OIE 751 ROBOTICS Unit 2 Class 3 (03-9-2020)

UNIT II
ROBOT DRIVE SYSTEMS

AND END EFFECTORS
Prepared by
T.Michel Raj
Assistant Professor
Jeppiaar SRR Engineering College
Chennai
UNIT II ROBOT DRIVE
SYSTEMS AND END
EFFECTORS
Pneumatic Drives – Hydraulic Drives –
Mechanical Drives – Electrical Drives – D.C.
Servo Motors, Stepper Motor, A.C. Servo Motors
– Salient Features, Applications and Comparison
of Drives End Effectors – Grippers – Mechanical
Grippers, Pneumatic and Hydraulic Grippers,
Magnetic Grippers, Vacuum Grippers; Two
Fingered andThree Fingered Grippers; Internal
Grippers and External Grippers; Selection and
Design Considerations
Topics discussed on previous
sessions
Introduction
Mechanical Drives
Electrical Drives
Hydraulic Drives
Pneumatic Drives
DC Servo Motors and Stepper Motors
AC Servo Motor | Stepper Motor
Topics for todays session
• Grippers
• External / Internal
– Magnetic Grippers
– Mechanical Gripper
– Hydraulic Grippers
– Vacuum grippers
Grippers
•In robotics, an end effector is the device at the
end of a robotic arm, designed to interact with the
environment. The exact nature of this device depends
on the application of the robot.In the strict definition,
which originates from serial robotic manipulators, the
end effector means the last link (or end) of the robot.
At this endpoint the tools are attached. In a wider
sense, an end effector can be seen as the part of a robot
that interacts with the work environment. This does not
refer to the wheels of a mobile robot or the feet of
ahumanoid robot which are also not end effectors—
they are part of the robot's mobility.
Grippers (Contd….)
End effectors may consist of a gripper or a tool. When referring to robotic
prehension there are four general categories of robot grippers, these are:
• 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 fibre handling).
• Astrictive – suction[vague] forces applied to the objects surface (whether by

vacuum, magneto- or electroadhesion).
• Contigutive – requiring direct contact for adhesion to take place (such as

glue, surface tension or freezing).
•They are based on different physical effects used to guarantee a stable
grasping between a gripper and the object to be grasped. Industrial grippers can be
mechanical, the most diffused in industry, but also based on suction or on the
magnetic force. Vacuum cups and electromagnets dominate the automotive field and
in particular metal sheet handling. Bernoulli grippers exploit the airflow between the
gripper and the part that causes a lifting force which brings the gripper and part close
each other (i.e. the Bernoulli's principle). Bernoulli grippers are a type of contactless
grippers, namely the object remains confined in the force filed generated by the
gripper without coming into direct contact with it. Bernoulli gripper is adopted in
Photovoltaic cell handling in silicon wafer handling but also in textile or leather
industry. Other principles are less used at the macro scale (part size >5mm), but in
the last ten years they demonstrated interesting applications in micro-handling.
•
• A gripper is a motion device that mimics the movements of people, in the case of
the gripper, it is the fingers. A gripper is a d evice that holds an object so it can be
manipulated. It has the ability to hold and release an object while some action is
being performed. The fingers are not part of the gripper, they are specialized
custom tooling used to grip the object and are referred to as "jaws." Two main types
of action are performed by grippers:
• External: This is the most popular method of holding objects, it is the most
simplistic and it requires the shortest stroke length. When the gripper jaws close, the
closing force of the gripper holds that object.
•
• Internal: In some applications, the object geometry or the need to access the exterior
of the object will require that the object is held from the center. In this case the
opening force of the gripper will be holding the object.
Magnetic Grippers
Magnetic Grippers (Contd….)
Magnetic grippers are used extensively on ferrous materials. In general, magnetic
grippers offer the following advantages in robotic handling operations
Variations in part size can be tolerated
Pickup times are very fast
They have ability to handle metal parts with holes
Only one surface is required for gripping
The residual magnetism remaining in the work piece may cause problems. Mother potential
disadvantage is the problem of picking up one sheet at a time from a stack.
The magnetic attraction tends to penetrate beyond the top sheet in the stack, resulting in the
possibility that more than a single sheet will be lifted by the magnet.
Magnetic grippers can use either electromagnets or permanent magnets. Electromagnetic
grippers are easier to control, but require a source of dc power and an appropriate controller.
When the part is to be released, the control unit reverses the polarity at a reduced power
level before switching off the electromagnet.
This procedure acts to cancel the residual magnetism in the work piece ensuring a positive
release of the part. The attractive force, P of an electromagnet is found from Maxwell‘s
equation given by
Permanent magnets do not require an external power and hence they can be used in
hazardous and explosive environments, because there is no danger of sparks which might
cause ignition in such environments.
When the part is to be released at the end of the handling cycle, in case of permanent
magnet grippers, some means of separating the part from the magnet must be provided. One
such stripping device is shown in figure.

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UNIT II

ROBOT DRIVE SYSTEMS

• Ingressive – pins, needles or hackles which physically penetrate the

• Astrictive – suction[vague] forces applied to the objects surface (whether by

• Contigutive – requiring direct contact for adhesion to take place (such as

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