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1. INTRODUCTION
An end effector is a device that attaches to the wrist of the robot arm and enables
thegeneral-purpose robot to perform a specific task. It is sometimes referred to as
the robot's "hand."Most production machines require special purpose fixtures and
tools designed for a particularoperation, and a robot is no. exception. The end
effector is pan of that special-purpose tooling fora, robot. Usually, end effectors
must be custom engineered for the particular task which is to beperformed. This
can be accomplished either by designing and fabricating-the device fromscratch, or
by purchasing a commercially available device and adapting it to the application.
Thecompany installing the robot can either do the engineering work itself or it can
contract for theservices of a firm that does this kind of work.Most robot
manufacturers have special engineering groups whose function is to designend
effectors and to provide consultation services to their customers. Also, there are a
growingnumber of robot systems firms which perform some or all of the engineering
work to installrobot systems. Their services would typically include end effector
design.
1.1 TYPESOF END EFFECTORS
There are wide assortmentsof end
e
ff
ec
tors
required to performthe
variety
of
d
i
ff
erent work functions.Thevarious typescanbedivided
i
n
t
o
two
major categories:1.
Grippers
2.
ToolsGrippers are end effectors used to grasp and hold object. The objects are
generally work parts that are to be moved by the robot. These part-handling
applications include machine loading and unloading, picking parts from a conveyor,
and arranging parts onto a pallet. In addition to work parts, other objects handled
by robot grippers include cartons, bottles, raw materials, and tools. We tend to think
of grippers as mechanical grasping devices, but there are alternative ways of
holding objects involving the use of magnets, suction cups, or other means.
1. Pivoting movement
2. Linear or translational movement
In the pivoting movement the fingers rotate about fixed pivot points on the gripper
toopen and close. The motion is usually accomplished by some kind of linkage
mechanism. In thelinear movement the fingers open and close by moving in parallel
to each other. This isaccomplished by means of guide rails so that each finger base
slides along a guide rail duringactuation. The translational finger movement might
Mechanical grippers can also be classed according to the type of kinematic device
used toactuate the finger movement. In this classification we have the following
types:
1. Linkage actuation
2. Gear-and-rack actuation
3. Cam actuation