Robot End Effectors

An end effector is a device attached to the wrist of a manipulator for the purpose of holding materials, parts tool to perform a specific task Classification of Gripper Single gripper and double gripper Internal gripper and external gripper Soft gripper and hard gripper Point contact area contact Active Gripper and Passive Gripper Equipped with sensor and without sensor Mechanical gripper Use mechanical fingers actuated by some mechanisms Less versatile, less flexible and less costly Example Gripper with linkage actuation Swing block mechanism Gripper with cam follower actuation Gripper with rack pinion rotary actuation Gripper with Screw actuation Gripper with Rope and pulley actuation https://www.youtube.com/watch?v=JiAp9XFmEYg Vacuum Gripper https://www.youtube.com/watch?v=Jc0J1LqwRtk Magnetic Gripper For magnetic materials only Can use either electro magnets or permanent magnets Pick up time is less https://www.youtube.com/watch?v=KQHkFx49e2E Adhesive Gripper Used to handle fabrics and light weight materials Adhesive substance can be used for grasping action. One contact surface is needed. The reliability is diminished with successive operation. It is used to lift light weight object. Universal Gripper https://youtu.be/0d4f8fEysf8