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    4 views6 pages

    End Effect or

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    psunmoorthy
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    © All Rights Reserved
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    of 6
    THE COMPUTER SCIENCE ano ENGINEERING HANDBOOK EDITOR-IN-CHIEF ALLEN B. TUCKER, JR. ‘KEGRE Handbook Published in Cooperation with ACM, The Assocation for Computing 33.6 End Effectors and End-of-Arm Tooling End effectors anc end-of-arm tooling are the devices through which the robot manipulator interacts with. ‘theworld aroundit, grasping and manipulating parts inspecting surfaces, and soon { Wright and Cutkosky 1985]. Bnd effectors should not be considered as accessories, but asa major component in any workcell ‘proper selection and/or design of end effectors can make the difference between success ad failure in many process applications, particularly whea one includes reliability, efficiency, and economic factors. End effectors consist of the fingers the gripper, and the wrist. They can be either standard commercially avalable mechanisms or specially designed tools, or can be complex systems in themselves (e.g, welding tools or dextrous hands). Sensors can be incorporated in the fingers, the gripper mechanism, or the wrist ‘mechanism, Al'endeflectors,end-of-arm tooling, and supplyhoses and cables electrical, pneumatic, etc) ‘must be taken into account when considering the manipulator payload weight limits of the manufacturer, Part Fixtures and Robot Tooling {mn most applications the end effector design problem should not be decoupled from the part Bxturing design problem. One should consider the wrist, grippes, fingers, and part ixturing asa single sytem, Integrated design can often yield innovative solutions io otherwise intractable problems; nonintegrated design can often lead to unforseen problems and unexpected failure modes, Coordinated design of fixtures and end effecors can often avoid the use of high-level expensive sensors (et vision) and/or complex feedback control ystems that required overall coordinated control ofthe robot arm mation, the gripper action, and che part pose, An ideal example of a device that allows simplified control suategies is the remote-center-of-compliance (RCC) wrist in Fig. $3.17(b) if corsectly used Robotics 753 @ © FIGURE 33.15 Angular and parallel movion robot grippers (a) angular oion gripper and (b) parallel motion gripper open and closed. (Sours Courtesy of Rabo-Tech Systems, aston, NC. With permission Grippers and Fingers ‘Commercial catalogs usually allow one to purchase end effector components separately, including fingers, srippets, and wrists. Grippers can be actuated either pneumatically or using servomotors. Poeumatic actuation is usually either open or closed, corresponding to a binary command to tuen the ai pressure either off or on. Grippers often lock into place when the fingers are closed to offer failsafe action if air pressure fails. Servomotors often require analog commands and are used wlen fner gripper control is required. Available gripping forces span a wide range up to several hundred pounds force. Gripper Mechanisms. Angular motion grippers see Fig. 33.15(a), ate inexpensive devices allowing grasp- ing of parts ither externally or internally (eg, fingersinsert into a tube and gripper presses them outward). ‘The fingers can often open or close by 90°. These devices ae useful fr simple pick-and-place operations. In electronic assembly or tasks where precise part location is needed, it is often necessary to use paralel rippers, see Fig. 33.15(b), where the finger actuation affords exactly parallel closing motion, Parallel tippers generally have «far smaller range of fingertip motion that angular grippers (eg less than | in Insome cases, sch as electronic assembly of parts positioned by wires, one requires center seckng grippers, see Fig, 35.16{a), where the fingers are closed until one finger contacts the paz, then that finger stops and the other finger closes until the partis grasped. ‘There are available many grippers with advanced special-purpose mechanisms, including Robo-Tech’s Versageip lll shown in Fig. 35.16(b), a 3-fingered gripper whose fingers an be stated about a longitudinal = ae » FIGURE 33.16 Robot grippers (a) center seeking gripper showing part contact by Es niger and final closure by second finger and (b} Verse laste thre-fnger grippet. (Source: Courtesy of Robo-Tich Systems, Gastonia, NC. With permission.) 754 Anificial Intelligence and Robotics axis to offer a wide variety of 3-fingered grasps depending on the application and part geometry. Finger rotation is affected using a fine motion servornotor that can be adjusted asthe robot arm moves. ‘The gripper and/or finger tipscan have a wide variety of sensorsincluding binary part presence detectors, binary closure detectors, analog finger postion sensors, contact force sensors, temperature sensors, nd so on (section 38.7) “The Grasping Problem and Fingers. The study of the multfinger grasping problem isa highly technical area using mathematical and mechanical engineering analysis techniques such as rollingslipping con- cepts, fiction studies, force balance and center of gravity studies, etc. [Pertin-Trocaz 1989] These ideas may be used to determine the required gripper mechanisms, number of fingers, and finger shapes for @ specific application, Fingers are usually specially designed for particular applications, and may be custom ‘ordered from end-effector supply houses. Improper design and selection of fingers can doom to failure an application ofan expensive robotic system, By contrast, innovative finger and contac tip designs can solve difficult manipulation and grasping problems and greatly increase automation reliability efficiency, ‘and economic return, Fingers should not be thought ofas being restricted to anthropomorphic forms. They can have vacuum. contact tips for grasping smooth frgile surfaces (e.g, auto windshields), electromagnetic tips for handling, small ferrous parts, compliant bladders or wraparound sir bladders for odd-shaped or slippery parts, Bernoulli effect suction for thin fragile silicon wafers, or membranes covering a powder to distribute contact forces for irregular soft fragile parts (Wright and Cutkosky 1985] ‘Multipurpose grippers are advantageous in that a single end effector can perform multiple tasks. Some _multipurpose devices are commercially available; they are generally expensive. ‘The ideal multipurpose tend effector is the anthropomorphic destrous hand. Several dextrous robot hands are now available and afford potential applications in processes requiring ative manipulation of parts or handling of many sorts ‘of tooling. Carrently, they are generally restricted co research laboratories since the problems associated, ‘with their expense, control, and coordination ate not yet completely and reliably solved Robot Wrist Mechanisms ‘Wrist mechanisms couple the gripper tothe robot arm, and can perform many functions. Commercial adapter plaes allow wrists to be mounted to any commercially available robot arm. As an alternative to expensive multipurpose grippers, quick change wrists allow end effectors to be changed quickly during an application, and include quick disconnect couplings for mechanical, electrical, pneumatic and other von nections. Using a quick change wrist, required tools can be selected ftom a magazine of available tools/end ‘effectors located at the workcell If fewer tools are needed, an alternative is provided by inexpensive pivot sripper wrists such asthe 2-gripper-pivot device shown in Fig. 33.17(a}, which allows one of to grippers hs a . Le [=z ie fre HF An @ ) FIGURE 33.17 Robot writs, (a) Pvot gripper wrist. (Source: Courtesy of Robo-Tech Systems, Gastonia, NC. With permission) (b) Remote

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