End Effectors

END-EFFECTORS-TYPES
BY: Jayana Rana

End Effectors
• In robotics, an end effectors are the device or tool that's connected to
the end of a robot arm end 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
ØGrippers
ØTools
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
Ø Mechanical Gripper
ØMagnetic gripper
ØSuction gripper or vacuum gripper
General classifications of gripper
• 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
• External Gripper
• Internal Gripper
• General classifications of gripper
– gripping surface
Mechanical Grippers
• A mechanical gripper is an end effectors that uses
mechanical fingers actuated by a mechanism to grasp an
object.
• Fingers are some times called as jaws.
Constraining the part in the gripper
ØPhysical Constriction Method
-Finger encloses the part to some extent and thereby
d e s i g n i n g t h e co nta c t s u r fa c e o f f i n ge r to b e i n
approximate shape of part geometry
ØFriction between the fingers and workpart
– 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
Two ways of gripper mechanism based on finger movement
Ø1.Pivoting movement – Eg. Link actuation
Ø 2.Linear or translational movement – Eg. Screw and cylinder
Four ways of gripper mechanism based on kinematic devices

Ø1.Linkage actuation
Ø2.Gear and rack actuation
Ø3.Cam actuation
Ø4.Screw actuation
Linkage actuation:
Gear and rack actuation
Cam actuation Screw actuation
Vacuum grippers:
• 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 as
suction cups.
• This type of grippers will provide good handling if the objects are smooth, flat,
and clean.
• It has only one surface for gripping the objects. Most importantly, it is not best
suitable for handling the objects with holes.
ØVacuum 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.
• Venturi
• Vacuum pump
• 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.
• As the venturi is a simple device, it is more reliable and inexpensive.
Both these devices are very well capable of providing high vacuum if
there is a sufficient supply of air pressure.
Vacuum pump Venturi device
• Applications of vacuum grippers:
• Vacuum grippers are highly useful in the heavy industries,
automobiles, compact disc manufacturing, and more for material
handling purposes.
• It is also used in the tray & box manufacturing, labeling, sealing,
bottling, and so on for packaging purposes.
Adhesive Gripper
• Used to handle fabrics and light weight materials
ØAdhesive substance can be used for grasping action.
Ø One contact surface is needed.
ØThe reliability is diminished with successive operation.
Ø It is used to lift light weight object.
Magnetic grippers
• Magnetic grippers are most commonly used in a robot as an end
effector for grasping the ferrous materials. It is another type of
handling the work parts other than the mechanical grippers and
vacuum grippers.
• Types of magnetic grippers:
• The magnetic grippers can be classified into two common types,
namely: Magnetic grippers with
Ø Electromagnets
Ø Permanent magnets
• Electromagnets:
• Electromagnetic grippers include a controller unit and a DC power for
handling the materials.
• This type of grippers is easy to control, and very effective in releasing
the part at the end of the operation than the permanent magnets.
• If the work part gripped is to be released, the polarity level is
minimized by the controller unit before the electromagnet is turned
off.
• This process will certainly help in removing the magnetism on the
work parts. As a result, a best way of releasing the materials is
possible in this gripper.
• The permanent magnet:
• The permanent magnets do not require any sort of external power as
like the electromagnets for handling the materials.
• After this gripper grasps a work part, an additional device called as
stripper push –off pin will be required to separate the work part from
the magnet. This device is incorporated at the sides of the gripper.
• The advantage of this permanent magnet gripper is that it can be
used in hazardous applications like explosion-proof apparatus because
of no electrical circuit. Moreover, there is no possibility of spark
production as well.
• Magnetic grippers provide safe gripping of ferromagnetic
workpieces by using the magnetic field of an integrated permanent
magnet.
• The magnet is moved with compressed air to activate and
deactivate gripping.
• Magnetic grippers are operated with pneumatic valves.
• The gripper does not require a voltage source for this purpose.
• Benefits:
Ø This gripper only requires one surface to grasp the materials.
Ø The grasping of materials is done very quickly.
Ø It does not require separate designs for handling different size of
materials.
Ø It is capable of grasping materials with holes, which is unfeasible in the
vacuum grippers.
• Drawbacks:
Ø The gripped work part has the chance of slipping out when it is moving
quickly.
Ø Sometimes oil in the surface can reduce the strength of the gripper.
Ø The machining chips may stick to the gripper during unloading.
Selection and design considerations in robot
gripper
ØThe gripper must have the ability to reach the surface of a work part.
ØThe change in work part size must be accounted for providing accurate
positioning.
Ø 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.
ØThe gripper must not create any sort of distort and scratch in the fragile work
parts.
ØThe gripper must hold the larger area of a work part if it has various dimensions,
which will certainly increase stability and control in positioning.
ØThe 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.
Thank You

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END-EFFECTORS-TYPES

BY: Jayana Rana

Four ways of gripper mechanism based on kinematic devices

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