ingerS, by desigNing the îngr sria
friction. In the first approach,
the part is
enclosed in [Link]
holding with the help of
and the part is utiized i
()Magnctizedgrippers second approach, riction berween the fagers
to be of approximate shape of
the part geometry: In the
(d) Hooks must be sufficient for aTiction to hoid the part against gavity. acceleztice
gripping. The force applicd by
the fingers
(e) Scoops or ladles holding or
(f Adhtsive or electrostaticeripper. etc.

Depending on appliation, hooks for lifing purpose, scoops for fuids, magmetic grippers
gippers are selected, suchas
for ferrous materials, etc.
Tools Gripper
Toois are
fastened directly to the robot wrist and [Link] as eñd-effectors. Gripper
(a)MachineTools to varions operations. Examples arc,
Robot with tools [Link] effector can also be used as mmachine tools, perform
Drills
Grinding wheels
Cutters
Sanders.
(b) Measuring Instruments Pads
These end effectors allow the robot to precisely measure parts by moving
the arh over the part. Examplc: Measuring Fmgers
probe.
(c) Welding Torche
It is an end-effector, thàt allow robot to weld parts together.
(d) Laser and Water Jet Cutters jets, to cut metal
Thcse are the end-effectors, that use high intensity
laser beam_ or high pressure abrasive water
sheet or fsber glass lo shape.
(ii) Universal Fiogers
This requires miniatur
gripPers have been initiated to imitäte a
These and, which has many degrees of freedom.
human
enables a
Figure f1: Physical Constriction Method igure (2 Friction Method
actators, that can prOdace enongh powerto drive the gripper joint:t onsists of cable and pulley mechànism that 222. Explainthe classification ofmechanicai [Link] tó the type of actuators for finger movems
motor to be placed at an appropiatë positidn away from thc joint in the selection and design Answer MaseiPai
What are the onsiderations to be made Nov-11. Set4. C7{2);
Q20.
What is a gripper used in robots? Mechanical Grippers
of grippers?
Nov.-10, Sel-1, 02(a) It is an end-effector used
to grasp an object, by means
Answer of mechanical fingers.
The mechanical grippers are classified
Grippers according to the type öf tiager movement as,
Gripper is a device, which is used to hold either workiparts or tools. 1. Pivoting or swinging movement
Considerations in Gripper Selection and Desig 2 Linear or translational movement.
are as follovs,
The considerations of to be made in the design and selection of grippers
The object to be grasped by the gripper should be reachable ie., it sbould not be enclosed in any-kind of holding fixtures. .Pivoting
:2n
vr Swinging Movement
be and its infuence on the function of locating the object must
be
pivoting or swnging movement, the fingers are rotated about fixed pivot áxis. The various swngS
Var+ation in sizes of the objects, should considered rotary actuator gripper, SCre ype actuated eTpper, etc.
a

aysed-.
.

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.
2.12 UNIT-2 Components of the
Industrial Robotics 2.13
ROBOTICs IJNTU-KAKINADAJ with an example.
a Rotary Actuator
Q23. Sketch and explain general linkage mechanisms Mayikne-14, Se4, 02a
Answer:
in his, the acruator is placed at the point of hvo shown
cross
fingers as in figure.
Linkage Mechanisms for
Mechanical Grippers
are as follows,
Some of the commonly used linkage mechanismsfor mechanical grippers
) L i n k a g e achiation mechanism

Fmgers i) Cam actuation mechanisn

(in) Screw actuation mechanism

and pinion actuation mechanisn.
(iv) Rack
Linkage Actustion Mechanism

Rotor

Housmg
Figure: Rotary Actuator
The
rwo fingers are connected to rotor and housing of an actuator respectively. Thus, the finger movement directly enabtes
rasDIng and releasng operation.

(b) Screw Type Actuated Gripper Linkages

Gripp

Moior
Reducmg
gear box
Fingers

Figure (1 Ligkage Actuation Mechanism

maximum capebility of a înger to open and tine
Linkage actuatüon mechanisms are designed basep on gripping for¢e,
force can be obtained by various linkages. Opening
Figure: Serew Type Actuator required for acnuation of gnpper. At lower achuating force, higher gripping
In this, the forward and backward movement
a motor through speed reduction mechanism. Due to this rotation, the of gnpper and gripping speed usually depends on the linkage contiguration.
type actua1on, the sCTeW- 15 tumed by
In screw width is shown n gure (}).
and releasing actioa. of
linkages causes opening and closing of gripper respecively.A typicaB linkage mechanism
threaded block moves, causing ingers perform grasping
to
CamActuated M chanism
Lincar or Transiational Movement
2. Follower
action takes place by moving fînger parallel left to a fixed finger, through
In linear mnovement, the grasping and releasing
a gude ral mechanism. The simple
translational motion uses piston-cylinder,
as Shown
in igure below.
Moving
finger

Piston and Spring Gripper

cylinder
assembly
Fixed
nger
M
Guide rai Cam grofñle

Figure (2Cam Actuation Mechanism

and clo_ing action of grippers is achieved by the spring loaded follower. Dueto
actuated mechanism, the opening
am
upon the movement ot cam, as stown in ngur
Spring the griPper [Link]
acaon, to grasp and release the object depending
It is commonly used for holdmg various wors parO
Figure for opening and clsing the gripper.
When the piston rod moves towärds right, the finger slides along a guide raifand produces tbe grasping action, whereas Tange designs are
of
possible
diferent s12#S
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the Industrial Robotics

2.15
2.14 ROBOTICS JNTU-KAKINADA] UNIT-2 Components of consists oftwo racks,
trar1slalion gripper
Rotary actuated rotationaB
ofmovement
iti) Screw Actuation Mechanism motion due to
a lincar
Thrczded block which develop the movable rack is
actuated
starts rotating,
rew pinion. As pinioni
the
backward direction depend ing
upon the
dircction
and
in forward in both clockwise
gear m o v e s
IDTTNT ofrotation ofpinion. The pinionas shown in figure (1).
direction,
and anticlock wise
Three-point Gripper
Specd reducing Gripper higher gripping capability
on the workpiece Figure: Compliant Gripper
gear box To obtain mechanical
three inger
and to the degree-of freedom,
increase
linger gripper
Advautages
The main purpose of using three Compliant iingers Or grippers arc usea due io :
grippers are used. and to hoid spherical objects
js to improve versatility ofgripping be placedtollowing advantages,
spherical objects can
Motor ofdifferent sizes. Thc centreof three finger as shown in
gripper,
Position scnsing is easily possible tirough a ndueine
Figure 13: Screvi Actuation Mechanism at desired position by using proximity switch.
figure (2). installation at desired position.
of a
A screw actuated imechanism is shown in figure (3) consists threaded block. positioned onascrew, whichis at-
the to
Easy any
be obtained.
tached to a motor through
speed reducing gear box. Threaded block is connected the gripper with
to help of levers. Due Continuous adjustable strokes cæn
the rotation of screw by the motor,threeded block tends to hove eithei in forward direction or backward direction, depending service life
It is highiy reliable and gives long
upon the rotation of screw. This results in opening and closihg action of gripper.
in construction. compact in design and tas
It is simple
Giv) Rack and Pinion Actuation Mechanism
Racks
ess weight. and magnet:c
Q26. Describe about vacuum grippers
grippers.
Answer Noy-10. Se-3, Qci5): ide P **
Pistonrod Vaccuin Cups
Finger also knoun as Suction cups cai e Lsei
Vacurim cups
GTipper as grippers to handle objects of ccrtain ypes iike glass. i hes

wW cups grasp the object by creating a vacuum behwccn the cu

and the object. Objecis to be handled by vacliun cup sroi
Workpiece be smooth, flat and clean.
Vacuum cup is usually round in shape and consists

some source of removing air betveen the cup and part surtace

Pinion Figure (21: Three-point Gripper to create the required vacuum. vacuum pumps a C veniurin
Figure(4 Fackand Pinion Mechanism the two most common sources oi crcating vacaun.
In rack and pinion mechanism, the gear and racks ardiconnected with the help of a piston, which prövides iinear motio hree-pont gripper Consists of a specially designed ers are its is iess han
and closing of grippers is ac- point chuck for this purpose. The fingers can move either
Venarimeler
is a
simple device and initial cost

Due to this motion, fwa pinion gears are driven, which in urn drives the racks. Tbus, opening three pump. 1he ithng capaciy of the cup depends
orn ine

Independently or together in a straight or curved path towardsacin

complished. In this mechanism, the pinion gears are fixed, Hut the piston moves, as shown in figure (4). The required Usualy,
centre, as the fingerS are
placed
at
area
and the negative air pressure existing betwern
anerecnve cup
the cup and the object to be handled.
Q24. Explain in detail about two point and three pbint grippers. angle of 120 from each other. The fingers àre driven by an
Answer:
electric motor through a, screw and bevcl gear mechanism. Eitingcapacity, F=Px A
by Where,
Two-point Gripper The holding or releasing action is obtained its translational
F-Negative air pressare
mechanical gripper is mostly suitable for industrial Taotion,depending upon rotationaidirection o Screw.
point gnpper is the basic model of end effectors. This type of
Iwo A Effective cup area.
the objects, especially cylindrical objects. There are various
[Link] îngured grippers are generally suficient to holdimost of Q25. What is a compliant gripper? Why are compiaint
One of the mechanisms is as follows,
gripping mechanisms to actuate the two point grippers to hold or release the object. fingers used?

Rotary Actuated Translation Gripper Mechanism Answer

Fingers
Compliant Gripper
A device which does not require any assembly and
Rack . has no knermaie jonts is termed as compliant gripper (or

one-piece device). They arc employed as end effectors in

robots, to hold the work parts or tools during an [Link]
:

Pinion this type of gripper, due to the absence of wear and backlash, veccim cap

he input displacement or force be effectively converted

can

nto an output. They are used. in applications like nano-scale Part-

Figure (1Rotary Actuated Translational Gripper anipulator, precise tools,etc.

igure: Vacuum npperfor ontoured SurtacE
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 2..16
- ROBOTICS (JNTU-KAKINADAI UNIT-2 Components of the Industrial Robotics 217
Magnetic Grippers a28. Mention the applications of the following ypes of grippers,
Magnetic grippers are widely used for
handding all terrous materials, except stainless steel, it does not get attracted
1wards the magnet. Gererally, n2agnetic gappers are classified into two
types as given below,
as
)Vacuum cups
Magnetic grippers using permanent magnets (i) Magnetic grippers
Magnetic grippers using electromagnets (ii) Adhesive grippers
From the above two, electromagnetic gnppers are easy to control, but
requires a sourcè of D.C power and a suitable
(iv) Scoops.
conttolier unit, whereas. permanen: magnet gmppers does not
require any extermal power and hence, they can be used in hazardous Answer Now-11, Se202}
anc explosive environments. By using electromagnets, the chances
the hep of controller unii, which reverses the
of residual magnetism in the workpiece can be reduced with Applicationas
polarity. Vacuum Cups
Ihe follow'ing are some
of the advantages of magnetic grippers, 1. It is used for handiling perforated sheets, rough metal shets and sheet metal parts.
Any change in the size of the parts can be readily acceptable
2. tis used for handling special types of oojects like glass.
The time required for grasping the objects is relatively less
Generally, single surface is required for hoiding the objects (i) Magnetic Grippers
1. t is used for handling ferTomagnetic work pieces.
t is also possible to hold the metal parts with holes.
metal sheet with holes.
2. It is used for handling complex laser-ut ¥orkpieces and also
However, the main disadvantage of magnetic grippers is that, it is dificult to pickup single sheet from the stack.
i) Adbesive Grippers
. It is used to lit fabrics and light weight materials.
2. It is used, where the component to be hanled must be gripped on one surface or side only.

Gripper Gv) Scoops

form like food materials, granular substarce or molte2
1. Scoops are used to handie certain material în powder or liquid
metals etc.
Q29. Explain,
gure: ElectromagneticGrippers () Adhesive grippers
Q27. Compare pneumatic, magnetic and vacuum end effectors. (y Robot drive system.
tAprilMay-13, Set-2, 071 kMcdel Paper-l, Q4(5} Nov-to, Sear)
Answer
Answer
Pneumatic End-effectors. Magnetic End-effectors Vacuum End -effectors Adhesive Grippers.
In this type of grippers, adhesive substances areused for grasping the object, by sticking to [Link] basic requirement
[Link] is also known assuction cup and of the objects that are to be handled using this type ofigrippers are that, they must be gripped on one side only. Tbe limiattod
I gripper mechanisa,
1s a [Link] is employed for handling of
is used mainly for handling certain use. This limitation can be avoided by
which converts pneumauc ferrous materials. of this type of gripper is that, the adhesive substance pses its stickiness with repeated
type of objects like glass. robot wrist This feeding mechanismsis
power input uto grasping action loading the adhesive material in the fom of a continuous ribbon that is attached to the
used to handle fabrics and light weight matenal
against thc object.
2. It uses vacuum pump to create
similar to a type writer ribbon mechanism. This type ofgrippers are generally
In this mechanism, the coeffic 2. It uses the princple of electro- Robot Drive,System
pressure diference.
ient of friction increases between magnetisn. Robot drive systems are the, central elements enmployed for supplying powver to the robots in order, to enabie motion o
the object and finger surfaces various linkages and joints.
due 10 preumatic power
3. It transfers only îlat, smooth and The following the three types of robot drive pystems which
are are available for industrial robos,
3. It transfers only shafts or
It uses mechanical clamping clean objects such as, sheets of glass,
for scoopng or ladling powders, Chips.
1. Hydraulic drive system
plastics or thin slieets of papers.
piastics or moiten metal. The change in size is not
2.
Electric drive system
4. Any change in the size of part Paeumatic drive system.
or
The change in the size of an 3.
object can bereadily acceptable. acceptable These drive systems are selected based on the power required, positional accuracy, repeatability, [Link] operation
object is acceptable with
additional cquipment.
is 5. The time required is more than
stability, reliability nd other parameters.
5. The timc required for grasping
The time required for grasping8
less, when compared to other end effectors.
Hydraulic Drive System.
an object is less compared to relatively
end
In this system, a, hydraulic fuid is pumped throughmotors, cylinders or other hydraulic actuating mecbanisms. The ma
pneumatic and vacuum and speed with äccirate contiolT
aavantage of hydraalic drive system is that, they provide higher leves offorcès, powerare
vacuum end effector.
effectorsi of leakage.-Thistype
f also requires thé sinigle surface
6. disadvantage of hydranlic [Link] is that, [Link] larger ftoorspace and there chances fiuid
requires, all the surfaces for It requires onlysingle surfäce for * of drive system is bestited in-wet, dry and potentiall explosive enveronments.
It
holding the object. tor grasping an-objeçt
holding 'the öbject.
It metal parts 7.
can also handle the
It is not possible to handle the Electric Drive System*gp'
Electric drive system uses electric motors like AC servo and D.C servo motors. Compared hydraulic and pneumatic
It can handle the parts with to
..parts with holes.
with holes: response. This type ofdrivesystems canbe usedrepeateai
holes.
end,
[Link] of magnetic to
8. It is [Link] in, weight systems, electric drive systetms provide high accuracy and fastér loads: The main disadvantage-ofelectricdrie
arivelow syte
The weight of this cnd-effector compared to pneumaic . wath naintenançeo and are bèst suited for sinall robgts with-light pay
efector is [Link] vet or dustyenvironme
IS more. compared i0 vacuun
and magnetic end efectors. i 15, it consists of elecfronic circuits or controls which may fail whedexposed to high teinperahure,
pneumatic end cffecto
end-effcctor.i
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of thë Industrial Robotics

ROBOTICsfJNTU-KAKINADAI UNIT-2 Components 2.19
2.18 considerations for end-cffectors or grppers are
as follows
Paeumatic Drive System
The general design
.
Determine the weight, spacing
and orientation
ofthe object.
and 1s
Pneumatic drive
system 1is driven by compressed air. Ehis type of robot drive system rcquires less floor space accelcration with
which
robot's armi moves.
Estimate the speed and
cheaper than other drive systems. The payload carying capacity and the sped of the motion is controlled by he compresSibilniy the object and the gripper finger.
of friction befween
and opcrating power ofair. Generally, this type of drive systeniis used in pick-and-place robots. Determine the coefficient
design.
Determine the foot print objects
and spacing Vith the gnpper jaw
a30. What advantages and disadvantages of thefolowing robot drive systems?
are
stifiness and strength.
Determine the gripper
) Hydraulic drive systems to allow grasping objects. of all
(i) Pneumatic drive systems. The grippcr must be designed and fanges.
Grooved shapes are oftenly
uscd object likes, shafts, rings
to grip
Nov.-11, Set-2, Q2(D)
Answer Design of V-Shaped Cavity wi¢e
Hydraulic Drive Systems
V-shaped grippers are used
for handling cyindncal workpieces, Since, they can accomodate a ranee a

The advantages and disadvantages of hydraulic drive systems are às follows, configuration of V-shaped gripper.
geometical
variations in the workpicce. Figure
shows a ypical

Adrantages
It is possible to generate very largc forces directly at the required location.
Greater load carrying capacity than pneumatic and clectric drive systems.
t uses accumulator to store hydraulic energy. which is ised when there is a need of power.

Hydraulic driven robots can withstand shock loads.

in
It is possible to change velocitics of displaccments alsmooth manner.

It is especially used for painting since this drive systens are safc in intrinsic environment
6.

Disadvantages
. Oil leakage is possible.
2. Mechanical supports are required for accurate displacements.

Variatibn of the fuid viscosity occurs due to temperatuYe changes.

4 High inatallation and operating cost.
Requires more mainternance.

Gi) Pneumatiç Drive Systeus as follows,

The advantages and disadvantages of pneumatic d+ve re
Advantages
1. It is possible to generate very large forces.

-t can be easily moved in any spatial locations. or cxpBosion:

.

. Pneumatic systems are there is no

very safe,. since, riskof fire
of pneumatic system is very low
4. The initial cost

S. High speed and accuracy can

be obtained by these
sysiems.
Disadvantages Figure: V- Shaped Gripper
air is compressible, it can be dif+cult to control $peed and precision of a system. rng e enpping operation, each finger contacts the object at two points of the cavity. Let the parameter
Simce mechanism be r, B, R, L, 1, a and b,
2 Tt needs spetial auxiliary equipment
as
shown in figure.
Sznce, the cylindrical workpicce is grasped between the fingers of effector and the band element u
at low velocites.
3. Accuracy of pneumatic systems i_ poor following inequality éxists.
4 he output power of pneumatic systems is consideraby less than thatof other systems.
Q31 Discuss suitable désign robot
of end-effectors to grip objects, like, ie, x-R<As
(a)Shafts Where,
.'
:
(b) Rings x-
Distance between the centre of object and
(CFlanges. onigin "o'
R-Radius of object
Ansyer a oE end=of*äm todling atahed
to the robot-am (Wst:ot. imaipulator), to,.enable
T h e robot end-efiector is gipper. As. (width of hand element).
[Link] * .
*

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 ROBOTICS (JNTU-KAKINADA)|
2.20
But, the distance '* is given by the equation,

-2 +cos- (2)

"B' value constant.

For swinging movement of hand, the hand element is designed by keeping
If B 90, then,

In translaton hand, each block is kept paralie! to other block.

ie., BO'0 = 9 0

From Figure,

cos B=
L
Where,
R'
Snr
Substtuting equation (4) in equation (2),

the following inequality must be satisicd.

each finger at the two points
For the object to contact

. D <2btan
Where, D- Diameter of object