Robotic End-Effectors P. Nagarajan AP/MTRS Consider typical robots… What could a robot do without “end effectors”? Robot End-Effectors An end-effector is a device attached to the wrist of a manipulator for the purpose of holding materials, parts, tools to perform a specific task End Effectors Grippers End-effectors used to grasp and hold objects Tools End-effectors designed to perform some specific tasks Ex: Spot welding electrode, Spray gun Common end effectors 1. Tools Spot welding Arc welding Drilling, grinding, de-burring, etc. Cutting device (laser, water jet, torch, etc.) Spray painting Common end effectors (cont) 2. Grippers Mechanical Vacuum Magnetized Adhesive Simple (hooks, scoops) Grippers and Tools Classification of Grippers Single gripper and double gripper • Single gripper: Only one gripping device is mounted on the wrist • Double gripper: Two independent gripping devices are attached to the wrist Double gripper Example: Two separate grippers mounted on the wrist for loading and unloading applications Classification of Grippers Internal gripper vs. External gripper Internal gripper External gripper 9 Unilateral vs Multilateral Gripper Unilateral– only one point or surface is touching the object to be handled. (fig 1) Example : vacuum pad gripper & Electro magnetic gripper Multilateral – more than two points or surfaces touching the components to be handled (fig.a) Classification of Grippers Soft gripper vs. Hard gripper Hard gripper: Point contact between the finger and object Soft gripper: Area (surface) contact between the finger and object Classification of Grippers Active gripper: Gripper equipped with sensor Passive gripper: Gripper without sensor A Few Robot Grippers Mechanical Grippers Use mechanical fingers (jaws) actuated by some mechanisms Less versatile, less flexible and less costly 13 Mechanical grippers • Uses mechanical fingers actuated by a mechanism to grasp an object. • If the fingers are attachable, then it can be detached and replaced. • Jaws, make contact with the object different set of finger can be used for same gripper mechanism • Grippers with three or more fingers are less common Working Function: To translate some form of power input to grasping action of finger against part by pneumatic or electric or mechanical power It is done by • Physical constriction method • Friction method Physical constriction method • Here fingers enclose the part to an extent thereby constraining the motion of the part. • Done by designing the contacting surface of the gripper, to be approximately in the shape of geometry. Friction method • By the friction between the gripper and the work part • Fingers much apply sufficient force for friction to retain the part against gravity, acceleration. Disadvantages: • slippage continued To overcome this, gripper must be designed to exert a force that depends on • Coefficient of friction between part surface and finger surface(µ) • Acceleration of the part • Orientation between direction of motion during acceleration and direction of fingers continued continued Another issue is that, In high speed applications, acceleration of the part could exert a force, that is twice the weight of the part. • Hence a new factor called, g factor is introduced. • µ𝑛𝑓𝐹𝑔 = 𝑤𝑔 • g = 3.0, when acceleration is applied in the same direction as the gravity force. • g = 2.0, when acceleration is applied in horizontal direction. • g = 1, when the acceleration is applied in opposite direction. Friction-Based Grasping Manipulators ● Can range from simple parallel jawgrippers to multi fingered manipulators ● Simpler models of end-effectors require less grasp analysis, but may provide worse grasps 2-Point/Planar Contact Manipulators ● Uses 2- point or 2planar soft-finger contact friction between points on rigid body to ensure grasp. ● Is very versatile, but may not provide enough contact points for robust or delicate grasping. 2-Point/Planar Contact Manipulators ● These manipulators rely heavily on sensor data of object to develop a geometrical model. ● The robot can construct a grasp map using this model to achieve a grasp Multi-Contact Point Hand Manipulators ● With more fingers, we can apply more point and planar contacts to object ● Assuming friction, with more contacts we can increase the chance of a stable force-closure grasp. Multi-Contact Point Hand Manipulators ● The Barrett hand is an example of a manipulator that allows a great deal of flexibility Multiple Contact Points/ Multiple Cooperative Manipulators ● As we increase the number of fingers, we can often increase the manipulation capabilities of the robot ● The DaVinci medical robot features 4 end effectors working in cooperation Pros and Cons of Friction-Based Hand End Effectors ● May have a highcomputational cost associated with grasp analysis ● Heavily dependent on sensor data ● Is appropriate for delicate and highly manipulable scenarios Mechanical grippers - example Gripper with linkage actuation Mechanical grippers - example Gripper with rotary actuation 29 Mechanical grippers - example Gripper with cam actuation 30 Main Types of Mechanical Grippers Parallel Angular 2 or more “fingers” Main Types of Mechanical Grippers Parallel Angular 2 or more “fingers” Mechanical Grippers: Limitations •Watch out for dynamic forces and moments when sizing a gripper. •Gripper could drop part with loss in air pressure (can order spring clamps to solve this problem) •Angular grippers are less expensive, but the arcing motion of the jaws may require additional tooling clearance and will grip at varying points as part width varies. A parallel gripper is simpler to tool to compensate for part size variance. Mechanical Gripper Specifications Grip force: ranges tiny forces .1 lbs to over 1600 lbs (don’t forget dynamic forces, moments) Part sizes: typically .01 to 36 inches Number of jaws: typically 2 to 4 jaws or fingers Repeatability: typically +/- .001 to .005 inches Cycles to failure: up to 10 million cycles Supporting technologies: air valves, air compressors, sensors, I/O interfaces Mechanical Grippers We can think of a mechanical gripper as a robot hand. A basic robot hand will have only two or three fingers A mechanical hand that wraps around an object will rely on friction in order to secure the object it is holding. Friction between the gripper and the object will depend on two things, First is the type of surface whether it be metal on metal, rubber on metal, smooth surfaces or rough surfaces and the second is the force which is pressing the surfaces together. Mechanical grippers are often fitted with some type of pad usually made from polyurethane as this provides greater friction. Pads are less likely to damage the workpiece. Pads are also used so to have a better grip as the polyurethane will make contact with all parts of the surface when the gripper is closed Mechanical grippers can be designed and made for specific purposes and adjusted according to the size of the object. They can also have dual grippers. We are all familiar with the saying ‘two hands are better than one” and robots benefit from having dual grippers as they can increase productivity, be used with machines that have two work stations where one robot can load two parts in a single operation, operations in which the size of objects or part change due to the machining processes and where the cycle time of the robot is too slow to keep up with the production of other machines. 35 Advances in Mechanical Grippers Dual grippers Interchangeable fingers Sensory feedback To sense presence of object To apply a specified force on the object Multiple fingered gripper (similar to human hand) Standard gripper products to reduce the amount of custom design required Vacuum Gripper • Also called as “Suction cups”, used for handling certain type of objects. • The objects should be flat, smooth, clean and condition necessary to form a satisfactory vacuum between object and suction cup. • Suction cup is made of elastic material like rubber or soft plastic. • When the object to be handled is soft, the cup should be made of hard substance. • Two devices can be used: Either Vacuum pump or venturi Vacuum Gripper 38 Types of Vacuum Grippers “A suitable suction cup is available for virtually any situation – with very few exceptions. Suction cups are very well suited for a wide variety of needs and circumstances. They can handle plate, eggs, paper, wood – practically any material. Be it smooth, irregular, bent, porous, airtight, lightweight, heavy, angled, hot or cold, the material can be handled by suction cups safely, gently and quickly.” Small to medium objects Large, heavy objects Uneven objects Types of Vacuum Grippers Level compensator A level compensator compensates for differences in level and absorbs shocks. The mounting also reduces the need for accurate positioning in height. Ball joint A ball joint adjusts itself automatically to different contact angles and reduces the bending moments on the suction cup. The ball-joint is recommended in the following typical cases: •for lifting heavy objects or plates •for handling workpieces that are in motion •for handling workpieces that are curved or have irregular surfaces Vacuum Grippers Application PACKAGING: Canning Tray Making Bottling Box Making Capping Labeling Bagging & Sealing MATERIAL HANDLING: Auto Manufacturing Steel Fabricators Conveyors Manufacture & Packaging of Compact Disc Electronics Heavy Industry Vacuum Gripper Specifications Gripping force: generally up to 300 lbs. Multiple cups can pick up to 6,000 lbs. Pressures: requires –3 to –15 psi gauge Sizes: suction cups typically range between .05 and 18 inch diameters Supporting Technologies: Compressors, valves, air filters, controllers Suction Grippers • There are two types of suction grippers: 1. Devices operated by a vacuum – the vacuum may be provided by a vacuum pump or by compressed air 2. Devices with a flexible suction cup – this cup presses on the workpiece. Compressed air is blown into the suction cup to release the workpiece. The advantage of the suction cup is that if there is a power failure it will still work as the workpiece will not fall down. The disadvantage of the suction cup is that they only work on clean, smooth surfaces. • There are many more advantages for using a suction cup rather than a mechanical grip including: there is no danger of crushing fragile objects, the exact shape and size does not matter and the suction cup does not have to be precisely positioned on the object • The downfalls of suction cups as an end effector include: the robot system must include a form of pump for air and the level of noise can cause annoyance in some circumstances 43 Suction-Based End Effectors ● Suction manipulators are good for lowweight, small objects ● Acceleration of end effector affects max load that suction gripper can carry for many objects Suction-Based End Effectors ● Suction gripper end effectors are used often in industrial settings, since they require a vacuum system. ● Unless the object has a planar surface, precise manipulation can be difficult Advantages/Disadvantages ● Suction based robots require less grasp analysis ● Are usually not appropriate for nonplanar large objects ● Can manipulate rigid planar objects very well Adept Quattro Robot ● The Adept Quattro robot is a high-speed industrial robot used for packing and sorting ● It uses a suction end effector to lift and place small objects Magnetic grippers • Used for magnetic materials only. For example: various steels( but not stainless steel) Can use either electro-magnets or permanent magnets Pick up time is less Can grip parts of various sizes Disadvantage residual magnetism Problem of picking up only one sheet from the stack 48 Magnetic grippers Solution for Problem of picking up only one sheet from the stack: • This is caused because the magnetic attraction, tend to penetrate beyond the top sheet of the stack, hence more than one sheet is picked. • This can be addressed by 1. Limit the effective penetration to desired depth 2. Using “Fanner” circuit Fanner circuit • This circuit uses the magnetic field to induce a charge, in the ferrous sheets in the stack. • Each sheet towards the top of the sheet is given with a magnetic charge, causing them to posses same polarity and repel each other. • The sheet most affected is the one at the top of the stack. • Hence it tries to rise above the remainder of the stack, thus facilitating pick up of the robot gripper. Types of magnetic gripper Magnetic gripper Permanent magnet Electromagnet Permanent magnet type • Do not require any external power source. • Often used in handling tasks at hazardous environment. • Loss of control on the part. Ex: • When a part is to be released at the end of a handling cycle, some means of separating part from the magnet must be provided. • This is done using “Stripper or stripping device”. • Its function is to “mechanically detach the part from the magnet”. Magnetic Gripper with stripper 53 Electromagnet type • Easy to control • Requires a source of dc power and a appropriate controller unit. • While releasing the part, the controller reverses the polarity at reduced power level, before switching off the electromagnet. • This cancel outs residual magnetism and ensures positive release of the part. Adhesive Gripper Grasping action using adhesive substance. To handle fabrics and lightweight materials. Disadvantage: It looses its tackiness on repeated usage. Hence, reliability is diminished with successive operations. To overcome this, the adhesive material is loaded in a continuous ribbon form into a feeding mechanism that is attached to the robot gripper. 55 Hooks, Scoops and miscellaneous devices Hooks: • To load and unload parts hanging from overhead conveyors. Scoops: • Can handle materials in liquid and powder form. Disadvantage: • Difficult to control • Spillage during handling Hooks, Scoops and miscellaneous devices Inflatable bladder: • Fabricated out of rubber or other elastic material, which makes it appropriate to grip fragile objects. • The gripper applies uniform pressure over the gripping object rather than concentrated force as in mechanical gripper. Types of Grippers There are four main categories which makes use of a gripper 1. No gripping – in this situation the workpiece is held in a jig (a specially designed purpose built holder) and the robot performs an activity on it. Jobs which use no gripping can include spot welding, flame cutting and drilling. 2. Coarse gripping – in this case the robot holds the workpiece but the gripping does not have to be precise. Jobs which use coarse gripping include handling and dipping castings, unloading furnaces, stacking boxes or sacks. 3. Precise gripping – A robot holds the workpiece which requires accurate positioning for example unloading and loading machine tools. 4. Assembly – the robot is required to assemble parts which requires accurate positioning and some form of sensory feedback to enable the robot to monitor and correct its movements. 58 Hybrid Suction/Friction “Universal Gripper” End Effector ● Uses a balloon full of coffee grounds to produce an adaptive grasp that can allow manipulation of irregular objects ● Excellent versatility Tools • In most applications, robot is required to manipulate a tool. • The end effector is designed to grasp and handle these tools. • In many applications, tool is directly attached to the wrist. • Some examples are 1. 2. 3. 4. 5. 6. 7. Spot welding Arc welding Spray painting nozzle Liquid cement applicator for assembly Drilling , grinding Heating torches Water jet cutting tool