/ a) ae ROBOT END EFFEC Se ae ee sey i rest Pedal open tas feel ae pega tte eee eae ee cena ee scree Cat fotaufirtie eaten Soca om guane nee tat aa reste teint tert an ee Scholar oe eeee Shite ees hep a hy Be Beige Soe ert een 5.1 TYPES OF END EFFECTORS ‘THeze ae a wide asorient of end effectors requte to perform he of ifleren werk tention. The various types cane dived fo oa ‘azprs: 1. Grippers 2 Toot tines re end etetors used to grasp and hod objets. The ci _— cy vr tt 98 be mre fats ik ei LST nin, sine and an a os pa Ac: Plig Pai ct tale by 00" EPPS inde can at © Maen tok We en HK err smc els or mae azeaeratve ways of Roding object instyig fdr tt? crt aI Cie we wi ns Oe a Spr! Poli ei ne ere ga secon ripper used i abot, and See iter shee 2 means fenton oer han nec shew double ripe as ppc sods wed to handle wo separate objet oe eed edmonton Sica ttc ee Serer cicero i im MUlpe eriper is applied in he case whee to ce were EERIE mchaniams are fastened to the wis Doce sippee ae schony HERG euetor sac of I tral suse. ecm iengg at THe Bis tp clean el per an eed oe wed 0 an internal ppp, wor COMER this Chapel ae ci eet deed peor od cre Fa ater tanto merely sp by Senn Be ete Sn et the te a ey on re tains rot spot waking nich be eig arrests the ‘end ecco eke mei Ober comp ft ama which ot are sd aren exes foe pining and TARE Seton 5° abcunc ihe ran nl tern he cae ‘wa ' mented above tat pipet estas ie Yl iyy rat eta a Nr uf lg ne he tok one te {Shoe mani en rh be Stain 9 "sums Ansel ricer tpn tt be hho sacral Stn epee we ne ov or cet, oer Ope a ftng ye nda ot spltion. These nls lg {Syren notes ome ool eves pn na wn ang the wor eee 5.2 MECHANICAL GRIPPERS ‘Basic Definitions and Operation hat es mesh ak aay |A mechanical gripper san end effec = sometimes eed rae SPEEs Were snopes Ti bger Sppeniogs athe eigpr tt actualy ake Cont winsseee ttizn the igre he atau pe ce ey a Sate. "The ee opciones ee wea Soechy, Dito sat hen Bw eid he ae lout Yan be decd 0 actmoante fren ar mead Samir nergy tue aad nee Se Seon scaled w omens Riget of toe aren Fiekion, wo ope ae scent to Rad she tbe coe ae Eppes pore as omti "he ncn ppe ncn erator inti i ping sc aps gi a tee ened ar rite nd fon 6 ven Irate We nil ica he deathes Seed. he eet heen ne th ger no elise es ep ecitadwitseae syn. coning he a a he Test ‘ere ae sir Ne fag oe ae ene Ie tal ae ee ae ae Fe ral acomplahed by Bae sari tae mpi te dng res comtsining te pt Ehaeacsin bg 50 Te eed st sy ton fctwce he ges he SSIS TA, aL elke fase ma ph see hare eo glen acon yar Da mah “ei line ro wc ge 2 A ag och econ nik Wp rt taco a he Cnc ge sac st A ep ate toe saeeg Soe 3 mcd ig he pet vos ee cold ad er penne ete: din tdi ats tobe aly espe rity of workpas. However, the na bem th ht ction Ed toed wt the lth Sent magnitude applied against the part a ase sree of the Bngers a shown nig Sa) he pr gh Sp oot (pe popper To cess hs slippage he eiper must be dened t exe ewe 2 Pal ome met ger og, oe rap) Hay $3 Foe st at eo ager ste dng » parca gee- pour nn : that eds om the weight of Laghaior e ctiog the atau ane Sept ection of mation dig ee Merde ne tag Th a ae canoe Bi nd te ection (sa), cam BE wed 10. determin yy -“ ir force as a function of these factors Sere pon of he BT wh ’ i coficint of tctin of the Finger Coma sera ain . tl ovice p= mumter of comating fingers Fr sione force Eee ofthe part or abet being srpped ‘Tiseqution nod app wen the force of eave a yg fontchng sacs the force tending to pul the part ot of he omer tan te weight othe objet, then Eq. (5-1) would have tee Fecal the force of acceleration would be 3 signin acer parchanding estes. Engeberger [3] sues that in 9 Highspeed eration th acceleration (or deceleration) of he pat could exe sleet Irv the might of the art. He reduces the problem fo the we oj fn revbedveion of Eq (51) 8 follows anh we a where =the ¢ factor. The g fctor supposed to take acount ombigd effect of gravity and acceleration, I the aceleatn fot pple te same ection a the gravity ores then the y value= AT ewe leith pnt one eae“ ‘ei ofthe pt de to acceleration minus 1 the weight of he ot ravi) I he acceleration is applied in 2 higonal tection et £20 The flowing example wl ustrate te se ofthe quan here 12 i Wh nc ae al {ela a cad iit acs cea i feauired gripper force for the conditions given. We ‘make use of Eg. (5-2) to solve for F, ee (02507, = c10y6.0) % = 601 er rest tc _ i a ce ee fe eri sh ens tat shouldbe seknowedged Tn part. sed at cn le rm ee once fe ca oars ac resents emt rota pt ack eg Mee cone a eo Cte ene 6 Sn em seb ct 13 etor he potent pole of te carn being pasped ata psion compayan its center of MASS. a ae cm eof exten wit ie eae eee ee aon cma pl te tte! ne ete saa one on ascent ree gol 1 ose te snc of a ino tere dn ane ire ince Wem fo os ee eee geese ce Peale cig se er Ce vet mean ae ae aaias ieee lee core “Types of Gripper Mechanisms cous as ot lsine meconselgrpprs and sbi euating ‘neta One metiod asconing othe pea nger moncment wed {TEipper, tm ths clasistion, the ppp can actate the Opting 28 losing ofthe agers by one of the following ents “These gupper actions are shown inthe photoraps of Fig. Sb an $5. In the pvting movement te fingers rotate about fc poe points on the ict o open and cas. The motion sy aconpsie by ome kind of lakage medhanis Inthe near uvemert He fingers cp ad lose svi aa each se. Ts aecompedymeans of Ee i ‘thi eath finger bese anos slong 2 zee rail daring actustion. The ‘asa finger movement might le te accomplished Dy meas of & - i —