Robotics for Industry

Module 3
END EFFECTORS
▪In robotics, the end effectors are the devices or tools that's connected to the end of a robot arm
that enables the robot arm to perform specific task

▪Usually end effectors are custom engineered for a particular task

TYPES OF END EFFECTORS
▪There are wide segments of end effectors required to perform the variety of different work
functions.

▪The various types can be divided into two major categories

▪Grippers
▪Tools
GRIPPERS
•They are the end effectors used to grasp and hold objects.

•They are widely used in machine loading and unloading

•There are various types of grippers based on how they grasp the objects:

• Mechanical Gripper

• Magnetic gripper

• Suction gripper or vacuum gripper

 General Classifications Of Gripper
Based On Number Of Grippers
❑Single gripper
❑This will have only one grasping device attached to the robot

❑Double gripper
❑This will have 2 grasping devices attached to the robot
 General Classifications Of Gripper
Based On Gripping Surface
❑External Gripper: This is the most popular method of
holding objects, it is the most simplistic and it requires
the shortest stroke length. When the gripper jaws
close, the closing force of the gripper holds that
object.

❑Internal Gripper: In some applications, the object

geometry or the need to access the exterior of the
object will require that the object is held from the
center. In this case the opening force of the gripper
will be holding the object.
 Mechanical Grippers – Basic Definition
And Operation
❑A mechanical gripper is an end effector that
uses mechanical fingers actuated by a
mechanism to grasp an object.

❑Fingers are sometimes called as jaws

 Constraining The Part In The Gripper
❑Physical Constriction Method:
❑In this approach, the gripper fingers enclose the part to
some extent, thereby constraining the surface of the fingers
to be in the approximate shape of the part geometry.

❑Friction between the fingers and work part

❑ In this approach the fingers must apply a force that is
sufficient for friction to retain the part against gravity,
acceleration and any other forces
Friction Between The Fingers And Work Part
❑ The fingers or the pads attached to the fingers which make
contact with the part.
❑ This tends to increase the coefficient of friction between the
part and the contacting finger surface.
❑ If a force of sufficient magnitude is applied against the part in
a direction parallel to the friction surfaces of the fingers as
shown in figure, the part might slip out of the gripper.
 TYPES OF GRIPPER MECHANISM
Classification based on finger movement:

❖Pivoting Movement (Mechanical Actuation)

❑ Linear actuation

❑ Gear and rack actuation

❑ Cam actuation

❑ Screw actuation

❑ Rope and pulley actuation

❑ Miscellaneous

❖Linear or translational movement

TYPES OF GRIPPER MECHANISM
➢In the pivoting movement, the fingers rotate about fixed pivot points on the gripper to
open and close. The motion is usually accomplished by some kind of linkage mechanism.

➢In the linear movement, the fingers open and close by moving in parallel to each other.
This is accomplished by means of guide rails so that each finger base slides along a
guide rail during actuation.

➢The translational finger movement might also be accomplished by means of a linkage

which would maintain the fingers in a parallel orientation to each other during actuation
Linkage actuation:
The linkage category covers a wide range of design possibilities
to actuate the opening and closing of the gripper. The design of
the linkage determines how the input force ′𝐹𝑎’ to the gripper is
converted into the gripping force ’𝐹g ′ applied by the fingers

Gear and Rack actuation:

Figure illustrates one method of actuating the fingers using a
gear and rack configuration. The rack gear would be attached
to a piston or some other mechanism that would provide a linear
motion. Movement of rack would drive two partial pinion gears,
and these would open & close the fingers.
Cam actuation:
The cam actuated gripper Includes a vanity possible designs, one of which is shown
in Fig. A cam and follower arrangement, often using & spring-loaded follower, can
provide the opening and closing action of the gripper. For example, movement of
the cam in one direction would force the gripper to open. While movement of the
cam in the opposite direction would cause the spring to force the gripper to close.

Screw actuation:
The screw is turned by a motor. Usually accompanied by a speed reduction
mechanism. When the screw is rotated in one direction, this causes a threaded
block to be translated in one direction. When the screw is rotated in the opposite
direction, the threaded block moves in the opposite direction. The threaded block
is, in turn, connected to the gripper fingers to cause the corresponding opening
and closing action.
Rope & Pulley actuation:
Rope & pulley actuating can be design to open & closing a mechanical gripper.
Because of the nature of these mechanisms, some form of tension device must be used
to oppose the motion of the rope or cord in the pulley system. For example, the pulley
system might operate in one direction to open the gripper, and the tension device
would take up the slack in the rope and close the gripper when the pulley operates in
the opposite direction.
Other Types of Gripper
In addition to mechanical gripper there are variety of other devices that can be designed to lift and

hold the objects

➢Vacuum cups

➢Magnetic

➢Adhesive

➢Hooks scoops and other miscellaneous Devices

 Vacuum Grippers
➢Vacuum grippers, or suction cup grippers, can be
a highly effective and simple gripping solution in
a wide range of applications. With the right type
of part and the right integration, vacuum grippers
can provide powerful, safe grips in collaborative
robot applications.
➢There are several types of vacuum grippers available for
collaborative robots – each with their advantages and
disadvantages. Most collaborative robots utilize either a miniature
electromechanical pump or a compressed air-driven pump.

➢Miniature electromechanical pumps excel in applications with a

high degree of mobility, but often generate less power than a
compressed air-driven pump. On the other hand, the compressed
air-driven pump can provide superior lifting capacity but may end
up increasing operating costs because of the electricity required to
run the compressor.

➢Vacuum grippers work when the difference between atmospheric

pressure and the vacuum, or negative pressure, is enough to provide
the ability to lift, hold, move and more. This can only occur when
one side of a part is large enough and flat enough for a vacuum
gripper to create enough difference in pressure.
➢Because of this, parts with large flat sides to
them are most ideally suited to the use of
vacuum grippers. Additionally, excessively heavy
parts may not be suited for vacuum grippers, as
an enormous amount of negative pressure would
have to be produced.

➢Vacuum grippers can be an effective gripping

solution in collaborative robot applications with
light, flat parts. Other applications may find
other types of collaborative robot grippers more
productive for their particular gripping tasks.
 Magnetic Grippers
❑Suitable for handling ferrous materials

❑Merits:
▪ Pick up time is very fast
▪ Variation in part size can be tolerated
▪ They have the ability to handle the metal parts
with holes
▪ Requires only one surface of gripping

❑Demerits:
▪ Residual magnetism on work part
▪ Limited precision
▪ Slipping problem
❑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.
 Adhesive Grippers
❑Suitable for grasping fabrics and other light weight objects

❑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.
 Hooks and Scoops
❑Hooks and scoops are the simplest type of end effectors that can be classified
as grippers.

❑ A scoop or ladle is commonly used to scoop up molten metal and transfer it to

the mold.

❑ A hook may be all that is needed to lift a part especially if precise positioning
is 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 powder form & the
limitation of scoop is that 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.
 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.
Tools as End Effectors
➢ Spot welding tools
➢ Arc welding torch
➢ Spray painting nozzle
➢ Rotating spindle for
▪ Drilling
▪ Routing
▪ Brushing
▪ Grinding

➢ Liquid cement applicator for assembly

➢ Heating torches
➢ Water jet cutting tool
 CONSIDERATION IN GRIPPER
SELECTION AND DESIGN
➢The gripper must have the ability to reach the surface of a work part.

➢The change in work part size must be accounted for providing accurate positioning.

➢During machining operations, there will be a change in the work part size. As a result, the gripper

must be designed to hold a work part even when the size is varied.

➢The gripper must not create any sort of distort and scratch in the fragile work parts.
 CONSIDERATION IN GRIPPER
SELECTION AND DESIGN
➢The gripper must hold the larger area of a work part if it has various dimensions, which will

certainly increase stability and control in positioning.

➢The gripper can be designed with resilient pads to provide more grasping contacts in the work

part. The replaceable fingers can also be employed for holding different work part sizes by its

interchangeability facility
 Check List Of Factors In The
Selection and Design Of Grippers
Manipulator Dynamics & Force Control
Manipulator Path Control
▪In controlling the manipulator, we are not only interested in the endpoints reached by the robot
joints, but also the path followed by the arm in traveling from one point to another in workspace.

▪There are three common types of motion that a robot manipulator can make in traveling from
point to point. These are slew motion, joint-interpolated motion and straight line motion.

▪Slew motion represents the simplest type of motion. In this, all axes begin moving at the same time
and complete its desired set of motion. The disadvantage is that, the slew motion results in
unnecessary wear and tear due to unanticipated acceleration and deceleration.
Position & Orientation in 3-D
• U indicates the universal coordinate system, and it has got the axis like XU,
YU and ZU and they are independent, they are mutually perpendicular.
• Now, here, to represent this particular position actually, we try to find out the
mass center of this particular 3-D object. So, at the mass center, we just draw
one coordinate system, that is B coordinate system, and it is having XB, YB
and ZB.
• So, for position we need three information, that is, X, Y and Z ; and for this
particular rotation or this orientation, we need actually the three more
information. So, we need a total of six information. So, this is the way,
actually, we can represent the position and orientation of a 3-D object in 3-D
space.
Position & Orientation in 3-D
• Q is actually a point, whose position is to be determined.

So, this particular point will be having the coordinate like

qx, qy & qz . So, this particular point can be represented

as a vector, as a position vector.

• So, this is a 3×1 matrix or a vector. So, to represent the

position we need one vector or one 3×1 matrix.

 Position & Orientation in 3-D
• To represent the orientation, consider the U coordinate system,
i.e., the universal coordinate system and B coordinate system
i.e., the body coordinate system, which is attached to the
mass center of the body, whose orientation we need to
represent.

• Now, this particular B, you can see that there have been some
amounts of change in orientation. For example, say XB is not
parallel to XU, YB is not parallel to YU. Similarly, ZB is not
parallel to ZU, that means there has been some rotation. So,
• So, to represent the orientation, we need a set of three vectors
orientation of B has been changed with respect to U.
Position & Orientation in 3-D:- Frames
• Frame is actually a set of four vectors, which carry

information of the position and orientation. We know that to

represent the position, we need only one vector and to

represent the orientation we need three vectors.

• To represent both position as well as orientation we need a

set of four vectors. Now, this set of four vectors is known as

the frame.
Position & Orientation in 3-D:- Frames
• XU, YU and ZU are the universal coordinate system, B is the

body attached coordinate system.

• So, there is no rotation of B with respect to XU and that is

why, you can see that XB is parallel to XU, then comes YB

parallel to YU and ZB is parallel to ZU, but there has been a

shifting of the origin from here.

• So how to find out this Q with respect to U?

• This can be seen in the diagram where the equation has

been given.
Position & Orientation in 3-D:- Frames

• Q with respect to U is nothing but the rotation of B with respect

to U multiplied by Q with respect to B.

Position & Orientation in 3-D:- Frames

• So, this particular transformation, it includes both

translation and rotation. So, translation and rotation

are taken together inside this particular

transformation.
 Manipulator Dynamics
• Let us consider the torques required by joints to produce a force F at the
tip of the robot as shown. By balancing the forces on the each link we get:

• The torques are the vector cross products of forces and link vectors r as
denoted by:
• These equations give us the formula for the value Fx, Fy, T1 and T2
(Forces and Torques) developed. The same technique can be
extended for more number of joints.
Manipulator Control
Position Control
▪ Linear control of manipulator
▪ Open loop and closed loop control
▪ Trajectory following control
▪ Continuous and discrete control
▪ Nonlinear control of manipulator
▪ Adaptive control
▪ Lyapunov stability analysis

•Force control
◦ Pneumatic control
◦ Electronic control
Pneumatic Force Control
Advantages Limitations
▪ High effectiveness ▪ Relatively low accuracy
▪ High durability and reliability ▪ Low loading
▪ Simple design ▪ Processing required before use
▪ High adaptability to harsh ▪ Uneven moving speed
environment ▪ Noise
▪ Safety
▪ Easy selection of speed and pressure
▪ Environmentally friendly
▪ Economical
 Components of Pneumatic Control Circuits
➢Production And Transportation Of Compressed Air

1. Compressor: A compressor can compress air to the required pressures. It can convert the

mechanical energy from motors and engines into the potential energy in compressed air. A

single central compressor can supply various pneumatic components with compressed air,

which is transported through pipes from the cylinder to the pneumatic components.

2. Pressure Regulating Component: Pressure regulating components are formed by various

components, each of which has its own pneumatic symbol: (i) Filter – can remove impurities

from compressed air before it is fed to the pneumatic components. (ii) Pressure regulator –

to stabilize the pressure and regulate the operation of pneumatic components (iii)

Lubricator – To provide lubrication for pneumatic components

 Components of Pneumatic Control Circuits
➢Consumption of compressed air

➢Execution component
1. Single acting Cylinder: A single acting cylinder has only one entrance that

allows compressed air to flow through. Therefore, it can only produce thrust in

one direction. The piston rod is propelled in the opposite direction by an

internal spring, or by the external force provided by mechanical movement or

weight of a load

2. Double acting Cylinder: In a double acting cylinder, air pressure is applied

alternately to the relative surface of the piston, producing a propelling force

and a retracting force. As the effective area of the piston is small, the thrust

produced during retraction is relatively weak. The impeccable tubes of double

acting cylinders are usually made of steel.

Double Acting Cylinder Single Acting Cylinder
 Components of Pneumatic Control Circuits
➢Control Valves
➢Directional control valve: Directional control valves ensure the
flow of air between air ports by opening, closing and switching

their internal connections.

➢Non return Valves: A non-return valve allows air to flow in one

direction only. When air flows in the opposite direction, the valve

will close.

➢Flow Control Valves: A flow control valve is formed by a non

return valve and a variable throttle

➢Shuttle Valves: Shuttle valves are also known as double control

or single control non-return valves.
 Setting of circuit Diagram for
Control
Fig. shows some of the basic principles of drawing pneumatic
circuit diagrams, the numbers in the diagram correspond to the
following points.
1. When the manual switch is not operated, the spring will
restore the valve to its original position.
2. From the position of the spring, one can deduce that the block
is operating. The other block will not operate until the switch
is pushed.
3. Air pressure exists along this line because it is connected to
the source of compressed air.
4. As this cylinder cavity and piston rod are under the influence
of pressure, the piston rod is in its restored position.
5. The rear cylinder cavity and this line are connected to the
exhaust, where air is released.
• When drawing a complete circuit diagram, one should place the pneumatic components on different levels and positions,

so the relations between the components can be expressed clearly.

• This is called the setting of circuit diagrams. A circuit diagram is usually divided into three levels: power level, logic level

and signal input level

• Flow amplification Control
Cylinders with a large capacity require a larger flow of air,
which can be hazardous to users. It is unsafe to manually
operate pneumatic directional control valves with large flow
capacity. Instead, we should first operate manually a small
control valve and use it to operate the pneumatic control
system with large flow capacity. This is called flow
amplification, which can greatly ensure the safety of the
operators. During operation, valves with large flow capacity
should be placed near the cylinder, while valves with smaller
flow capacity should be placed on control boards some
distances away.

• Signal inversion
The pneumatic diagram in Fig. 24 shows how directional control valves can be
switched. When operating control valve , control valve  will stop
producing pressure output. When control valve  ceases operation and is
restored to its original position, control valve  will resume its output.
Therefore, at any given time, the pressure output of control valve  is the
exact opposite of that of control valve .
• Single acting cylinder speed control
If a single acting cylinder is connected to a manual 3/2
directional control valve, when the control valve is operated, it
will cause the cylinder to work. Therefore, the circuit allows the
cylinder to be controlled manually. The only way to change the
extension speed of the piston of a single acting cylinder is to
restrict the flow of air at the inlet and use the spring to
determine the speed of retraction. Therefore, a one-way flow
control valve is placed in the circuit to control the speed.

• Double acting cylinder Direct control

The only difference between a single acting cylinder and a double acting
cylinder is that a double acting cylinder uses a 5/2 directional control valve
instead of a 3/2 directional control valve. Usually, when a double acting
cylinder is not operated, outlet ‘B’ and inlet ‘P’ will be connected. In this circuit,
whenever the operation button is pushed manually, the double acting cylinder
will move back and forth once.
• In Robotics, A cylinder always has to maintain its position in
a lot of situations, even after the operational signal has
disappeared.
• This can be achieved by the use of a circuit that possesses
the memory function. As shown in Fig, the extension path of
a double acting cylinder is activated by control valve ,
while retraction is governed by control valve .
• Control valve , on the other hand, maintains the position
of the cylinder by maintaining its own position.
• Control valve  will be changed only when one of the
manual control valves is pushed.
• If both control valves  and  are operated at the
same time, control valve  will be subject to the same
pressure and will remain in its original position.
Circuit that maintains the position of a double acting cylinder
Electronic Force Control
Merits:

– Compact in size

– Consumes less power

– Faster response

– No noise as like in pneumatic systems

Generally, force control and position

control is achieved by using Electric Motors:

• DC Motors

• Speed control methods

• Flux Control Method

• Armature Control Method

• Voltage Control Method

• AC Motors

• Stepper Motors
 Important Questions
▪What are end effectors? Explain different types. ▪Elaborate the representation of an object in 3-D space and
▪What are grippers? Explain its general classifications. explain the concept of frame translation and orientation.
▪With neat diagram, explain in detail about the constriction ▪Derive the equation for forces and torques developed in a
of part in a gripper. (--Physical constriction & friction
based--) two-link robotic arm.

▪With neat diagrams explain the different types of ▪Explain the components of pneumatic force control
mechanical gripper mechanisms/actuation methods.
▪Explain the working of vacuum grippers and Hook/Scoops. ▪Explain the concept of electronic force control and
elaborate upon any one of the force control methods.
▪Explain the working of magnetic grippers & adhesive
grippers with necessary diagrams. ▪Explain the pneumatic force control circuit diagram used in
▪Explain the working of expandable bladder type grippers robotic actuation, which has a memory function to
and write a note on tools being used as end effectors. effectively hold position during its operation.
▪Explain the consideration and check list to be adopted in ▪Explain the concept of force control in robotics manipulator.
selection of grippers.
▪Explain the advantages and disadvantages of all types of
grippers covered in the syllabus.
 Assignment 3
1. With neat diagram, explain in detail about the constriction of part in a gripper. (--Physical constriction & friction

based--)

2. Explain the pneumatic force control circuit diagram used in robotic actuation, which has a memory function to

effectively hold position during its operation.

3. With neat diagrams explain the different types of mechanical gripper mechanisms/actuation methods.

4. Explain the consideration and check list to be adopted in selection of grippers.

5. Derive the equation for forces and torques developed in a two-link robotic arm.