2.1. INTRODUCTION 2.1.1. Definition End-etfectoris gripper or ento-arm tong atc to the wit of manipudatr to accomplish the desir task Ite design depends on the shape and size of part to be held. In some applications endl effector may be required fold tool and the robot mast be able to manipulate the tool also in addition to control the relative pasition ofthe tool with respect 40 workpiece The ensefectors are aso called grippers or End-effector is ony oj attached to the rbot fnge erst” Hat sere a function. This Anclues — Rubotc grippers: — Robotic tool chargers; = Rebatic collision sensors, — Robotic roby joint; — Rebotic press tolings — Compliance device; — Rebotie point su — Robotic debuurring tool ete 2.12, General Aspects {© End-etfectors range from commercial devices such as pucumstic grippers te spec ‘ods for applications ranging frem arc welling and spay paiaing te the handling ‘of silicon wafers ina corrosive acid environment © Due to diverse applications of robots, end-elfecors are usually customized for a particular application and may include additional components such as force measuring devices or mechanical linkages that can be rocked in various pesitions ‘They may be mullfuntional that is, the same tool may be used to handle a past as it changes shape during. 4 machining or assembly process. ‘© While consiering the desizn of the end-of-arm tooling for a manipulator, certain pavameters ofthe maripulator and the surrounding environment of the workcell must also be addressed. The nd-ffctor itself is wet and moments of inertia; thus these properties, alg with the wight and shape ofthe proud, must be considera to ‘nurs thet the syoefestions cf the riot are eb aed o7 cy Fobotes anc Indus Automaton ©The ond of am tool not only ae totic to Hh rl Lint at ot intro it ‘any of the peripheral devies in the sorkspace. In today’s automated factories, reliability is of paramount importance. Since reliability decreases with increasing complexity, itis better to try to kp the em ctor simple bots design and frctans © Inadaition to gripping a part, the onc-efetr can cto a sonsor to determine if put is prescat. The addition of a simple sensor can make « gripper u relatieely inlligent device. © More sophisticated end-effectors are also possible that include such feabsnes a5 servoconirolcd axes wil force contra, and soars to mensure the dinuensions ot weight of an aja, © The “sracture” ofan end-effector, ane the nature ofthe programming and hardware that rvs it, openas on the tntered task — If a robot Is designed to set a Uble and serve a mea, then robotic andl, more commonly called grippers, are the most functional endeffectors. The stene or Sinilae gripper might be used with greater fosce.asa phe or wrench for tghteaing, nuts or crimping wire Ina robot designed to tighten screws, however, a driver- head end-effector is more appropriate.15.1. INTRODUCTION ‘The function of robot isto interact with the sueroundings. The robot does this by manipulating ‘objects and tools 40 full a given task. The robot end effector becomes a bridge between the computer controlled arm and the world around it. Earlier industrial bots were used as stand alone machines for painting, spot welding or pick and place work in which parts were moved from one losation to another without mich attention paid to how the parts Were picked up and put down, Nowadays robots are put to work in more challenging applications. The tasks the robot perform may involve aasembling parts or iting them into clamps and fixtures. These toake plce [grvater demands on tho accursey of arm and the end effector. The actions af eobot and gripper determine whether the assembly will go smoothly oF the parts will get damaged in the process. 1b, END EF! ECTOR ‘One of the most imporiant areas in the design of robot systems isthe design of end effectors Most of the problems that occur in procliction are caused by badly designed tooling and not by faults in the robots. In robotics an end effector isa device or tool connected to the end of « robot ann. Basically, ‘sa tocl to grip, hold and transport objects and position them in a desired location. End efeciors ae the devices tarough which a robot interacts with the world afound it, grasping and manipulating parts, inspecting suefaces, and working on them. As such, end effectors ave among the most important elements of a robotic application and an integral component of the overall tooling, staring, and sensing stratogy. An end uffector attached #0 the robotic am is shown ia Figure 15.1 End effeclor is often different frou 9 human hand. It could be a tool auch as a gripper, & ‘vacuum pump, tweezers, scalpel, Blowtorch ei or jast about anything that helps to do the job. A robotic end-effector is any object attached to the rbot flange (wis!) that serves function. This ‘would include robotic grippers, robotic tool changers, robotic collision sensors, robotic rotary joint, robotic press tooling, compliance device, robotic paint gun, robotic éeburring tocl, robotic arc welding gun et. Robot end effectors arealso known as robatic peripherals, robotic accesories, robot toals oF robotic tools, end of arm tooling (EOA), or end-ofarm devices. Some robots canASSIFICATION OF END EFFECTORS End effector covers a wise range of different tools and devices that can be classified into two main categories 15. + Grppers * Tools for process applications 15.4, GRIPPERS Grippers are end efecors that actly grip a part for transfer operations inthe work envelope of the cobot, A ‘gripper’ is a component of the robot used to manipulate an object loose from the robot itself. This can be a component itnesd to pick up, or the waste it is programsned for to find and dispoe off Grippers include mechanical hands and alo anything like hooks, magnets and suction devices, which caa be used for holding or gripping. Grippers take advantage of point-to- point contol (exact path that the robot takes between what itis picking up and where i is placing 1). Grippers should be designed so that it requires the minimum amount of manoeuvring in order ‘» grip the work pisce. Grippers are used in applications for material handling, machine loading and assembling. In many grippers the mechanism is activated through a pneumatic piston that snoves gripper's fingers. A robot gripper is shown in Figure 153. Foreamot Thiman appere Fingers > _ = 3 ed Robet groper ie ig. 195, Robot Gripper15. GRIPPING MECHANISMS fm and actuator ‘A gripper is specifically end of arm tooling that uses a mechanical mecha to grasp a pact with gripping surfaces. Fingors are designed to: “Typical 152, Physically mate with the part for a good grip. Apply enough force to the part to prevent slipping, ‘mechanisms Linkage actuation Gear and rack cam Sorew Rope and pulley Miscellaneous eg. bladder, diaphragm TOOLS ‘Tools are devices, which robots use to perform operations on an object, for example, deals, pais 9p rays, grinders, welding torches and ony other tool, which 2 specific job done, Tools take advantage of continuicts path contro ithe path the and effector takes nas to corefl, stendy and continuously controlled at every moment). Take the case ofa spray gun as a tocl. fit moves too quickly then the paint will be too thin on the other hand if # moves to slowly the paint will8._TYPES OF TOOLS At times, a robot Is required to manipulate a tool to perform an operation on a work part Jn applications the end-effetor is used as a gripper that can giasp and handle a variety of and the robot has mulstool handling function. However, in most zobot applications in which only one tool & 40 be manipulated, the tool is directly mounted on the wrist here the tool itself acts 2s the end-effector. In such applications the end-effector isa too itself Some of the tools use * Spobwelding tools + Aresvelding tools © Spray-painting nozzles + Rotating spindles for drilling Rotating spindles for grinding + Deburring tools * Preumatic tools 15.9._ CHARACTERISTICS OF END-OF-ARM TOOLING. End-of-arm tooling in 2 robot work cell should have the following characteristics: + The wolng must be capable of gripping, ting anal eleasing the part or family of parts aquired by the manuficturing prosose. ‘The doling mut sense ihe presence of a pot in the gripper, using seiaors located elther con the tooling or ata fied positon in the work call + Tooling weight must be hep! to a minimum because it is added to part weight to otermine maximum payload. CConitinment af the part in the gripper must be eneured tncler conditions of maximum secslorstion at the tool plato and loss of gripper power. +The simplest gripper that meets the first four criteria should be the one implemented.2.2 TYPES OF END-EFFECTORS ‘The enbeffector is the special propose tooling which enables the robet to perform a particular job. Various typer of end-eforts are designed for the sime robot to make it more flexible and versatile End-effectocs are categorised into two major types 1. Grippers. 2. Tels, 22.1. Grippers Grippere are used to hold cither workyarte (in pickand-plice operations, machine loading, or assembly work) oF tools. ‘These are further clasfid as (0) Mechanical gripes — Here frietion or the physical configuration of the gripper retains the object. (1) Suction oF vacuum cops — Used for flat objects (ii, Maguetset gripor — These devices are used. for ferrous objects (io) Hooies — Used to lit parts off conveyers (0), Scoopes oF fads — Used for Buide, powders, pellets ete (0) Adhosite or olctractate gripvers Fig. 21. shows sample gripper designs = =] leis teal. (6) Pootastongipper (© Sit ton gtrporFobo! Erd-ttetore 69 CI teal eu (o) owl geperiet mton (a vaceumenp Fig. 2.1. Sample gripper designs © The grippers may aso be clasfial as flows. (Part haneting grippers These grippers are used to gwagp and hold cbjecta thal are required to be transported from one point to another or placed for some assembly operations. — The part handling applications include (@) Machine loading and unioading: () Picking parts from a conveyor and moving parts ete. (i) Teo hanating grippers — These grippers ate used to old tools ike welding gun or spray painting jun to perform a specific task, The robot hun may bold «@ debusting foo li Spoiaoedgrippore — Those grippers may be specialised devices like Remote Centre Compliance (RCC) fo insert an external mating component into an intemal member, vie inserting a plug into hale. The other types of end-effectors employ some physical principle tke ‘magnetism of vacuum: technology to hold the object securely. 22.2, Toole “Tole” ore fected cctly to the rook wist and become the ensbeffctre. Invariably, «robot is equived to manipalate «tool to perform an operation ona work jpart in such applications end-elfecior is used as a gripper that can grasp and handle a Variety of tools and the robot has mvuitool handling function, However in most rebot applications in which only ove too is to be manipulated, the fol dicey mowsted nthe ‘wrist, here the fol iself acts as th end-efecio. Example (0) Machine tals Robot end-etfectors can also be mactine tools #¢. = brits; = Grinding, wheels = Cutting whees; = sanders (1, Mosuring onstrments — These ate enct-etfectors that allow the robot 19 precisely measure parts by sunning the ans lighly over the part asig a measuring probe or gauge0 Rototes and Industrial Automation (ii) Wolding torches — These are robot end-eifeciors that allow rabots to weld parts together. — These are widely used in the automotive industy. (Ge) Laser an sonter jt cutters — Thesearerotot endt-effectrs that use high intensity laser beams or high pressure abrasive water jts to cut shect metal or fiberglass parts to shape 2.3 CLASSIFICATION OF END-EFFECTORS The end-ffectors can be cass! in the following ways 1. According to the types of grasping modality () Michanictpoegers (it) Spee touts Gi) Usicerat fingers © "Mechanical Fingers” ate yaed to perform special sels — Gripping by mechanical type fingers is ive versahle and less devious than holding. by universal fingers as the grippers with mechanical fingers have fewer number of join’s and lester levity. However, they economise the device cost = The grippers can also be subgrouped acording to the number of fingess, Iypically two hue, and fvetinger types: Out of these ivosfngergriper fhe mest poplar. a a “ Fig. 22. Some fingered grippers for olin diferent types of jobs. SS Fig. 23. Two fingered end-effector with changeable Anger ips Fig. 22. shows some fingered grippers for holding different types of olsFt End-Etectre n” Fg, 23,showsa typical enbeffector in which vor tye cn be top. — This is a hoo linkage prgper and it i achiated by’ a tinese drive systema rconutie ae pst that pulls or pushes the linkage causing rotation of the gripper linkages to close on of cpen fe an object = Slecicl mots may also be used to open oF close the gripper with suitble linkage systems However, for gripping rolatione comporents suitable lactone can be arrange Universit fxges usually comprise multipurpose grippers of more than thse fingers and or more than one joint on each finger which prose the eapacty to perform {wide variety of pasping and manipulating assigrments as designs of itercenganble finger 2. According to number of grippers mounted on the wrist : (0) Single grippers mounted on the wrist. (i) Make grippers mounted on the west © Fig. 24 shows a multi gripper system which enables simultaneous execution of nore than two different jabs — In this system, cesign methods fr each individual gripper ae subject ot those of single grippers. Fig. 2.4 Multiple grippers system. 3. According to mode of gripping = interne grr: i) Reternal ginning (opt terRobotics and Industria Automaton (t) Ena gp Fig. 25, intemal and external gripping systems ‘© The internal gripping system shown in) Fig. 25 (a) grips the internal surface of object with open fingers whereas the external gripper system shovwn in Fi 2.5 (0) grips the exterior surface of object with closed fngers. 4, According to the number of degrees of freedom (DOFs) : — Typical mechanical grippers belong to the class of 1 DOF. — A few grippers can be found with more than 2 DOFS © The robot grippers, using some special tooling action, robot grippers can be designed to retain objects by electramagnet action or under the action of cucu. — Generally ifthe objects to he handled are too large and ferromagnetic m1 mate, ledromagncte grippers may be enpleyed = Voc grippers are used, in some applications, where the obec ar tos tin to be baled © Grippers cat also be classified as follows 1, Those that come it conte! with only one fce of the ajet to be lifted and use @ malhod sich as stewum, muagntion, or ales action to eopture the objet 2 Those that use five rig frames to grip an object. — This type makes contact with the object at two specific points and may or may not deiorin the object. 9. Those that dorm andl attemps to ncrease the conlactarea between the gpper and abject, — Thia type includes mllijenisd fingers ar a device operating on a principle similar to a buloon ling infoted inside a glass. The above three classifications are referred to a5 systems using (i) Uniliteral action; (i) Bilateral action; (ii) Multilateral action. (Unilateral ection devices. Fig. 26 shows end effector sith unilateral gripping action (© Wier cwlve -1 and sive - 2 are i “of” positions: Gripper is ported to free air — slate when not holding. anything. © Wen ewtne = 7 is “on™ and we 2s at “yf” postions «Ae pressure is applied tw ‘cup = to release part ie. neutralize residual magnetism, (© Wien aulve - 13 “on/off” and ralve 1 is on “on” postions : Vacuum is applied to the cup ~ to pick ap patRobot Ent-tecors ” The following cousiderations must be made while using these devices. = The evd etfector must aso be capable of releasing the part as well as picking renee. sme Ur 7 J esta acivaton etn op ‘cue Fig. 26. End effectors with unilateral gripping action — When vacuuim tool is ased, the vacstun may have to be plupged with air to felease the pat otherwise, ifthe seal between the part and vacuum cup is sufficient the part may stay on the tool even when the vacuum is shutoff unt Some external force overcomes the residual vacuum, = In case an adesive or magnetic approach i used it may be necessary to have another device ta ‘Lick’ the part from the pickup toot (@) Bilateral action devices : Fig, 27 shows end-effectors with bilteral gripping action — In thiscas, itmay be necessary to include a material such a apiece of rubber ‘oth points of contact Increase the ficon;othersese, the part may fal cut OF the gripper = In such system, the devices such as rack or pinions or meckanical linkages ‘may be requited to achieve the required motors. — The bilateral devices are binary in nature ic, either opened or closed. In this simple case, 2 pneumatic actuator fs commonly used, i | art | i i i |r i | — : | JL I | Polar movement Peale ows bah mee Sina moro toprelice symmeincal loproluce syrmsical to pode an erotic ‘tpg son ‘rpping aban sing stn is) oy e Fig. 2.7. End effectors with blatral gripping ation.” Febotes and InaustialAuzomaton (is) Multtateral action devices: Fig. 28, shows ee-efectors with mouiilateal ripping adion, — The implementation of multilateral devices uses pneumatics to inflate and deflate long thin bags which canarticulatea font, wires that stretch or compress ‘463 function of electric current pxesing through thems or very complicated mechanical systems. However, the production of a commercially feasble “fingered” gripper is yet to be made. Fig. 29, shows multilateral gripper using a fluid-filled chamber to force the outer layer to conform to the part im pws totoa mang > bd | it | cesar such aber coh gy Thecfaw moth seilaepng gens Fig. 28. Endbeffecters with Fig. 2.8. Multlateal gripper. smuitateral gipping action 2.4 MECHANICAL GRIPPERS A mechanical gripper ian ent-ffectar that uses mchumeal fingers astute by meshanisns fo grasp a bjoet, Fig. 2.10. Mechanica gripper with interchangeable fingers Fig. 210, shows a mechanical gripper with interchangeable fingers. In most cases two fangers are enough to grip the sorkplece In good conciticn, “The various gripping mechanisms are discussed in the fllowing articles,6 obatics ard Industria Automaton 2.4.1. Mechanical Gtippers with Two Fingers “This type of gripper is the matt popedar rucchencel gripper for indualr robts — ean bo designed for limited shapes of a objet especialy cylindrica rorkpoce. — factustors that produce linear movement are used, ike pneumatic iston-cyinders, the device contains a pair of slider-crank mechanisins. “These grippers may have the following mdianisns (0) Pivoting or swinging gripper mechanisms = Using slidercrank mechanisny; = Using swing block mechanism; = Using rotary actuator; = Using cam actuator (See Fig. 2:19; the advantages ofthis arrangement is that the spring action woul accommodate obpets of different sizes. ‘y Fig. 211. Cam activated gripper (i) Translation gripper mechanisms = Using sereve — Using cvlinder-piston: = Using parallel tar linkages; — Using rotary actuators (See Fig. 212) Fig. 212, Tanlational gripper using roby acluator, 24.2. Mechanleal Grippare with Three Fingers = The versatility of grippers ie grotly aidal by the Inerens ofthe number of fingers and drgresof eed — The primary ceason for using the thyee-finger ‘gipper (See Fig. 213) is its capability of grasping the object in taree opots, enabling both a Sghter fripand the holding of spherical objects of diferent sets keeping the centre ofthe objet at a specifed position. Three point chuck mechanisms are {ypically used for this purpose; each finger mation is performed using ballscrew mechanism, Fig. 218, Three. isp.2.5 VACUUM GRIPPERS It ic often dlificult to grasp lange fat objects; however, it vacuum gripper. © These grippers are mainly “suction grippers” that ase a vacuum pump ora renbur jet to generate racine between a suction cup and the gripping plane = The suctioncups are made of rebber like materials (silicone, neoprene), Based fon the design ant the material, suction cups are sultable for workpiece temperatures upto 200°C. These cups are really important because the jeney depends on the air-pressure source = Numer of gripperslcups determines the size and weight of object to be grasped — Fer hanatng soft materials cups made of harder material ate use, © The vacuum gupper is wolerant of evrors in the orientation of the part ands expecially suited for pic-and place serk Uses. Vac srppors are vse for picking up tl ots, a of las, or ange ight ght Fig, 2.1. showsa typical vacuum gripper (using venturi device) widely employed for litting fragile materials '© Instead of a venturi,a vacuum pamp driven by an electric motor may als be used n be done by the use of Fig. 2.14 vacuum gripper for fat surface nip be ‘aspee Fig, 215.Vacuuin gripper for contoured surface7 Robotics and Indust Automation Lift capacity of suction pump : Refer to Fig. 25. The tft eapntty of te suction pump depends onthe efcticw ara of he cup and negate ate pressure (santa) bts the cup and te object “The IM capacty /force fs given by the following equation Fs RP Ay = FAG Oa Pro) 21) where, F = Force/lit capacity, N, k =A coefficient which depends on atmospheric pressure and seal conditions, Aq: = Elfetve area (total) of the suction cup(s) used to create the vaca, > =*Negative pressure, Nem’, 7, = Atmosphere presse, and os = Residual pressure in vacuum cup. (Negative pressure isthe difference of pressure between the inside and the outside of the vacuum pump) Advantages and disadvantages of vacuum grippers Aoantages: (i) Only one surface of an abject/part is requited to be geasped i. The gripper is ighter in weight. (Gi) Wis possible to distribute the pressure uniformly over seme atta (ie) Several different materials can be used in the grasping operation. Disadvantages (The positioning may not be very accurate (1) Some time 4s required to build the vacuum 3m he cup. (ju) “The maxismum force is kited by the sizeof suction cupts). (fo) Not suitable for components having curved surfaces or cavities ant oes. 2.6 MAGNETIC GRIPPERS A simple method to grasp fertous materials isto use maaetic gripper. The principle ‘used is the same as the vacutim except that eups are replaced by magnetic grippers, This {ype of gripper ca idle metal parts with bois qucty © Electromagnetic grippers (see Fig, 2.16) are easier to control but they requite & source of electric power. The permanent magnets, however, have the distdvantage ff a lack of convol during some duration of the cyee (say, when the object/part is to be released), © A significant feature of magnetic sripper is that i leaves little to 10 rescal ‘magnetism when trned off therefore, rlonsing the part insanty 8A magnetic gripper, despite ite compact tne, cmt cuttin axonmaue hlaing pastor 19 He Hahtwoight design ullimstely reduces wear on automatic equipmentFobot EneEtectae cy Bitromaenet 2] Poteaie Fig, 2.16, Hectromagnetc ripper Attractive force of an electromagnet ‘The attractive fore, Fof an electromagnet can be found by using Maxwell's equation, given below, (Ny pa iN 0 Bho FS) ae where, IN = Number of amptums of magneisng coil there, 1= current; N = no. of coil-urns), = Area of contact of an object with magnet, ant eluctances of magnetic paths through ait and mebt respectively +m x Ros (23) Acceleration of gripper, Gravitational constant, v= Mass of the object, and FOS. «= Factor of safety © Sree in cate of pennanent magnets extemal power ie not required, therefore, they can be used in hasardbus and explasoe encrenments = In ease, the partis to be released at the end of the handling eyde, some means of separating the part fram the magnet must be provided. Also, Pp where, a Advantages and disadvantages of magnetic grippers Advariagrs : (9) They cam handle metal parts with holes. (ii) Only one surface is required for gripping Lai) Pickup times are very fast. (ie) Variations in part size can be tolerated, Disadoantages + () Resicual magnetism remaining in the workpiece may cause problen (G) While picking up 2 sheet from the stock, ti possible that more than a single sheet is lifed (since magnetic attaction tends to ppenetiate beyond the top sheet in the stock 2.7 ADHESIVE GRIPPERS © In. gripper design, an adhesive substance can be used for grasping action. The primary requirement in such an arrangement i thatthe tems to be handled must be gripped on ene side only80 Robotics and Indust Autsmation ©The reliability ofan adhesive gripper ie ciminiched with exch successive operation ‘ycle asthe adhesive substance loses ils tackiness with repeated use, Ths diffcalty ‘an be overcome by loading the adhesive material in the form of a coniinuous ribbon into a feeding mechanism attached 10 the wrist of the 1obot 2.8 DESIGN OF GRIPPER 2.8.1, Requirements for The Gripper’s Design ‘The design of grippet should sttisy the following requirements 1. To mateh the abilities ofthe arm and controller. 2 To gasp and bold the object securely. 3. To complete the tsk, «© itferent guippersare needed for diferent applications, which are of highly varied types. These may be : Te hold conplicatal apes whide may be fragile, asonbling parts and ftng them ints clempfisturs ele, (Once a pact is picked up it must be securely held in such a way that its position and orientation ave as desired), 2.82. Tips for Designing 2 Gripper Following are some tips for desigaing a gripper A. Grippers with passive Singers 1. Select the grip choice, hasel on the task to be peefomned and the geometry and characteristics of parts to be grasped (for example, parts way be fragile, ‘Sippery imegularly spaced, may require contact forces to be distributed ete; cach needs different suitable gripper) 2. Consider the local environment, working space, conveyor position ete wich also influence the design. 3. Determine the number of joint links and their configuration geometry by the hart geometry and task movements 4. Decide material of construction based on type of duty, corrosion resistance, cr Peat resistance requiced. 5. Select proper type of actuator as follows, = Hydraulic for high forces; = Hlectric motors for best control; — Pneumatic for less cost and ease ete 6. Ensure compliance and proper safety sensors for assembly work and for good part handling. 7. ‘xamine wivetier the design is serviceable, robust, economical, and whether itis possible to use kess moving, parts, 8. Bxamine whether itis desirable to incomporate two or thece grippers at the end of arin 1B. Grippers with active feeback 1. Use sensor based robots to handle heaxy pars 2. Use active waist with passive fingers fo handle forces greater than 1 to 25 hy. 3. Group the manufacturing asks according tothe tadeoff among arms, west, and fingers.2.83 Force Analysis of Grippers Mechanism ‘The primary aim of the gripper mechanism is to convert input power into required motion and force to grasp and retain an object. Following are the few zs of constraining ‘an object in the gripper 1. The gripper fingers may enclose the object partly, thereby constraining tts motion. This can be accomplished by designing the contacting surfaces ofthe fingers as shown in Fig. 217. ‘To hold the object between fingers and the object ty Jricios, This Appreach demands that the finger ‘mist apply a force that must be Adequate to retain the object against gravity, acceleration and ary ther force that mightarise duringholding, Fig. 2.17, Gripper enclosing the operation. ‘envelope of an abject. Fig, 218 (a) shows a “gripper mechaniom” consisting of figes, linkages frame ard a peutic einer. Fer Pravnate Hien yaa = ger va Bem ‘Sa ls aaa dpa (0) Fos bony gran are ‘Sovtact athe ot Fig. 2.18. Force analysis of Grioper mechanism, using friction. When high pressure air is supplied (Air in) to the cyelinder, it actuates the fingers (though linkages) which in turn geasp the object Let, m = Mass of the cbject, kg, = Acceleraton due to ga W = Weight ofthe object Force everied by ait on the piston, N,boos and Indusia| Auction 0 E wep presi fae n/n) ans te date ofthe psn of he actuator (nm, Gripper fee, Linkage fc. N, Py = Hinge orc, N, IL = Cofino ton bebren he grippers pads/siface ante object, a y= amber o agers ‘The ripper nab to hold teat (W = mde tion ekween he ripper pads/suce and the bet Tig 218 Us Shows the fee body dingram’ fr sipper conta and the oie. ‘The ena ae (A) ge by Paar a) 24 “The design force (2 ung ator of salet 2 (taking into account uncertain ccna) given pact 2m ag gel a, wean i ee 26 ie, ap tn ents an ‘and sig eae aceeriton Gener and aeration (et reece nw andes wrens ren HR) ay es my via For acceleration (downcari) For acceleration (upward) Acceleration in horisontl direction, “The value of Linkage analysis : Refer to Fig. 218 Taking moments about point A, we have Pixh = P, cos axt, px , nee 23) mm eelbot EndEtoctors a By resolving Py we have Hinge force, P, Force exerted by the piston on the linkage, Pain a 22 2, Using egns. (28) nd (29), we get Pe 2x7 sine Pxt Px, «(E) se a. or, B) (20. ame (210) Inserting tan a= 1 inthe above equation, we have 2W (ty) = BE (eS) caw) ean © Power Required to product air pressute p (in N/m’) t operate gripper PO wy, PS yy ay where, Q = Discharge (volume flow fate) of ai (in m/s). Example 2:1. The falling cate relate to # michonical sri (Gee Fig 218) using fiction Jo grasp on object: ‘Wht of the part = 30 N Coffin of fiction Dekoeor the gripper pad an the objet = 0.3 Lengtis: |= 72 may fy = 48 mmi: 1, = 18 mm; ly = 54 mew ‘Dumerr ofthe piston ofthe preumaticejlinder = 78 mm Factor of safety = 14 If the gripper ecckering davon will an accelarntinn = 981 w/e, calculate 1) The gripping force te retain th pt; Gi) Actuation force reed to obtain this gripping fore; i) The pressure neated to operate te piston : The pacer raid if te discharge is 0.018 Solution. iver : W=30N; w= 03;1,= 72 mm; 1 Sum; == 14;0= 981 m/s! gh: C= 0018 m/s (The gripping force to retain the part, P, av Using the relation: P, = 2” aay Eqn. (28) "e ee [eqn 28)) Here, ama WON (Ans)oy ebotoe sn Indust Augsmation Gi) Actuating force required to obtain the gripping force, P, (tet) a0 [eqn. 2.1) Bhd9 (ans) exe z(m uo = px 3 (Be 1 « pe 2 kNim? Un or 29298 N/m? 0 lio) The power require 7 Power required = m80018 _ 9 = BRESOI = 0527 KN (Ans) 0. 2: What is a robotic end-effector ? Explain briefly + ‘Ans A “obetc mu fctor isany ojetattachel totherobst flang/avist that secesa fiction. Itincldes the following — Rebotic grippers; — Robotic tool changers; — Robotic colision sensers,_- — Robotic rotary jot; — Rebotic press tooling: = Robotic paint gun; — Rebotic deburring too! = Compliance device; ete ‘© Robotic end-effectors are known as — Robot tools or robotic tools; — Robotic peripherals; = Rebotie accesseries = End-ofarm deviers = Endt-o-aim tooing (EOA) .. tis te subsystem ofan industial robot system that Links the mechanical option of the ebot (manipulator) to the workpiece being handled ar worked on, (0.22. Name five basic types of end-of-arm tooling. ‘Ans. The five basic types of end-ofanm tooling, secluling grippers od tls ore 1. Attachment devices 2. Support and containment devices. 3. Pneumatic pickup devices.4. Magnetic pickup devices 5. Mechanical grip devices (0.23, Name the four distinet elements of end-of-arm tooling. ‘Ans. The four distinct clements of end-of arm tooling are 1. Mounting plate 2 Power—for actuation of tooling motions 3. Mechanical linkages. 4. Sensors (integrated into the tooling) (Q.24. State the characteristics of end-oF-arm tooling. ‘Ans. Ina robot work cll,end-ofarm teoling should have the following characteristics 1. It must beable to grasp lit al selease the past or family of parts requleed by the manulacturing operation, process 2 itm sense the presence of a past in the gripper with the help of sensors located either on the tooling or at fixed postion in the work cell 5. Its weight should be aininuim since itis added to part weight to determine maxima payload. 4. It must ensure coniainment of the patt in the gripper uncer conditions of maximus acceleration and the tool plate and loss of gripper power Q.25. Give the description of commonly used gripper (end-effector) mechanisms. ‘Ane. Coinmonly used gripper (end-effector) mechanisms are described below 1. Linkage actuation : Refer to Fig, 222 = Opening width and the speed of gripping depends onthe linkage configu raion = Higher sipping force at less actuating force due to linkage — Many design possibilities using linkages. Fg 2.22, Linkage Actuation, Fig 223. Radkpinion Actiation, 2. Rackpinion actuation + Keler 0 Fig. 225, — Twopivoted pinions are operated by arack which isoperated by a hydrau- pieumatic cylinder — Pinions oscillate to moverthe racks (tw).bat End Stecane 7 — Two fingers attached to the racks open and close wo grab anil release the object 3. Cam actuation : Refer to Fig. 224, = Acamattache toa cylinder moves toand fro. = Spring-ioacked followers moveonthecam profil — The finger pads (attached tothe pivoted lever, connected tothe followers) ‘open and cose to release and grabthe object Fraor—s] nat oud eduction Son Fig 224 com actuation Fig 225, Scew actuation. 4. Screw actuation -Reier 10 Fg. 225, A threaded block engages witha sce aad moves forwand and tachwacd the fingersattiched to levers conscted tothe threaded biack by hinged pint, open and close providing releasing and. gripping action, — Thescrew is rotated by a motor through reduction box. Q.214. Enlist “Gripper design considerations”. ‘Ans. “Gripper design considerations” include the following 1. Material specifications = Sirength and rigidity — Durability and fatigue factors; = Fricton properties = Factor of safety; = Companbity with the environment. 2 Part specifiations = Weight ofthe part — Size and shape of the components — Tolerance en the part size; hangeof shape and size during processing = Surface finish ofthe part = Care for delicacy of the part tobe handed 3. Perfermencespeifeatons: — Coreffcient of friction between part and the gripper pads; = Speed and acceleration during motion; — Accuracy and repeatability ofthe robot,= Inerchangeabity of fingers, — Memoryeapacity ofthe controllers; = Cantal wesolutionaf te bot; = Lead timeand cycle time. 4. Source speifeations: — Pneumatic: Air pressareand discharge, and cylinder size; — Electrical: The powerratingand specifications of actuator, _— Hydraulic: The oilpressure, volume flow rateand power packspecifation; — Mechanical : Linkage design and tiansmissien design spesifications 9. Pasian speaictions = Holdingunethods; — Physical dificulty; = Langth of fingers — The ebject and toolorientation: — Product design changes; _— Spare parts specifications, 6, Brsironmental pecfiatons — Heatand temperatureof objectand atmosphere; — Hamidityand moisture; = Dirtand safety; — Hazarcness of chentcals sed