JV502 INDUSTRIAL ROBOTS AUTOMATION

CHAPTER 3:ROBOTS AUTOMATION MANIPULATOR

Learning Outcomes:Upon completion this chapter, student

should be able:-1. Explain the End Effector components

Contents1. End effector components; tool and gripper

End Effector ComponentsEnd-effector mounted on the wrist enables

the robot to perform specified tasks. Various types of end-effectors are designed

for the same robot to make it more flexible and versatile.

Two types of end effector:GripperTools

End effectors used in manufacturing include:

• anti-collision sensors 

• brushes • cameras • cutting tools • drills • grippers 

• magnets • sanders • screw drivers • spray guns • vacuum cups • welding guns

End Effector ActuationElectrical:

DC motors (speed proportional to voltage)Stepper motors (fixed move per pulse)

Pressurised:Liquid: HydraulicsAir: Pneumatics, air muscles

GrippersGenerally used to grasp and hold an object

and place it at a desired location. Different shape, size or strengthGrippers can be classified as mechanical

grippers: vacuum or suction cups, magnetic grippers, adhesive grippers, hooks and scoops.

Magnetic grippers are useful for applications involving steel

Four general categories of robot grippers, these are:Impactive – jaws or claws which physically grasp by

direct impact upon the object.Ingressive – pins, needles or hackles which physically

penetrate the surface of the object (used in textile, carbon and glass fibre handling).

Astrictive – suction forces applied to the objects surface (whether by vacuum, magneto- or electro-adhesion).

Contigutive – requiring direct contact for adhesion to take place (such as glue, surface tension or freezing).

ToolsRobot is required to manipulate a tool to

perform an operation on a work part. Tools for specific purposesThe tool acts as end-effector: Spot-welding

tools, arc-welding tools, spray-painting nozzles, and rotating spindles for drilling and grinding.

http://www.google.com/url?sa=i&rct=j&q=&esrc=s&frm=1&source=images&cd=&cad=rja&docid=DBXIPRBFkTxEUM&tbnid=N9IvqHiSf3sekM:&ved=0CAUQjRw&url=http://en.m.wikipedia.org/wiki/File:2-Grinder_Use_Test_Cut.jpg&ei=7ESpUq6jL8asrAeJ3oDQCw&psig=AFQjCNFRBQo7nzAAE2a4axce-BMFRpcwaw&ust=1386911298840622

THANK YOU