Topic

• Types of End Effectors

• Mechanical Grippers, Other types of Grippers
• Tools as End Effectors, Considerations in Gripper Selection & Design
• Transducers & Sensors, Types of Sensors
• Tactile, Proximity, Range & Miscellaneous Sensors.

Neelesh Sahu [email protected]

End effector

• End effector is a device at the end of a robotic arm, designed to

interact with the environment.
• The exact nature of this device depend on the application of the
robot.

Types of End effector

• Grippers
• Tools

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 Gripper
• The design of the end-of-arm tooling for a robotic assembly system is
very important for reducing errors and decreasing cycle times.
• This is the piece of the robotic parts handler or assembler that physically
interacts with the environment.
• Many factors may be blamed for the common failures of workcells, the
culprit is very often the grippers.
• Well designed grippers can increase throughput, improve system
reliability, compensate for robot inaccuracy, and perform value added
functions to the assembly.

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Gripper

• A gripper is a device which enables the holding of an object to be

manipulated.
• The easier way to describe a gripper is to think of the human hand.
Just like a hand, a gripper enables holding, tightening, handling and
releasing of an object.
• Many styles and sizes of grippers exist so that the correct model can
be selected for the application.

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What is the basic operating
principal of a gripper?

• Compressed air is supplied to the cylinder of the gripper body forcing

the piston up and down, which through a mechanical linkage, forces
the gripper jaws open and closed.
• There are 3 primary motions of the gripper jaws;
Parallel angular toggle
• These operating principals refer to the motion of the gripper jaws in
relation to the gripper body.

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Parallel Gripper

• The gripper jaws move in a parallel motion in relation to the gripper

body. Used in a majority of applications, parallel grippers are typically
more accurate than other style grippers.

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Angular Gripper

• The gripper jaws are opened and closed around a central pivot point,
moving in a sweeping or arcing motion. Angular grippers are often
used when limited space is available or when the jaws need to move
up and out of the way.

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Toggle Gripper

• The pivot point jaw movement acts as an over-center toggle lock,

providing a high grip force to weight ratio. This mechanism will
remain locked even if air pressure is lost.

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2-Jaw Gripper:

• The most popular style of gripper, all 2 Jaw grippers (angular, parallel and toggle)
provide 2 mounting locations for the fingers that come in contact with the part to
be grasped. The jaws move in a synchronous motion opening and closing toward
the central axis of the gripper body.

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3 Jaw grippers

• More specialized style of gripper, all 3 Jaw grippers (parallel and toggle) provide 3
mounting locations for the fingers that come in contact with the part to be
grasped. The jaws move in a synchronous motion opening and closing toward the
central axis of the gripper body. 3 Jaws provide more contact with the part to be
grasped and more accurate centering than 2 jaw models.

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Types of grippers

Types of grippers
• Mechanical
• Pneumatic
• Suction or vacuum cup
• Magnetised gripper

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Tools

• Most commonly used tools as end effectors are

Spot welding tools
Spray painting nozzle
Arc welding torch
Drilling
Grinding
Wire brushing
Water jet cutting tools
Heating torches
Liquid cement applicator etc…
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Consideration for selection and design
of gripper

• Part shape
• Accessibility and part Consistency
• Part weight
• Orientation and Dimensions
• Size
• Variation
• Air pressure
• Grip on open or close

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Consideration for selection and design
of gripper

• Velocity
• Tooling length
• Tooling configurations
• Product retention
• Environment
• Synchronous operation
• Switching options

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Sensors
• Sensors in robots are like our eyes, nose, ears, mouth, and skin.

• Based on the function of human organs (eyes or skin etc..)

terminologies like vision, tactile etc.. Have cropped up in robot
sensors.

• A sensor is a type of transducer, whereas a transducer is a device that

converts one type of energy into another fro various purpose .

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Sensor classification

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 Sensor classification
• Simple touch: Presence or absence of an object

• Tactile or complex touch: Presence of an object with information on its size,

shape…

• Simple force: measured force along single axis

• Complex force: measured force along multiple axis

• Proximity: Non-contact detection of an object.

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Sensor classification

• Simple vision: Detection of edges, holes, corners, and so on.

• Complex vision: Recognition of shapes

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Internal sensors

• Position sensors: measured position of each joint (joint angle).

• Types of position sensors:

• Encoders
• Potentiometer
• LVDT
• Synchros and resolvers

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Types of encoders

Encoder :
• it is s digital optical device that converts motion into a sequence of digital pulses.
• By counting or by decoding a set of bits, the pulses can be converted to relative or absolute
measurement.
• It may be linear and rotary.

• Incremental linear encoder:

• Absolute linear encoder:
• Incremental rotary encoder:
• Absolute rotary encoder:

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Incremental linear encoder

• It has transparent scale with an opaque grating.

• Thickness of grating and gap between them is made equal,
in range of micron.
• Resistance of the cells decreases whenever a beam of light fall on them.
• The pulse is generated
• The pulse is fed to controller.

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Absolute linear encoder

• It is similar in principle as the incremental linear encoder.

• It gives an absolute value of the distance covered at any time.

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Incremental rotary encoder

• Similar to linear incremental encoder

• Gratings are on circular scale
• Two sets of grating on different scale
• There is another circle, which contain only single grating mark, used
for measurement of full circles.

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Absolute rotary encoder

• Similar to absolute linear scale.

• Circular disk divided into number of strip has definite arc segment.
• It is directly mounted to the motor shaft.

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Potentiometer

• It is variable resistance device that expresses linear or angular

displacement in terms of voltage.
• It consists of a wiper that makes contact with resistive element
• If the contact moves, the resistance between the wiper and end leads
of the device change in proportion to the displacement.

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LVDT

• Linear variable differential transformer

• It generates an AC signals whose magnitude is related to the
displacement of a moving core.
• Ferrous core moving in magnetic field

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Syncros and Resolvers

• It gives analog signals as their output.

• Analog signal converted in to digital by converter.
• It consist of Rotor and stator assembly.
• In simple syncro, the stator has three winding orient 1200 apart in Y connection.
• The stator of resolver has 2 windings oriented at 900 apart.

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Velocity Sensor
• All Position sensor
• Tachometer
• Hall effect Sensor

• All Position Sensor: used with certain time bounds can give velocity.

Example : the number of pulses given by an incremental position

encoder divided by the time constant in doing so.

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Velocity Sensor

• Tachometer : simple design of tachometer based on Fleming’s rule.

“ the voltage produced is proportional to the rate of flux linkage.”

The voltage produced is increases with increase in speed

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Velocity Sensor

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Velocity Sensor

• Hall effect Sensor:

Hall chip – flat piece of conductor material

-Hall chip is attached to potential difference on its two opposite faces, then the
voltage across the perpendicular faces is zero.
-If magnetic field is applied at right angle to the conductor.
-The voltage is generated on the two other perpendicular faces.
- Higher the field value, higher is the voltage level.

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Velocity Sensor

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Acceleration sensor

• Force(F) = Mass(m) * Acceleration(a)

• Force is measured by using strain gauge

F = R’AE/RC
R’= Change in resistance of stain gauge
A= area E = elastic modulus of the stain gauge material. R= Original resistance of
the gauge
C= deformation constant of stain gauge.
a= acceleration = R’AE/RCm

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Force Sensor

• Strain gauge
• Piezoelectric sensor
• Current based sensing

Current based sensing-

--Torque provided by an electric motor is a function of current drawn.
-- its measurement along with the known motor characteristics gives
the torque sensing.

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Force Sensor

• Piezoelectric sensor
-- When asymmetrical, elastic crystal are deformed by a force, an
electrical potential will be developed within distorted crystal lattice.
-- This effect is reversible.
--The magnitude and polarity of induced charges are proportional to
the magnitude and direction of applied force.
--These sensors can be used to measure an instantaneous change in
force.

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Force Sensor

• Stain Gauge
--The elongation of a conductor increases its resistance.
--The increases in resistance due to
--- Increase in length of conductor
--- Decrease in the area of the conductor
--Strain gauge is made of electric conductor of wire or foil glued on the
surfaces where strains are to be measured.

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External Sensors

Contact Type
- Limit switch
--it’s a pressure sensitive mechanical arm.
• they are subjected to mechanical failure,
• their mean time between failures is low compared to noncontact
sensors, and
• the speed of operation is relatively slow compared to the speed of
switching of
photoelectric micro-sensors which is up to 3000 times faster.
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 Limit switches are used in robots to detect the
extreme positions of the motions, where the link
reaching an extreme position switches off the
corresponding actuator,
thus, safeguarding any possible damage to the
mechanical structure of the robot arm.

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 Proximity sensor
• Inductive proximity sensor
Sensor Coil Detector circuit
Oscillator Circuit Solid state output circuit

-Oscillator circuits generates radio frequency Electromagnetic field.

-when a metal target approaches the face and enters the field, eddy
currents are induced into the surface of target.
-This results damping on oscillator amplitude
-Detector circuit detects the change in amplitude and switch on solid state
output circuit.

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Non-contact Type

--Proximity sensor
-- Inductive proximity sensor
-- capacitive Proximity sensor
-- Semiconductor displacement sensor

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Proximity sensor

• Capacitive Proximity sensor

-It is based on dielectric capacitance.
-Capacitance is the property to store the charge
-consists of two plate separated by insulator, called a dielectric.
-one capacitive plate is a part of switch, the sensor face is insulator and
the target is the other plate.
-switch is has same four elements as inductive sensor
-In capacitive sensor, oscillator start oscillating when a sufficient
feedback capacitance is detected.
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Proximity sensor

• Capacitive Proximity sensor

Characteristics of Capacitive Proximity sensor

-They can detect non-metallic targets,
They can detect light weight or small objects
They can provide high switching rate for rapid response etc..

Limitations
- The sensors are affected by moisture and humidity
- They must have extended range for effective sensing.
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Proximity sensor

• Semiconductor Displacement sensor

-It uses a semi- conductor light emitting diode (LED) or laser as a light
source and a position-sensitive detector (PSD).
-The laser beam is focussed on the target by means of a lens.
-The target reflect the beam is then focussed on the PSD forming a
beam spot.
-The beam spot moves on the PSD as the target moves.
-The displacement of the workpiece can then be determined by
detecting the movement of the beam spot.

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Elements of Vision Sensor

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 Steps in vision sensing
• Image acquisition
• Image processing
Sensor Pixel sets of
regions
Pixel boundaries

Pixel Representations Description

Classification Pixel class

Five major system parameters which govern the choice of camera are field of view,
resolution, working distance, depth of field, and image data acquisition rate.

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Sensor Selection

• Range
• Sensitivity
• Linearity
• Response time
• Accuracy
• Repeatability
• Resolution
• Reliability
• Size and weight
• Type of output
• interfacing
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 Questions
Name: Dr. Neelesh Kumar Sahu
Email: [email protected]

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Thank You

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