09-10-2012, 12:47 PM
Automation Building Blocks
EndEffectors.ppt (Size: 5.79 MB / Downloads: 375)
Common end effectors
Tools
Spot welding
Arc welding
Drilling, grinding, de-burring, etc.
Cutting device (laser, water jet, torch, etc.)
Spray painting
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.
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.”
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.