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End Effectors

End Effectors. Allyson Pulsipher • Kasey Greenland October 12, 2007. Outline. Definition Types and Uses Practice Purchasing Considerations Vendors Costs Safety Summary. End Effectors. Definition Last link on a robot Interact with objects Two applications: Gripping Tooling.

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End Effectors

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  1. End Effectors Allyson Pulsipher • Kasey Greenland October 12, 2007

  2. Outline • Definition • Types and Uses • Practice • Purchasing • Considerations • Vendors • Costs • Safety • Summary

  3. End Effectors Definition • Last link on a robot • Interact with objects • Two applications: • Gripping • Tooling End Effector http://www.giveng.com/images/manb.jpg

  4. TYPES & USES Grippers Vacuum Cups Magnetic Mechanical Specialty

  5. T Y P E S & USES Mechanical Grippers • Advantages: • moving non-uniformly shaped objects • moving small objects • rotating objects • palletizing • no need for compressed air or other supplementary materials

  6. T Y P E S & USES Vacuum Grippers - Remtec • Advantages: • moving uniformly-shaped • objects • moving large objects • initial costs are low • works on any smooth • material

  7. T Y P E S & USES Magnetic Grippers Advantages: • Decreased air cost • Grasps odd or non-uniform parts • Outlasts most vacuum parts • Won’t drop materials during power outage or air loss • Low maintenance cost http://www.magnetics.com/ag/transporters.asp

  8. Specialty Grippers Uses for specialty grippers: • Product geometry does not lend itself to be secured by standard components • Special environmental conditions (heat, weight, oils, texture, etc.) • Several different sizes or configurations of product must be secured by the same end effector.

  9. PRACTICE Practice Suppose you work for a wheel rim manufacturer and your boss wants to automate the handling of the wheel rims. He put you in charge of securing the proper end effector for the robot. What type of end effector would you choose? http://www.spinning-rims.com/images/BZO-Colt45.jpg

  10. PRACTICE Practice If you had rusted steel pipes with a lizard hiding underneath them, what kind of gripper would you use to lift the pipes to catch the lizard? http://www.wildherps.com/images/herps/standard/022243_Mt_Glorious_skink.jpg

  11. T Y P E S & USES Tools Painting Sanding Cutting

  12. T Y P E S & USES Tools Cutters Welding

  13. T Y P E S & USES Tools – Deburring http://www.robots.com/movies.php?tag=8

  14. Advantage Robot Tooling • Consistency • Repeatability • No fatigue • Shorter cycle time • Fewer scrapped parts • Fewer injuries • Don't go on strike • Don't take vacations

  15. PURCHASING Considerations • Application • Effector properties • Width of stroke • Weight • Melting temperature • Gripping force • Interfacing with robot • Sensors required • Quality standards • ISO-14001 Environmental Management System Standard • Underwriters Laboratory (UL) • National Electric Manufacturers Association (NEMA) • Frequency of part replacement

  16. PURCHASING Vendors • http://www.rad-ra.com/ - deburring tools, grippers • http://www.ati-ia.com/ - end effectors • http://www.emiplastics.com/eoat.htm - vacuum, grippers, nippers • http://www.techno-sommer.com/ - grippers • http://www.tatem.co.uk/ - end effectors, tooling • http://www.remtecautomation.com/ - grippers • http://www.robots.com/ - welding, grippers • http://www.phdinc.com/Products/default-menu.asp - grippers • http://www.magnetics.com/ - magnetic grippers • http://www.unigripper.co.uk/ - grippers capable of about ½ ton! • http://www.piab.com/ - vacuum end effectors

  17. PURCHASING Cost • Grippers • Mechanical: $150-200 • Vacuum: $ 20-50 (per cup) • Magnetic: $ 200-600 (per cup) • Specialty: $ 400-500

  18. PURCHASING Supporting Technology • Robot • Sensors • Extensions • Mounting brackets

  19. Safety • Most end effectors come equipped with a Safety Interlock system that will not allow the operator to accidentally disengage the part during transfer. • Properly applied end effectors can reduce injuries by eliminating heavy lifting and turning of items. • Choose an end effector that can handle the loading and positioning needed. • Plastic shielding and/or laser barriers

  20. References http://en.wikipedia.org/wiki/End_effector http://www.roperresources.com/images/rom/manmate.jpg http://upload.wikimedia.org/wikipedia/en/5/5f/Endeffector.png http://www.columbiaokura.com/end_effectors.php http://www.robots4welding.com/ http://www.tatem.co.uk/ Gene Gautro (2007, January). LIFT, BUT DON'T TOUCH. Hydraulics & Pneumatics,60(1), 22-23.  Retrieved October 9, 2007, from ABI/INFORM Trade & Industry database. (Document ID: 1202706321). John Westbeld (2006, November). Knowing When To Choose Custom End-of-Arm Tooling. Robotics World,24(6), 4,6,8-10.  Retrieved October 9, 2007, from ABI/INFORM Global database. (Document ID: 1191089351).

  21. Summary http://video.google.com/videoplay?docid=-2581524765285148606&pr=goog-sl

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