Scribd
Upload
416 views71 pages

Robot Drive Systems & End Effectors

The document discusses various robot drive systems and end effectors. It describes the main types of drive systems as hydraulic, electric, and pneumatic, and compares their characteristics such as power, speed, accuracy, and degrees of freedom. It also examines different end effectors including mechanical grippers, vacuum grippers, and magnetic grippers. Specific gripper designs involving two or three fingers are outlined.

Uploaded by

babu
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
416 views71 pages

Robot Drive Systems & End Effectors

The document discusses various robot drive systems and end effectors. It describes the main types of drive systems as hydraulic, electric, and pneumatic, and compares their characteristics such as power, speed, accuracy, and degrees of freedom. It also examines different end effectors including mechanical grippers, vacuum grippers, and magnetic grippers. Specific gripper designs involving two or three fingers are outlined.

Uploaded by

babu
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
You are on page 1/ 71

ROBOT DRIVE SYSTEMS

& END EFFECTORS


DRIVE SYSTEMS

The Drive systems provide power to
the entire robot systems
The drive system is used to determines
the speed ,
load carrying capacity, and
the performance of the robot
Types of drive systems

 HYDRAULIC DRIVE
 ELECTRIC DRIVE
 PNEUMATIC DRIVE
 ADVANCED ACTUATORS

Needs From Drive Systems

 Reliability
 Accuracy
 No Of DOF
 Various forces
 Various effects
 Co-Ordinate Systems
HYDRAULIC DRIVE

 ITS SOPHISTIGATED FOR ROBOTS
 ASSOCIATED IN LARGE ROBOTS
 THIS DRIVE IS ONLY FOR ROTATIONAL DRIVE
OR LINEAR DRIVE
Types

1. Linear Hydraulic Actuators
 Single, Double & Double Acting with double rod
2. Rotary Actuator
 Gear, Vane , Piston Motors
3. Actuators
 Spring Return
 Ram Type

PNEUMATIC DRIVE

 FOR SMALLER SYSTEMS WITH LESS D.O.F
 PERFORMS PICK & PLACE OPERATIONS ONLY
WITH FAST CYCLES
 THIS SYSTEM HAVING COMPLIANCE OR
ABILITY TO ABSORB SOME SHOCK
 THIS IS ONLY FOR ROTARY OPERATIONS.

Various Drive Systems
for Robot systems

 The Various considering Factors are mentioned


below



ELECTRIC DRIVE

 IT DO NOT PROVIDE AS MUCH SPEED & POWER
 ASSOCIATED IN SMALL ROBOTS
 ACCURACY & REPEATABILITY IS BETTER
 ACTUATED BY DC MOTOR OR STEPPER MOTOR
 THIS DRIVE IS ONLY FOR ROTATIONAL DRIVE
BY DRIVE TRAIN & GEAR SYSTEMS
 PERFORM LINEAR SYSTEMS BY PULLEY
SYSTEMS

Stepper motor

 A device which transforms electrical pulses into
equal increments of rotary shaft motion called steps.
 Here electrical pulse is applied to it in a proper
sequence.
 The motor rotation has several direct relationship to
these input
 The speed depends on the frequency of the input
pulse
Stepper motor types

 Variable –reluctance
 Permanent magnet
 hybrid

Variable –reluctance

Working

 It work for (round) long time
 Easiest to under stand a structural point
 It has a rotor and a wound stator.
 When stator windings energized with DC current the
poles become magnet
Permanent magnet

 The step angle
of 7.5 to 15 degree
Hybrid motor

Working

 This is more expensive than permanent motor
 It provide better performance
 100-400 steps per revolution occurs
When to use stepper
motor

 When the controlled movement required
 When we need controlled rotating angle, speed,
position and synchronism.
 In different applications
 Eg. Printer, plotter, hard disk,
D.C Servomotors

Working

 When automatic control systems are called as servo
motors
 It converts electrical signals into angular
displacement of the shaft
 The supply may be AC or DC
Drive mechanisms

 Gears
 Spur gear
 Bevel gear
 Worm gear
 Pulley drive
 Linear drive
 Rack & pinion
 Ball & roller screws
 Harmonic drive

End Effectors

 It is a device that is attached to the end of the wrist
 It act as a hand for robot
 It may be a Gripper, Vacuum Pump, tweezers,
scalpel, blow-torch
 Some robots can change end effectors and be
reprogrammed for different set of tasks
Consideration of End
Effector Design

 It have several fingers, joints, & more DOF
 Any combination of these factors gives different grip
modalities to the end effector

Basic types of end arm
tooling

 Attachment device
 Support & containment device
 Pneumatic pickup device
 Magnetic pickup device
 Mechanical pickup device
Classification of End of
Arm Tooling

 According to method to hold part in the gripper
 Mechanical gripper
 Vacuum gripper
 Magnetic gripper
 According to Special purpose tools
 Drills
 Welding guns
 Paint sprayers
 Grinders (cont)
cont

 According to Multi-function capability of gripper
 Remote center compliance
 Special purpose grippers
Classification of Grippers





Mechanical finger
Gripper

It is an End effector that uses mechanical
finger actuated by mechanism to grasp the
objects
The mechanical grippers are actuated by
hydraulic/ pneumatic/ solenoids/
motors, are designed based on strength
considered

Finger Grippers

 It generally have 2 opposite fingers or 3 fingers in
120o degree
 All these fingers are driven together, un till the object
are gripped
 The 2 finger gripper can be further split as parallel
motion or angular motion fingers

GRIPPERS WITH 2
FINGERS


























You might also like