End Effectors

Allyson Pulsipher Kasey Greenland

October 12, 2007




































Outline
Definition
Types and Uses
Practice
Purchasing
Considerations
Vendors
Costs
Safety
Summary























End Effectors
Definition
Last link on a robot
Interact with objects
Two applications:
1. Gripping
2. Tooling

End Effector
http://www.giveng.com/images/manb.jpg




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Grippers
Vacuum Cups
Magnetic
Specialty Mechanical




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Mechanical Grippers
Advantages:
moving non-uniformly
shaped objects
moving small objects
rotating objects
palletizing
no need for compressed
air or other supplementary
materials




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Vacuum Grippers - Remtec
Advantages:
moving uniformly-shaped
objects
moving large objects
initial costs are low
works on any smooth
material




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Magnetic Grippers
Advantages:
Decreased air cost
Grasps odd or non-uniform
parts
Outlasts most vacuum parts
Wont drop materials during
power outage or air loss
Low maintenance cost

http://www.magnetics.com/ag/transporters.asp



















Specialty Grippers
Product geometry does not lend itself to be secured
by standard components

Special environmental conditions (heat, weight, oils,
texture, etc.)

Several different sizes or configurations of product
must be secured by the same end effector.


Uses for specialty grippers:




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Practice
http://www.spinning-rims.com/images/BZO-Colt45.jpg
Suppose you work for a wheel rim manufacturer and your boss
wants to automate the handling of the wheel rims. He put you in
charge of securing the proper end effector for the robot. What
type of end effector would you choose?




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Practice
http://www.wildherps.com/images/herps/standard/022243_Mt_Glorious_skink.jpg
If you had rusted steel pipes with a lizard hiding underneath them, what
kind of gripper would you use to lift the pipes to catch the lizard?




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Tools
Sanding
Painting
Cutting




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Tools
Welding
Cutters




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Tools Deburring
http://www.robots.com/movies.php?tag=8


























Advantage Robot Tooling
Consistency
Repeatability
No fatigue
Shorter cycle time
Fewer scrapped parts
Fewer injuries

Don't go on strike
Don't take vacations





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Considerations
Application
Effector properties
Width of stroke
Weight
Melting temperature
Gripping force
Interfacing with robot
Sensors required
Quality standards
ISO-14001 Environmental
Management System Standard
Underwriters Laboratory (UL)
National Electric Manufacturers
Association (NEMA)
Frequency of part replacement




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Vendors
http://www.rad-ra.com/ - deburring tools, grippers
http://www.ati-ia.com/ - end effectors
http://www.emiplastics.com/eoat.htm - vacuum, grippers, nippers
http://www.techno-sommer.com/ - grippers
http://www.tatem.co.uk/ - end effectors, tooling
http://www.remtecautomation.com/ - grippers
http://www.robots.com/ - welding, grippers
http://www.phdinc.com/Products/default-menu.asp - grippers
http://www.magnetics.com/ - magnetic grippers
http://www.unigripper.co.uk/ - grippers capable of about ton!
http://www.piab.com/ - vacuum end effectors




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Cost
Grippers
Mechanical: $150-200
Vacuum: $ 20-50 (per cup)
Magnetic: $ 200-600 (per cup)
Specialty: $ 400-500




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Supporting Technology
Robot
Sensors
Extensions
Mounting brackets



















Safety
Most end effectors come equipped with a Safety
Interlock system that will not allow the operator to
accidentally disengage the part during transfer.

Properly applied end effectors can reduce injuries
by eliminating heavy lifting and turning of items.

Choose an end effector that can handle the loading
and positioning needed.

Plastic shielding and/or laser barriers



















References

Gene Gautro (2007, January). LIFT, BUT DON'T TOUCH. Hydraulics &
Pneumatics, 60(1), 22-23. Retrieved October 9, 2007, from ABI/INFORM
Trade & Industry database. (Document ID: 1202706321).

John Westbeld (2006, November). Knowing When To Choose Custom End-of-Arm
Tooling. Robotics World, 24(6), 4,6,8-10. Retrieved October 9, 2007, from
ABI/INFORM Global database. (Document ID: 1191089351).

http://en.wikipedia.org/wiki/End_effector
http://www.roperresources.com/images/rom/manmate.jpg
http://upload.wikimedia.org/wikipedia/en/5/5f/Endeffector.png
http://www.columbiaokura.com/end_effectors.php
http://www.robots4welding.com/
http://www.tatem.co.uk/




















Summary
http://video.google.com/videoplay?docid=-2581524765285148606&pr=goog-sl