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Agenda

Agenda. End-of-Arm Tooling End Effector Design Grippers. Terms. End-of-arm-tooling - This is a generic name for the tooling, whether gripper or tool, that is mounted on the end of the robot arm.

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Agenda

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Presentation Transcript

  1. Agenda • End-of-Arm Tooling • End Effector Design • Grippers

  2. Terms • End-of-arm-tooling - This is a generic name for the tooling, whether gripper or tool, that is mounted on the end of the robot arm. • End-effector - Is the interface between the robot and the part. It allows the robot to manipulate the part.

  3. Terms Tool - is used to process the part, ie. Welding, painting, dispensing

  4. Spot Weld Tooling

  5. Welding Tooling

  6. Drill Tooling CNC Drill • Programmable speed, feed and depth • Automatic drill changer • 90 lbs

  7. Gripper • Gripper - Is used to contain (hold) the part in some way.

  8. Wrist adapter Wrist adapter – Is located between the tooling flange and the tooling. Used to provide additional capabilities such as force sensing, multiple tooling, emergency breakaway

  9. Tool Changer

  10. Terms • Compliance - The ability of the robot and tooling to adjust to minor misalignment and function correctly.

  11. End Effector Design • The robot manipulator is very good at positioning the end effector, but the end effector must be designed to interface with the part or perform a process correctly.

  12. End Effector Design

  13. Gripping Constraint • Geometric or containment. The gripper “captures” the part. • Considerations Geometry of the part – can it be contained Nesting of the part

  14. Gripper Configurations • Parallel, angular, toggle • 2 jaw, 3 jaw • External, internal • Encompass, retention • Grippers • http://www.arobotics.com/technical/tutorials.aspx

  15. Other Grippers • Bellows – friction – compliant and imprecise – ideal for fragile or soft items, and variable geometry. Bladders - grips outward – ideal for thin, hollow containers like cans

  16. Gripper Attraction • Electro-magnetic Cleaning requirements Stripper • Vacuum Blow off Input sensor Part alignment – compliant grippers must pick in a specific orientation. Fingers and clamps can do some minor positioning of the part.

  17. Vacuum Cup Styles • Cleated +Stability • Bellows +Compliance

  18. Vacuum Generators • Pump – greater vacuum but extra hardware and expense and maintenance. Oil from vacuum pump may lubricate the cup.

  19. Vacuum Generators • Venturi – forces air thru a small opening causing it to speed up. This creates a low pressure in the channel based in the Bernoulli principle. Exhausts to atmosphere. Less suction, but almost always available.

  20. Passive and Active • Passive – no actuators – orientation of the gripper is all that is required – ladle or scoop • Active – has actuators and is one of the above categories

  21. Gripper Design • Molded Part – how might this part be handled. • Cosmetics. • Pickup and drop off orientation.

  22. Gripper Design

  23. Gripper Design • Molded Part – how might this part be handled. • Individual parts.

  24. Gripper Design

  25. Gripper Design Goals • Improve cycle time. • Improve reliability. • Simplify assembly. • Decrease overall cost.

  26. The End

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