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    End Effectors

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    mskumar_554
    Mechanical grippers and vacuum grippers are common types of end effectors used by robots. Mechanical grippers come in parallel and angular designs and are used to pick up, move, and place parts. Vacuum grippers use suction cups to lift objects. Both require consideration of static and dynamic forces to ensure they can safely handle parts without dropping them. Grippers are available in a range of sizes and costs depending on the application.

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    End Effectors

    Uploaded by

    mskumar_554
    86 views19 pages
    Mechanical grippers and vacuum grippers are common types of end effectors used by robots. Mechanical grippers come in parallel and angular designs and are used to pick up, move, and place parts. Vacuum grippers use suction cups to lift objects. Both require consideration of static and dynamic forces to ensure they can safely handle parts without dropping them. Grippers are available in a range of sizes and costs depending on the application.

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    End Effector

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    EndEffectors

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    Mechanical grippers and vacuum grippers are common types of end effectors used by robots. Mechanical grippers come in parallel and angular designs and are used to pick up, move, and place parts. Vacuum grippers use suction cups to lift objects. Both require consideration of static and dynamic forces to ensure they can safely handle parts without dropping them. Grippers are available in a range of sizes and costs depending on the application.

    Copyright:

    © All Rights Reserved
    Download as PPT, PDF, TXT or read online from Scribd
    Download as ppt, pdf, or txt
    86 views19 pages

    End Effectors

    Uploaded by

    mskumar_554
    Mechanical grippers and vacuum grippers are common types of end effectors used by robots. Mechanical grippers come in parallel and angular designs and are used to pick up, move, and place parts. Vacuum grippers use suction cups to lift objects. Both require consideration of static and dynamic forces to ensure they can safely handle parts without dropping them. Grippers are available in a range of sizes and costs depending on the application.

    Copyright:

    © All Rights Reserved
    Download as PPT, PDF, TXT or read online from Scribd
    Download as ppt, pdf, or txt
    of 19

    Automation Building

    Blocks
    By Andy Stansel

    End
    Effectors
    (finally!)

    Consider typical robots

    What could a robot do without end effectors?

    Common end effectors


    1. Tools
    Spot welding
    Arc welding
    Drilling, grinding, de-burring, etc.
    Cutting device (laser, water jet, torch, etc.)
    Spray painting

    Common end effectors (cont)


    2. Grippers
    Mechanical
    Vacuum
    Magnetized
    Adhesive
    Simple (hooks, scoops)

    Main Types of Mechanical Grippers


    Parallel

    Angular

    2 or more
    fingers

    Mechanical Grippers: Applications


    Mechanical grippers are used to pick up, move, place, or hold parts
    in an automated system. They can be used in harsh or dangerous
    In a clean room
    environments.

    Holding a cast
    wheel while it is
    being cleaned with
    live steam.

    Mechanical Gripper Specifications


    Your boss says, I need a gripper to pick up this 70 lb part
    You look in your catalogs and find these grippers

    So you order this one.

    You must consider all of the possible forces

    Mechanical Gripper Specifications


    Heres what you need

    Kilogram force??

    This shows all the static forces and moments


    that the gripper can handle.

    Gripper Specification Example

    2 ft.

    70 lbs

    Mechanical Grippers: Limitations


    Watch out for dynamic forces and moments when sizing a gripper.
    Gripper could drop part with loss in air pressure (can order spring clamps to
    solve this problem)
    Angular grippers are less expensive, but the arcing motion of the jaws may
    require additional tooling clearance and will grip at varying points as part
    width varies. A parallel gripper is simpler to tool to compensate for part size
    variance.

    Mechanical Gripper Specifications


    Grip force: ranges tiny forces .1 lbs to over 1600 lbs (dont forget dynamic
    forces, moments)
    Part sizes: typically .01 to 36 inches
    Number of jaws: typically 2 to 4 jaws or fingers
    Repeatability: typically +/- .001 to .005 inches
    Cost: $100 to $1,000
    Cycles to failure: up to 10 million cycles
    Supporting technologies: air valves, air compressors, sensors, I/O interfaces
    Companies: Thomas Register lists 100+ vendors. Here are the largest:
    PHD, inc.
    Robohand
    Zaytran

    Fairlane
    Robotic Accessories
    Magnum

    Vacuum Grippers (aka suction cups)

    Types of Vacuum Grippers


    One vendor, Piab Inc., claims A suitable suction cup is
    available for virtually any situation with very few
    exceptions. Suction cups are very well suited for a wide
    variety of needs and circumstances. They can handle
    plate, eggs, paper, wood practically any material. Be it
    smooth, irregular, bent, porous, airtight, lightweight,
    heavy, angled, hot or cold, the material can be handled
    by suction cups safely, gently and quickly.

    Small to
    medium
    objects

    Large, heavy
    objects

    Uneven
    objects

    Types of Vacuum Grippers


    Level compensator
    A level compensator compensates for differences in level
    and absorbs shocks. The mounting also reduces the need for
    accurate positioning in height.

    Ball joint
    A ball joint adjusts itself automatically to different contact
    angles and reduces the bending moments on the suction cup.
    The ball-joint is recommended in the following typical cases:
    for lifting heavy objects or plates
    for handling workpieces that are in motion
    for handling workpieces that are curved or have irregular
    surfaces

    Vacuum Grippers Application


    PACKAGING:
    Canning
    Tray Making
    Bottling
    Box Making
    Capping
    Labeling
    Bagging & Sealing
    MATERIAL HANDLING:
    Auto Manufacturing
    Steel Fabricators
    Conveyors
    Manufacture & Packaging of Compact Dics
    Electronics
    Heavy Industry

    Vacuum Gripper Specifications

    Watch out for lifting forces parallel to the surface!


    Dont forget the dynamic forces.

    Vacuum Gripper Specifications


    Gripping force: generally up to 300 lbs. Multiple cups can pick up to 6,000
    Pressures: requires 3 to 15 psi gage
    Sizes: suction cups typically range between .05 and 18 inch diameters
    Cost: Suction cup assembly $10-$500 Supporting technology: $500 $2,000
    Supporting Technologies: Compressors, lines, valves, air filters, controllers

    Companies: Thomas Register lists 100+ vendors. Here are the biggest:
    Piab
    Vaccon

    Anver
    All-Vac

    References
    http://www.theproductfinder.com
    http://www.motionNET.com
    http://www.thomasregister.com
    http://www.piab.com

    (specializes in vacuum technology)

    http://www.phdinc.com

    (good definitions, explanations, pictures of grippers)

    Summary
    End effectors consist of tools and gripping devices. The most
    common gripping devices are mechanical grippers (parallel and
    angular) and vacuum grippers. Special attention must be made
    when determining the size of the grippers due to induced
    moments, robot accelerations, and part geometry.
    See video for state of the art technology with grippers.

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