End Effectors

An end effector is a peripheral device that attaches to a robot’s wrist,

allowing the robot to interact with its task. Most end effectors are
mechanical or electromechanical and serve as grippers, process tools, or
sensors. They range from simple two-fingered grippers for pick-and-place
tasks to complex sensor systems for robotic inspection.

The special tooling for a robot that enables it to perform a specific task
An end effector is the device that is at the end of a robotic arm.
We can think of an end effector like a human hand. Even though a
human hand is very versatile, an end effector has one great advantage
that humans do not have and that is the interchangeability of end
effectors. If the end effector is not suitable than it can be changed unlike
the human hand.

1. A robotic end-effector is any object attached to the robot flange (wrist)

that serves a function.
2. In robotics, an end effector is the device at the end of a robotic arm,
designed to interact with the environment.
3. Device that attaches to the wrist of the robot arm and enables the
general- purpose robot to perform a specific task.
4. Robot end-effectors are also known as robotic peripherals, robotic
accessories, robot tools, or robotic tools, end-of-arm tooling (EOA), tool
tips, or end-of-arm devices.

Classification of End Effectors

Impactive – jaws or claws which physically grasp by direct impact upon the object.
Ingressive – pins, needles or hackles which physically penetrate the surface of the
object (used in textile, carbon and glass fiber handling).
Astrictive – suction forces (includes magnetic) applied to the objects surface.
Contigutive – requiring direct contact for adhesion to take place (such as glue,
surface tension or freezing).
Gripper:
Grippers are the end effectors used for holding the
parts or objects.

Grippers are devices which can be used for holding or

gripping an object.

They include what you might call mechanical hands

and also anything like hooks, magnets and suction
devices which can be used for holding or gripping.

Grippers take advantage of point-to-point control

(exact path that the robot takes between what it is
picking up and where it is placing it.

Grippers should be designed so that it requires the

minimum amount of maneuvering inorder to grip the
workpiece.

Applications of grippers:-
MachineLoadingandunloading,pickingandplacingofparts
onconveyor,materialhandling,bottlehandling,arranging
partsontopallets,etc.

End effector = Gripper

Mounted to a tooling plate
Cost of End of Arm Tooling can account for 20% of the total
cost of the robot.

Two Functions:
Hold the part while work is being performed.
Hold tool which is performing the work on the part.
Unilateral– only one point or surface is touching the object to be handled.
Example :Vacuum pad gripper & Electro magnetic gripper

Multilateral – more than two points or surfaces touching the

components to be handled.
FourMajorTypes of gripper
1. Mechanical
2. Suction or vaccum cups
3.Magnetised gripper
4.Adhesives
Are of 3 types: Parallel, Angular or more than 2 fingers.
11 Two ways of gripper mechanism based on finger movement
1.Pivoting movement – Eg. Link actuation
2.Linear or translational movement – Eg. Screw and cylinder
Four ways of gripper mechanism based on kinematic devices
1. Linkage actuation
2. Gear and rack actuation
3. Cam actuation
4. Screw actuation