UNIT 4

ROBOT AND EFFECTOR

 Types of end effectors
An end effector is the device at the end of a robotic arm, designed to interact with the
environment. The exact nature of this device depends on the application of the robot. In the strict
definition, which originates from serial robotic manipulators, the end effector means the last link
(or end) of the robot. At this endpoint, the tools are attached. In a wider sense, an end effector
can be seen as the part of a robot that interacts with the work environment.

can be classified into the following categories:

o Robotic Grippers
o Robotic Process Tools
o Robotic Sensors

ROBOTIC GRIPPERS
 Electric Grippers — Electric grippers use motor-driven fingers, which allow for easy
control of position and speed. Many applications use adaptive electric end effectors,
including machine tending, handling, and bin picking, among others.
 Pneumatic Grippers — These grippers use air to function, normally by forcing compressed
air through a piston. Pneumatic grippers allow for angular or parallel movement.
 Suction Cups — Suction cups use a vacuum to pick up parts. Their simple design offers
ample flexibility for material handling, along with cost-effectiveness. However, they are
unable to handle perforated materials.
 Magnetic Grippers — These grippers feature a design that’s similar to suction cups, but
they’re used specifically for handling ferrous material. Additionally, they eliminate the risk of
dropping materials during power outages or air loss, and they don’t come with air costs. Their
simple design also requires minimal maintenance.
 Mechanical Grippers — Non-powered mechanical grippers normally feature designs for
specific types of parts. These grippers may include forks, hooks, or complex fingers that
allow operators to clamp and rotate them.
ROBOTIC PROCESS TOOLS
 Robotic Welding — Applications often use robot arms with welding end effectors, which are
most frequently found in the automotive industry. Because of their precision and consistency,
robotic welding systems usually produce great results.
 Painting — The application of paint must be consistent and smooth, which often presents a
challenge for human operators. In addition, these applications must protect against
contamination in a controlled environment. Both of these factors make painting robots
suitable for these conditions, allowing for high-quality paintwork while reducing the risk of
contamination.
ROBOTIC SENSORS
Some applications also connect sensors to robots, converting them into programmable sensor-
orientation devices. Robotic inspection and other applications use these to minimize inspection
engineers’ hands-on time they would otherwise spend gathering data.

 Mechanical grippers

 Mechanical grippers are the most coomon type of gripping device.

 A mechanical gripper is used as an end effector in a robot for grasping the objects
with its mechanically operated fingers.
 Finger is also sometimes reffered to as jaw.
 In the industry , two fingers, can be used based on the application.
 As most of the fingers are of replaceable type, it can be easily removed and replaced.
 The efficiency of the mechanical gripper depends on the applied force, the
coefficient of friction between the jaws and cargo and nature of contact such as
points, lines or surfaces.
 A robot requires either hydraulic, electric, or pneumatic drive system to create
the input power.
 The power produced is sent to the gripper for making the fingers react.
 It also allows the fingers to perform open and close actions.
 Most importantly, a sufficient force must be given to hold the object.
 In a mechanical gripper, the holding of an object can be done by two different
methods such as:
i) Using the finger pads as like the shape of the work part.
ii) Using soft material finger pads.
 In the first method, the contact surfaces of the fingers are designed according to the
working part of the achievement of the estimated shape.
 It will help the fingers to share the work for to keep a degree.
 In the second method, the fingers must be capable of providing sufficient power to
hold the work piece.
 For scratches on the work part to avoid is soft type pads made As a result, the contact
surface of the finger and co improved. on the fingers. efficient of friction
 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 = co-efficient of friction between the work part and fingers.
Nf= no. of contacting fingers.
Fg= Force of the gripper
W= weight of the grasped object

• Application of Mechanical Gripper:

1. Machine loading/unloading
2. Assembly lines
3. Material transfer
4. Manufacturing processes

 Vaccum Grippers

 Vacuum is used as the gripping force.

 Vacuum grippers are used in the robots for grasping the non-ferrous objects
 It uses vacuum cups as the gripping device, which is also commonly known
suction cups.
 This type of grippers will provide good handling if the objects are smooth, fia and
clean.
 It has only one surface for gripping the objects.
 Most importantly, it is not best suitable for handling the objects with holes.
Vacuum cups:
 Generally, the vacuum cups (suction cups) will be in the round shape.
 These cups will be developed by means of rubber or other elastic materials.
 Sometimes, it is also made of soft plastics.
 Moreover, the vacuum cups are prepared of hard materials for handling the soft
material objects.
Two different devices are used in the suction cups for creating the vacuum.
They are:
i) Vacuum pump
ii) Venturi
  Venturi device is operated with the help of shop air pressure, while the vacuum
pump is driven either by means of vane or piston device.
 The vacuum pump has the ability to create the high vacuum.
 If the venturi is a simple device, it is more reliable and affordable.
 Both of these devices are very well capable of providing high vacuum if there is a
sufficient supply of air pressure.
Types of Vaccum grippers:
 The ball joint type vacuum gripper is capable of changing into various contact
angles automatically. Moreover, the bending moments in the vacuum cups are
also decreased. It is used for carrying irregular materials, heavy objects, etc.
 A vacuum gripper with level compensator can be very helpful in balancing the
objects with different levels. It also has the capability to absorb the shocks.

Advantages of vacuum gripper:

i) Required only one surface of a part to grasp.
ii) A uniform pressure can be spread over several areas, instead of concentrating
on one point.
iii) Many different type of material can be used.
iv) No danger of crushing fragile objects.
v) The gripper is lightweight.
Disadvantages of vacuum gripper:
1) The maximum power is limited by the size of suction cups.
ii) Suitable for components with curved surfaces or with holes and cavities.
iii) The robot system must include a form of pump for air and the level of noise
can cause annoyance in some circumstances.
iv) Positioning may be somewhat in accurate.
v) Time may be needed for the vaccum in the cup to buildup.
Applications of vacuum grippers:
i) Vacuum grippers are very useful in heavy industry, automobiles, compact disc
production, and more for material handling purposes.
ii) It is used in the shell & field production, labeling, sealing, filling and also used
for packaging purposes, and so on.

 Magnetic Grippers
 It is another type of handling the work parts other than the mechanical grippen
and vacuum grippers.
 Magnetic grippers are most commonly used in a robot as an end effector for
grasping the ferrous materials.
 Types of magnetic grippers:
The magnetic grippers can be classified into two common types namely:
1) Magnetic grippers with Electromagnets.
ii) Magnetic gripper with Permanent magnet.
Electromagnets
 Gripper with electromagnets are powered by direct current for handling material
in general.
 This type of magnetic end effector is easy to control, since the attraction can be
rotated by turning off the power.
 This can also help to remove the magnetism of hand partially.
 The electromagnetic can pick and release it component by switching on and off
the magnet.
Permanent Magnets
 These types of end effectors do not need electricity to operate.
 They are always on
 In order to separate the pieces of the magnet, a push -off pin is included in the end
effector.
 The permanent magnet has an advantage when it comes to security, since the
gripper remains, even if a power failure occurs.
 In addition, there is no possibility of sparking during manufacture, since no
electric current is required.
Advantages of Magnetic Gripper:
1. It only needs one surface to grab the object.
2. The grasping speed is fast.
3. Pick up times very fast.
4. It is flexible since it does not need different designs for different parts.
5. It can grip parts with holes which is not possible with vacuum grippers.
6. It requires minimal maintenance.
Disadvantages of Magnetic Gripper :
1. When moved quickly, the part can slip out of the end effector.
2. Just a little oil on the surface can reduce the strength of the end effector.
3. Machining chips can stay on the gripper when unloading the piece.
4. Handled parts can stay magnetized.
5. It can only be used with ferromagnetic material.
Application of Magnetic Gripper:
Once a magnetic gripper has gripped the object, it will not release it even if air
pressure or power is interrupted.
• Magnetic grippers can be used to grab things such as:
i) Pressed or perforated steel parts and sheets.
ii) punched steel materials.
iii) metal mesh parts.
For transport and transfer applications in:
 i) automatic production lines.
ii) press-to-press transfers.
iii) robots: pick-and-place systems.
The magnetic gripper is switched pneumatically.
Control is possible via a 5/3 or even a 5/2 valve.

 Adhesive Gripper
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.

 The robot end effectors interface

The robot end effector interface refers to the connection point or mechanism at the end of
a robotic arm where tools, grippers, or other end-of-arm devices (EOAT) are attached.
The design and capabilities of the end effector interface are crucial for the overall
performance of a robotic system. Here are some key aspects of the robot end effector
interface:
1. Mounting Mechanism:
- The end effector interface typically involves a mounting mechanism that allows the
attachment of different types of end effectors. Common mounting methods include quick-
change systems, screw mounts, and magnetic mounts.
2. Compatibility:
- The interface needs to be compatible with various types of end effectors. This
compatibility ensures that the robot can be equipped with different tools for different
tasks without requiring extensive reconfiguration.
3. Power and Signal Transmission:
- Some end effectors may require power, control signals, or both. The interface should
facilitate the transmission of electrical power and signals from the robot controller to the
end effector, enabling its proper functioning.
4. Communication Protocols:
- For advanced robotic systems, the end effector interface may support communication
protocols that allow bidirectional communication between the robot controller and the
end effector. This is especially important for tasks that require real-time feedback or
control.
 5. Sensor Integration: -In certain applications, sensors may be integrated into the end
effector for feedback and control purposes. The interface should allow for the integration
of sensors and ensure proper communication with the robot controller.
6. Quick Change Systems:
- Quick-change systems enable rapid swapping of end effectors without extensive
manual intervention. This is particularly useful in applications where the robot needs to
perform different tasks in a short amount of time.
[Link] Compatibility:
- The mechanical design of the interface must be robust and able to withstand the forces
and torques generated during the robot's operation. It should provide a secure and stable
connection between the robotic arm and the end effector.
8. Weight and Balance:
- The design of the interface should take into account the weight and balance of the end
effector. Proper weight distribution is crucial for the overall stability and performance of
the robot.
9. Safety Features:
- Safety is a critical consideration in robotic systems. The end effector interface should
incorporate safety features to prevent accidents during installation, removal, or operation
of the end effector.
10. Customization:
- Depending on the application, the robot end effector interface may need to be
customizable to accommodate specific end effector designs or unique requirements of the
task at hand.
A well-designed end effector interface enhances the versatility, efficiency, and
adaptability of a robotic system, allowing it to perform a wide range of tasks in diverse
environments.

 Tools
 Robotic Welding — Applications often use robot arms with welding end
effectors, which are most frequently found in the automotive industry. Because of
their precision and consistency, robotic welding systems usually produce great
results.
 Painting — The application of paint must be consistent and smooth, which often
presents a challenge for human operators. In addition, these applications must
protect against contamination in a controlled environment. Both of these factors
make painting robots suitable for these conditions, allowing for high-quality
paintwork while reducing the risk of contamination.
 Cutting Tools
 Drill/Driver Tools

 considerations in gripper selection and design.

The most common goal of a gripper (sometimes to as an end effector) is to understand or
to attach parts to transfer, insertion or assembly in the production and processing of
automated systems.
• In addition, grippers are used in environments that are dangerous to human presence.
 Several factors are required for the selection and design to ensure proper gripping.
The following considerations will help you in choosing and sizing the right gripper for
your application.
1. Part shape -If the product or part has two opposing flats, a 2-jaw gripper is normally
used. If the part is cylindrical, a 3-jaw gripper could be used. Tooling can be designed to
accommodate cylindrical parts with a 2-jaw gripper.
2. Accessibility & part consistency - Angular grippers are usually lower in cost, but the
jaws arcing motion may require additional cleaning tooling and various control points as
part width varies. A parallel gripper is easier for the vehicle to compensate for the size
part.
3. Part weight- Grip force must be adequate to safely transport the part.
4. Orientation & dimensions -Part orientation and distance from the gripper
face affects the gripper selection.
5. Size - Nominal gripping dimension indicates approximate gripper size.
6. Variation -Variation in gripping location or encapsulation determines minimum
gripper jaw travel.
7. Air pressure - The air pressure at the gripper affects gripper sizing and must be taken
into account.
8. Grip on open or close- Grip strength in each direction changes due to the effective
area of the piston rod in some fastener types. Verify that the direction taken into account
when sizing gripping.
9. Velocity - Higher speeds and acceleration/deceleration affects gripper selection.
10. Tooling length-Longer tooling inducts bending moments into the gripper and affects
sizing.
11. Tooling configuration -If the part is encapsulated, the required gripping force can be
lower than if it is grasped on flats only.
12. Product retention -If part retention upon air loss is desired, springs or locking cams
can be specified for the gripper.
13. Environment -For harsh environments, special platings or materials should be
specified.
14. Synchronous operation- Most grippers provide synchronized jaw movement. In
special circumstances, independent jaw travel is desired and can be supplied by request.
15. Switching options - Most grippers offer several switching options.

 Recofigurable Grippers
A reconfigurable gripper is a type of robotic end effector that can adapt or change its
configuration to handle different types of objects or tasks. The ability to reconfigure
makes these grippers versatile and suitable for applications where a robot needs to grasp a
variety of objects with different shapes, sizes, and characteristics. Here are some key
features and types of reconfigurable grippers:

1. Adaptability:
- Reconfigurable grippers are designed to adapt to different objects without the need for
manual adjustments or tool changes.
2. Modular Design:
- They often have a modular design, allowing users to interchange or adjust gripper
components to suit specific requirements.
3. Variable Grasping Mechanisms:
- Reconfigurable grippers may incorporate various grasping mechanisms, such as
parallel jaws, suction cups, magnets, or soft materials, that can be interchanged or
combined for different tasks.
4. Flexibility:
- These grippers are flexible in terms of the types of objects they can handle, making
them suitable for applications with a high degree of variability.
5. Automated Reconfiguration:
- Some reconfigurable grippers are equipped with automated mechanisms that allow
them to change their configuration based on the information received from sensors or a
vision system.
6. Intelligent Gripping:
- Advanced reconfigurable grippers may incorporate artificial intelligence algorithms to
analyze the object's shape, size, and properties and automatically adjust their
configuration for optimal grasping.
7. Compliance:
- Reconfigurable grippers may have compliance features, allowing them to conform to
the shape of an object for a more secure grip.
8. Quick Change Systems:
- The gripper may be designed to facilitate quick and easy changes, enabling a robot to
switch between different gripper configurations rapidly.
9. Application in Collaborative Robots (Cobots):
- Reconfigurable grippers are often used in collaborative robotic systems where robots
work alongside humans, as they can handle a variety of objects encountered in dynamic
environments.
10. Versatility:
- These grippers find applications in industries such as manufacturing, logistics, and
warehousing, where the need to handle diverse objects is common.

The reconfigurable nature of these grippers enhances the efficiency and adaptability of
robotic systems, reducing the need for manual intervention and improving overall
productivity in various applications.