ROBOTICS

ME 424 A Unit2

Dr.Ch.Lakshmi Srinivas
Syllabus
UNIT – 2
Robot end Effectors: Introduction, end effectors, interfacing, types of end effectors, grippers and
tools, considerations in the selection and design of remote centered devices.

Learning Objectives

After completing this unit, you will be able to:

 Identify the types of end effectors used in industrial robots

 Differentiate Gripper and tool
 Understand the requirements of interface between the robot & end effectors
 Know the various types of mechanical gripper mechanisms
 Understand various linkages used for gripper mechanisms
 Understand the importance of gripper design
 Describe the working principle of Remote Centered Compliance device
 Understand different types of grippers used in various applications
 Know the various considerations in the selection of gripper

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 END EFFECTORS

The end effector enables the robot to accomplish a specific task. Because there are a wide variety
of tasks performed by industrial robots, the end effector is usually custom engineered and
fabricated for each different application.

Fig 2.1 Typical diagram of an End effector

The two categories of end effectors are grippers and tools.

Grippers
Essentially, there are three classifications of grippers:

(i) Those that come in contact with only one face of the object to be lifted and use a
method such as vacuum, magnetism, or adhesive action to capture the object.
(ii) Those that use two rigid fingers to grip an object. This type makes contact with
the object at two specific points and may or may not deform the object.
(iii) Those that deform and attempt to increase the contact area between the gripper
and object. This type includes multi jointed fingers or a device operating on a
principle similar to a balloon being inflated inside a glass.

Grippers are end effectors used to grasp and manipulate objects during the work cycle. Machine
loading and unloading applications fall into this category. Owing to the variety of part shapes,
sizes, and weights, most grippers must be custom designed. Some of the innovations and
advances in mechanical gripper technology are dual grippers, interchangeable fingers, sensory
feedback, multiple fingered grippers, standard gripper products.

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Types of grippers

 Mechanical grippers, consisting of two or more fingers that can be actuated by the robot
controller to open and close to grasp the work part.
 Vacuum grippers, in which suction cups, are used to hold flat objects.
 Magnetized devices, for holding ferrous parts.
 Adhesive devices, which use an adhesive substance to hold a flexible material such as a
fabric.
 Simple mechanical devices such as hooks and scoops.

Tools
The robot uses tools to perform processing operations on the work part. The robot manipulates
the tool relative to a stationary or slowly moving object. (e.g., work part or subassembly).
Examples of tools used as end effectors by robots to perform processing applications are spot
welding gun, arc welding tool, spray painting gun, rotating spindle for drilling, routing, grinding,
automatic screw driver, heating torch, ladle, water jet cutting tool.

In some applications, the robot may use multiple tools during the work cycle. For example,
several sizes of routing or drilling its must be applied to the work part. Thus the robot must have
a means of rapidly changing the tools. The end effector in this case takes the form of a fast-
change tool holder for quickly fastening and unfastening the various tools used during the work
cycle.

Mechanical Grippers
Mechanical grippers are the most common gripper type. A mechanical gripper is an end effector
that uses mechanical fingers actuated by a mechanism to grasp an object. The fingers, sometimes
called jaws are the appendages of the gripper that actually make contact with the object.
The fingers are either attached to the mechanism or are an integral part of the mechanism. If the
fingers are of the attachable type, then they can be detached and replaced. The use of replaceable
fingers allows for wear and inter-changeability.

The interchangeability feature is illustrated in fig 2.2. The gripper is designed to accommodate
fingers of varying sizes.

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 Fig. 2.2 Illustration of interchangeability feature
(Interchangeable fingers can be used with the same gripper mechanism)

The function of the gripper mechanism is to translate some form of power input in to the
grasping action of the fingers against the part. The power input is supplied from the robot and
can be pneumatic, electric, mechanical or hydraulic.

There are two ways of constraining the part in gripper.

1. Physical constriction method:

In this approach the gripper fingers enclose the part to some extent, thereby
constraining the motion of the part. (Contacting surfaces of the fingers will be in
approximate shape of the part geometry)

Fig. 2.3 Physical constriction method of finger design

2. Friction method:
In this approach, the holding of the part is by virtue of friction between the fingers
and the work part. The fingers apply a force that is sufficient for friction to retain the
part against gravity, acceleration, and any other that might arise during the holding
portion of the work cycle.
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 Fig. 2.4 Friction method of holding the part
(Force against part parallel to finger surfaces tending to pull out of gripper)

In this method, if a force of sufficient magnitude is applied against the part in a direction
parallel to the friction surfaces of the fingers, the part might slip out of the gripper. To resist this
slippage, the gripper must be designed to exert a force that depends on the weight of the part, the
coefficient of friction between the part surface and the finger surface, the acceleration (or
deceleration) of the part, and the orientation between the direction of motion during acceleration
and the direction of the fingers.

From fig 2.4, we can write,

= (1)

Where, μ = coefficient of friction of the finger contact surface against the part surface,
nf = number of contacting fingers,
Fg = gripper force,
W = weight of the part or object being gripped

Equation (1) is used when the force of gravity is directed parallel to the contacting
surfaces.

Equation (1) can be slightly changed to take in to account the combined effect of gravity
and acceleration and can be written as,

= (2)

In general,
g=3 if acceleration force is applied in the same direction as the gravity force,
g=2, if the acceleration is applied in a horizontal direction and
g=1, if the acceleration is applied in the opposite direction.

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Example problem 2.1.

Suppose a stiff cardboard weighing 10 N is held in a gripper using friction method, against two
opposing fingers. The coefficient of friction between the finger contacting surfaces and the
carton surface is 0.25. The orientation of the carton is such that the weight of the carton is
directed parallel to the finger surfaces. Determine the required gripper force.

Solution:
Here g=3 and by using equation 2, we get

(0.25)(2)Fg = (10) (3)

Fg = 60 N

The gripper must cause a force of 60 N to be exerted by the fingers against the carton surface.
However, we have to consider factor of safety, in order to compensate for the potential problem
of the carton being grasped at a position other than its center of mass.
Taking a factor of safety of 1.5, the required gripper force would be 1.5 x 60 = 90 N.

Types of gripper mechanisms

[1] According to the accuracy and sophistication of their construction and their intended
purpose, they are classified as:
(i) Coarse grippers
(ii) Precise grippers
Coarse grippers are found in applications where components are to be held, transported
and manipulated often within large spans of movement and with relatively little accuracy.
The design & operation of these grippers is simple and unsophisticated.
Examples: loading and unloading of furnaces, stacking and palletizing applications,
dipping and quenching of components during coating or heat treatment processes.

Precise grippers are used for accurate holding, positioning and orientation of the work
part.
Examples: loading and unloading of work parts from machine tools and other
manufacturing processes, pick and pace applications and assembly operations. By
definition, their design and construction are articulated and efficient.

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[2] According to the compliance they offer, these are classified as
(i) Hard grippers
(ii) Soft grippers

Hard grippers normally incorporate a fixed size and shape. The jaws offers either internal
or external gripping, are roughly contoured to suit the shape of the work part, and
incorporate some means of self centering. They are rigid and offer no ‘give’ (technically
termed compliance) to any deviations in the shape of the work part.

Soft grippers are designed to take up the shape of the work part. These work by
surrounding or enveloping the shape of the work part being handled, or being inserted
inside a vessel, before pressure is applied to expand the gripper to achieve the gripping
action.
Soft grippers are useful in circumstances where:
(a) A number of different shaped components need transporting, without
requiring time consuming end effector changes.
(b) The gripper needs to be tolerant of changes in size or shape of a single
component.
(c) It is desirable to equalize the gripping pressure on fragile components.
(d) Marking of the component surfaces must be reduced to a minimum, or
eliminated.
Soft grippers have been successfully demonstrated in many industrial applications. Figure
2.5 shows an example of such a gripper.

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 Fig. 2.5 Operation of a typical soft gripper

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[3] According to the type finger movement used by the gripper, these are classified as:
(i) Pivot movement grippers: here the fingers rotate about fixed pivot points on the
gripper to open and close.

Fig. 2.6 Mechanical gripper finger with pivoting movement

(ii) Linear translational movement grippers: here the fingers open and close by
moving in parallel to each other. This is accomplished by means of guide rails so
that each finger base slides along a guide rail during actuation.

Fig. 2.7 Mechanical gripper finger with linear movement using guide rails

[4] According to the type of kinematic device used to actuate the finger movement,
mechanical grippers are classified as,
(i) Linkage actuation
(ii) Gear –and-rack actuation
(iii) Cam actuation
(iv) Screw actuation
(v) Rope-and -pulley actuation
(vi) Miscellaneous category such as expansion grippers

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 Linkage actuation covers a wide range of design possibilities to actuate the opening and
closing of the gripper. A few examples are shown below:

Fig. 2.8 some possible linkages for robot grippers

Gear and rack method of actuation involves a piston or some other mechanism that
would provide linear motion. Movement of the rack would drive two partial pinion gears,
and these in would in turn open and close the fingers.

Fig. 2.9Gear and rack method of actuating the gripper

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 The CAM actuated gripper includes a variety of possible designs, one of which is shown
in fig 2.10. A CAM and follower arrangement, often using a spring loaded follower, can
provide the opening and closing action of the gripper. For example, movement of the cam
in one direction would force the gripper to open, while movement of the cam in the
opposite direction would cause the spring to force the gripper to close. The advantage of
this arrangement is that the spring action would accommodate different sized parts.

Fig. 2.10 one possible design of a CAM actuated gripper

The screw type actuation method is shown in Fig 2.11. The screw is turned by a motor,
usually accompanied by speed reduction mechanism.

Fig. 2.11 screw-type gripper actuation

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 The rope and pulley mechanism is shown in Fig. 2.12. This can be designed to open and
close a mechanical gripper. Because of the nature of these mechanisms, some form of
tension device must be used to oppose the motion of the rope or cord in the pulley
system.

Fig. 2.12 Rope and pulley type gripper

The miscellaneous category of gripper actuating mechanisms includes expandable

bladder or diaphragm. Fig. 2.13 shows one such type of gripper mechanism.

Fig. 2.13 The expandable bladder used to grasp inside of a cup-shaped container

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Gripper force analysis
The purpose of gripper mechanism is to convert input power in to the required motion and force
to grasp and hold an object.

Example problem 2.2

Consider a simple pivot type gripper used for holding the cardboard carton as shown in Fig. 2.14.

Fig. 2.14 Pivot-type gripper used in example problem 2.2.

The gripper force required is 60 N. The gripper is to be actuated by a piston device to apply an
actuating force Fa. The corresponding lever arms for the two forces are shown in figure.
Calculate the actuating force required to exert the required gripper force.

Solution:
Taking moments about the pivot arms and equating it to zero yields,

FgLg-FaLa=0
(60)(12)-Fa (3) =0
Fa=240 N
The piston device would have to provide an actuating force of 240 N to close the gripper
with a force against the carton of 60 N.

Example problem 2.3

Consider the linkage mechanism shown in figure 2.15.

Fig. 2.15 Gripper considered in example problem 2.3

The gripper force required is 25 lb. compute the actuating force to deliver this gripper
force of 25 lb.
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Solution: Looking at the symmetry of the gripper mechanism, only one-half of the mechanism
needs to be considered.

25(4 cos 45) = sin 45 (1.5 cos 15) + cos 45(1.5 sin 15)

96.6 = (1.0246 + 0.2745) = 1.2991

= 74.4
The actuating force applied to the plunger to deliver this force of 74.4 lb to each finger is
pictured in figure c above and can be calculated as
= 2 74.4 cos 45
= 105.2
Some power input mechanism would be required to deliver this actuating force of 105.2 lb to the
gripper.
Other types of Grippers
In addition to mechanical grippers, there are a variety of other devices that can be designed to lift
and hold objects. Other types of grippers are:
1) Vacuum cups
2) Magnetic grippers
3) Adhesive grippers
4) Hooks, scoops and other miscellaneous devices

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 Vacuum Cup Grippers (Suction Cups)
Vacuum cups, also called suction cups, can be used as gripper devices for holding certain types
of objects. The usual requirements on the objects to be handled are that they be flat, smooth, and
clean, conditions necessary to form a satisfactory vacuum between the object and the suction
cup. The suction cups are typically made up elastic material such as rubber or soft plastic. In case
the object to be handled is composed of a soft material, the suction cup would be of hard
substance.

The shape of the vacuum cup is usually round. Some means of removing the air between the cup
and the part surface to create the vacuum is required.

The vacuum pump and the venturi are the two common devices used for this purpose.

The vacuum pump is a piston-operated or vane driven device powered by an electric motor and
is capable of creating a relatively high vacuum.

Fig. 2.16 Principle of operation of Vacuum Cup gripper

The venturi is a simpler device as shown in Fig 2.16. This can be driven by means of ‘shop air
pressure’. Its initial cost is less than that of a vacuum pump and it is relatively reliable because of
its simplicity. However, the overall reliability of the vacuum system is dependent on the source
of air pressure. Fig.2.17 shows the vacuum cup gripper for contoured surface. An example of an
end effector employing vacuum cup gripper is shown in Fig. 2.18.

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 Fig. 2.17 Vacuum cup gripper for contoured surface

Characteristic features of suction cup grippers are:

i. Requires only one surface of the part for grasping
ii. Applies a uniform pressure distribution on the surface of the part
iii. Relatively a light weight gripper and are simpler than mechanical grippers
iv. Applicable for a variety of different materials
v. The exact size and shape of the part is relatively unimportant
vi. No precise positioning of the end effector is required
vii. It is only necessary to have access to one side of the part surface
viii. They are safe in explosive environments

Fig. 2.18 End effector employing vacuum cup grippers

The lift capacity of the suction cup depends on the effective area of the cup and the
negative air pressure between the cup and the object.

Where, F= the force or lift capacity, N

P= the negative pressure, N/cm2
(Pressure differentia between the inside and the outside of vacuum cup)
A= the total effective area of the suction cup (s) used to create the
vacuum, cm2

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Example problem 2.4

A vacuum cup gripper will be used to lift flat pates of 18-8 stainless steel, each piece of steel is
¼ in thick and measures 2.0 by 3.0 ft. the gripper will utilize two suction cups separated by about
1.5 ft for stability. Each suction cup is round and has a diameter of 5.0 in. two cups are
considered a requirement to overcome the problem that the plates may be off center with respect
to the gripper. Because of variations in the positioning of the end effector or in the positions of
the steel plates before pick up, the suction cups will not always operate on the center of mass of
the plates. Consequently, static moments and inertia will result which must be considered in the
design of the end effector. Determine the negative pressure (compared to atmospheric pressure of
14.7 lb/in2.) required to lift the stainless steel plates. Take a safety factor of 1.6 to allow for
acceleration of the plate and for possible contact of the suction cup against the plate which would
reduce the effective area of the cup.

Solution

Weight of the plate is given by (considering the density SS as 0.28 lb/in3)

= 0.28 × × (2 × 12) × (3 × 12) = 60.48

This would be equal to the force F which must be applied by the two suction cups,
ignoring for the moment any effects of gravity.

The area of each suction cup would be

= × = 19.63

The area of the two cups would be 2x 19.63 = 39.26 in2.

The negative pressure required to lift the weight of the plates is calculated as
.
= = = 1.54 /
.

Applying the safety factor of 1.6, we have

= 1.6 × 1.54 = 2.461 / , negative pressure

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 Magnetic Grippers
Magnetic grippers share many of the same advantages of vacuum cup grippers with the
exception that the work part to be handled must be ferromagnetic material.

Magnetic grippers can be divided in to two categories:

(i) Grippers equipped with electro magnets
(ii) Grippers with permanent magnets

Figure 2.19 shows the schematic diagram of an electro magnet type magnetic gripper.

Fig. 2.19 schematic diagram of an electro magnet type magnetic gripper

Electromagnetic grippers are easier to control. They require a source of d.c power and an
appropriate controller unit. As with any other robotic gripping device, the part must be released
at the end of the handling cycle. This is easier to accomplish with an electromagnet than with a
permanent magnet. When the part is to be released, the controller unit reverses the polarity at a
reduced power level, before switching off the electromagnet. This procedure acts to cancel the
residual magnetism in the work piece and ensures a positive release of the part.

The attractive force, P of an electromagnet is found from Maxwell’s equation given by

( )
= ( )

Where, IN = number of amp-turns of coil,

Ac = area of contact of an object with magnet,
Ra, Rm = reluctances of magnetic paths through air and metal respectively.

≥( + )
Where, a = gripper acceleration,
g = gravitational constant
m is the mass and FS is the factor of safety.

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 Fig. 2.20 Operation of a permanent magnet type magnetic gripper

Figure 2.20 shows the operation a permanent magnet type gripper. Permanent magnets have the
advantage of not requiring an external power source to operate the magnet. However, there is a
loss of control that accompanies this apparent advantage. When the part is to be released at the
end of the handling cycle, some means of separating the part from the magnet must be provided.
The device which accomplishes this task is called a stripper or stripping device. Its function is to
mechanically detach the part from the magnet.

Permanent magnets are often considered for handling tasks in hazardous environments requiring
explosion proof apparatus. The fact that no electrical circuit is needed to operate the magnet
reduces the danger of sparks which might cause ignition in such an environment.

Advantages of magnetic grippers are:

(i) Pick up times are very fast
(ii) Variations in part size can be tolerated
(iii) The gripper does not have to be designed for one particular work part
(iv) They have the ability to handle metal parts with holes (not possible with vacuum
grippers)
(v) They require only one surface for gripping

Disadvantages of magnetic grippers are:

(i) Residual magnetism remains in the work piece, which may cause a problem in
subsequent handling
(ii) In case of sheets handling from a stack, there is a possibility of attracting more than one
sheet due to magnetic attraction

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 Adhesive Grippers

An adhesive substance can be used for grasping action in gripper design. The
requirement on the items to be handled is that they must be gripped on one side only.
The reliability of this gripping device is diminished with each successive operation cycle
as the adhesive substance loses its tackiness on repeated use. To overcome this
limitation, the adhesive material can be loaded in the form of a continuous ribbon into a
feeding mechanism attached to the robot wrist.

Hooks, Scoops, and other Miscellaneous Devices

Hooks can be used as end-effectors to handle containers and to load and unload parts
hanging from overhead conveyors. The item to be handled by a hook must have some
sort of handle to enable the hook to hold it.

Ladles and scoops can be used to handle certain materials in liquid or powder form. One
of the limitations is that the amount of material being scooped by the robot is sometimes
difficult to control.

Inflatable bladder type gripper devices in which an inflatable bladder or diaphragm is

expanded to grasp the object. The inflatable bladder is fabricated out of rubber or other
elastic material which makes it appropriate for gripping fragile objects.

Fig. 2.21 Expansion bladder used to grasp inside of a cup-shaped container

The gripper applies a uniform grasping pressure against the surface of the object rather
than a concentrated force typical of a mechanical gripper. An example of inflatable
bladder type gripper is shown in Fig. 2.21. Part (a) of the figure shows the bladder fully
expanded. Part (b) shows the bladder used to grasp the inside diameter of a bottle.

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 Tools as End Effectors

In many applications, the robot is required to manipulate a tool rather than a work part. In
some applications, the end effector is a gripper that is designed to grasp and handle the tool. The
reason is being work cycle may involve more than one tool. This will permit the tools to be
exchanged during the cycle and thus facilitating the multi tool function.

In most of the robot applications, a tool is manipulated and is directly attached to the
wrist. In these cases, the tool is the end effector. Some examples of tools used as end effectors in
robot applications include:

1. Spot-welding tools
2. Arc-welding tools
3. Spray-painting nozzle
4. Rotating spindles for operations such as:
a) Drilling
b) Routing
c) Wire brushing
d) grinding
5. Liquid cement applications for assembly
6. Heating torches
7. Water jet cutting tool

The Robot / End Effector Interface

An important aspect of the end effector applications in engineering involves the interfacing of
the end effector with the robot. The interface must accomplish the following functions:

1. Physical support of the end effector during the work cycle must be provided. Power to
actuate the end effector must be supplied through the interface.
2. Control signals to actuate the end effector must be provided. This is often accomplished
by controlling the actuating power.
3. Feedback signals must sometimes be transmitted back through the interface to the robot
controller.
4. It should have high reliability.
5. Protection against the environment and overload protection in case of disturbances and
unexpected events during the work cycle.

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 Physical support of the end effector
The physical support of the end effector is achieved by the mechanical connection
between the end effector and the robot wrist. This mechanical connection often consists of a
faceplate at the end of the wrist to which the end effector is bolted.
Ideally, the design of the mechanical connection should have the following
characteristics.

a) Strength: the strength of the mechanical connection refers to its ability to

withstand the forces associated with the operation of the end effector. These
forces include the weight of the end effector, weight of the work part being
handled, acceleration and deceleration forces and any other applied forces
during the work cycle.
b) Compliance: It refers to the wrist socket’s ability to yield elastically when
subject to a force.
c) Overload protection: an overload results when some unexpected event
happens to the end effector such as a part becoming struck in a die, or a tool
getting caught in a moving conveyor. Whatever the cause, the consequences
involve possible damage to the end effector or may be even the robot itself.
Overload protection is intended to eliminate or reduce this potential damage.

Power and signal transmission

End effectors require power to operate. They also require control signals to regulate their
operation. The principle methods of transmitting power and control signals to the end
effector are:
1. Pneumatic
2. Electric
3. Hydraulic
4. Mechanical

The method of providing the power to the end effector must be compatible with the
capabilities of the robot system.

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 Remote Center Compliance Device (RCC)

It acts as a sensing device for misalignments and provides a means of correction for
robots. However, RCC devices, also called compensators, are completely passive and there are
no input or output signals.

An RCC device is an attachment added to the robot between the wrist and the end effector. It is
designed to provide a means of correction for misalignments between the end effector and a part.

Fig 2.22 Two possible errors for the peg-in-hole insertion task
(a) Lateral position error (b) Angular error
Suppose a robot is to push a peg into a hole in a part as shown in figure 2.22. If the hole and the
peg are exactly the right sizes, and if they are exactly aligned, both laterally and axially, the robot
may push the peg into the hole. However, this is often impossible to achieve. Imagine the hole is
slightly off such that the centerline of the hole and the peg are a small distance apart, as in fig (a)
above.

Now assume that instead of an axial misalignment, there is an angular (cocking) misalignment
between the two centerlines as in fig (b). In this case, even if the peg and the hole are exactly
aligned at the mouth of the hole, if the peg is pushed in one of the two will have to either deflect
or break, unless one is allowed to move.

A RCC device provides this selective compliance through a simple 4-bar mechanism.

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 Fig. 2.23 a typical Four-bar mechanism

Consider a 4-bar mechanism as shown in above figure 2.23. The instantaneous center of zero
velocity for the coupler link is at point IC1as shown.

Now consider a mechanism with linkages of equal length in a rectangular format as shown in
below figure 2.24 (a). The coupler moves in translation and it provides lateral flexibility only. If
the linkages are in a trapezoid format as shown figure 2.24(b), coupler rotates about the center IC
and it provides lateral rotation.

RCC device is principally a combination of both of these.

Fig 2.24 Two types of four bar mechanism

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 Fig 2.25 Schematic representation of how an RCC device operates

Fig 2.26 Commercially available RCC device

Parameters to be considered in RCC device

RCCs are typically constructed using elastomeric springs rather than the mechanical
linkages shows in Fig 2.26.This has resulted in designs that are simple, small and light weight.

The parameters to be considered in selecting the remote center compliance device include
the following:

1. Compliance center (elastic center) is the point about which the forces acting on the object
being inserted are minimum. The remote center distance should be selected on the basis
of the length of the part and the gripper
2. Remote center distance: This is also called the center of compliance dimension. It is the
distance between the RCC bottom surface and the compliant center of the RCC device.

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 3. Axial force capacity: This is the maximum force in the axial direction which the RCC
device is designed to withstand and still function properly.
4. Compressive stiffness: This is also called the axial stiffness. It is the force per unit
distance or spring constant required to compress the RCC device in the direction of
insertion. Generally, the compressive stiffness is relatively high to allow for press fitting
of parts together.
5. Lateral stiffness: This is the spring constant relating to the force required to deflect the
RCC laterally (perpendicular to the direction of insertion). This parameter should be
determined according to the stiffness of the robot and the delicacy of the parts being
assembled.
6. Angular stiffness: This is also called the cocking stiffness. It is the rotational spring
constant that relates to the force required to rotate the part about the elastic center by a
certain amount.
7. Torsional stiffness: This is the torsional spring constant which relates to the moment
required to rotate the part about the axis of insertion. This parameter becomes important
when the insertion task requires orientation relative to the axis of insertion.
8. Maximum allowable lateral and angular errors: These errors are generally determined by
the relative size of the product and by its design (e.g., design of chamfers).

Considerations in Gripper (end effector) Selection and Design

In making the human/robot comparison the end effector is analogous to the human hand.
The design of the end effectors, however, is best carried out strictly on the requirements of the
task.
The various design features of End effector are:

(a) Utilize many means of handling parts other than by mechanical means
(b) Be designed to offer superior gripping power and deal easily with heavy parts
(c) Be made tolerant of hot, corrosive, electrically active, sharp or rough parts.
(d) Be made tolerant of hostile environments such as furnaces, chemical baths, gas or
radioactive chambers etc
(e) Be changed to suit different tasks and parts even in mid sequence
(f) Be designed to have superior manipulation and reach within confined spaces or
during intricate tasks (e.g. paint spraying).

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 The ideal end effector should exhibit certain desirable characteristics by virtue of its
design. The considerations include the following:

a) End effector should be as light-weight as possible to increase the payload capacity of

the robot/end-effector combination.
b) End effectors should be as small as possible in order to gain maximum access within
the working volume of the robot configuration.
c) End effectors should be as rigid as possible to maintain accuracy, repeatability and
prevent mis-handling of the part, whilst at the same time preventing damage due to
over gripping.
d) Heavy loads should be held as close as possible to the axes of movement of the end
effector to reduce (force x distance) moments acting at the end of the manipulator,
thus promoting structural stability.
e) End effectors should be safe both in their operation and in the event of overload or
collision conditions.
f) End effectors should be available at reasonable cost.

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ME424U2ChLS201516
 Review Questions
1. Define the term ‘end effector’ and explain why they are not normally purchased as part of a
standard industrial robot.
2. Discuss the desirable characteristics and features that should be possessed by an end effector
mounting arrangement.
3. Define with the aid of a neat sketch, the terms Pitch, Roll and Yaw in the context of end
effector motions.
4. Briefly explain various ways of classification of grippers.
5. Differentiate the hard gripper and a soft gripper.
6. With the help of neat sketches explain the principle, types, operation, and salient features of
vacuum cup grippers.
7. With the help of neat sketches explain the salient features of magnetic cup grippers.
8. What is the principle of working of a RCC? Explain its significance in robotic applications.
9. Explain the various applications of robots in which tools are used as end effectors.

Problems

1. A part weighing 8N is to be held by a gripper using friction against two opposing fingers.
The coefficient of friction between the fingers and the part surface is estimated to be 0.3. The
orientation of the gripper will be such that the weight of the part will be applied in a direction
parallel to the contacting finger surfaces. A fast work cycle is anticipated so that the g factor
to be used in force calculations should be 3.0. Compute the required gripper force for the
specifications given.
2. Solve the above problem except using a safety factor of 1.5 in the calculations.
3. A part weighing 15N is to be grasped by a mechanical gripper using friction between two
opposing fingers. The coefficient of static friction is 0.35 and the coefficient of dynamic
friction is 0.20. The direction of the acceleration force is parallel to the contacting surfaces of
the gripper fingers. Which value of coefficient of friction is appropriate to use in the force
calculations? Why? Compute the required gripper force assuming that a g factor of 2.0 is
applicable.
4. A vacuum gripper is to be designed to handle flat plate glass, in an automobile windshield
plant. Each pate weighs 28 lb. A single suction cup will be used and the diameter of the
suction cup is 6.0 in. Determine the negative pressure required (compared to atmospheric
pressure of 14.7 lb/in2.) to lift each plate. Use a safety factor of 1.5 in your calculations.
5. A vacuum pump to be used in a robot vacuum gripper application is capable of drawing a
negative pressure of 4.0 lb/in2 compared to atmospheric pressure. The gripper is to be used
for lifting stainless steel plates, each plate having dimensions of 15 by 35 in and weighing 52
lb. determine the diameter of the suction cups to be used for the robot gripper if it has been
decided that two suction cups will be used for the gripper for greater stability. A factor of
safety of 1.5 should be used in the design computations.
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ME424U2ChLS201516