End effectors/grippers

End effectors and grippers End effectors are

the end of a robot interfaces with the environment.

A gripper is also an end effector, however, it uses mechanical movement to grab and move an object.

Gripper with actuator

This type of gripper uses a hydraulic actuator.

Can also use Pneumatic actuator or piston.

These types of actuators are used when multiple systems use fluid or air. Not an efficient design for single actuator in system.

Linear actuator

Common design that can be used with an electric linear actuator or a solenoid.

More efficient than pneumatic if the rest of the arm is electric.

Pneumatics require an extensive sub system.

Gear type gripper

Gear type grippers can use the same actuation methods as the previous two examples.

Can use an electric motor and gearbox

Can use a servo Very common

design

Vacuum bag gripper

This is a universal gripper, as it conforms to the object it’s grabbing rather than being designed for particular objects.

Balloon filled with coffee beans with applied vacuum.

Collaboration between University of Chicago, and iRobot Corp

Overview

•Vacuum Grippers: This type of gripper has been used in manufacturing, allowing for the most flexibility of all the robot gripper types.  Vacuum grippers can be funneled through a rubber or polyurethane suction cup.  They may also be funneled through a closed-cell foam rubber layer, thus generating a vacuum suction of compressed air.•Pneumatic Grippers:  This is the most popular type of gripper due to its compact size, light weight, and force. Pneumatic grippers can be either opened or closed, earning them the nickname "bang bang" actuators because of the "bang" sound created by the metal-on-metal punctuation when operated.•Hydraulic Grippers:  These grippers for robots provide the most strength and are often used for applications that require a large amount of force.  They generate their strength from pumps that can provide 2000 psi and more.  Although they are strong they can bring more mess with oil