chapter3 robots automation manipulator
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JV502 INDUSTRIAL ROBOTS AUTOMATION
CHAPTER 3:ROBOTS AUTOMATION MANIPULATOR
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Learning Outcomes:Upon completion this chapter, student
should be able:-1. Explain the End Effector components
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Contents1. End effector components; tool and gripper
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End Effector ComponentsEnd-effector mounted on the wrist enables
the robot to perform specified tasks. Various types of end-effectors are designed
for the same robot to make it more flexible and versatile.
Two types of end effector:GripperTools
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End effectors used in manufacturing include:
• anti-collision sensors
• brushes • cameras • cutting tools • drills • grippers
• magnets • sanders • screw drivers • spray guns • vacuum cups • welding guns
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End Effector ActuationElectrical:
DC motors (speed proportional to voltage)Stepper motors (fixed move per pulse)
Pressurised:Liquid: HydraulicsAir: Pneumatics, air muscles
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GrippersGenerally used to grasp and hold an object
and place it at a desired location. Different shape, size or strengthGrippers can be classified as mechanical
grippers: vacuum or suction cups, magnetic grippers, adhesive grippers, hooks and scoops.
Magnetic grippers are useful for applications involving steel
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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 forces applied to the objects surface (whether by vacuum, magneto- or electro-adhesion).
Contigutive – requiring direct contact for adhesion to take place (such as glue, surface tension or freezing).
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ToolsRobot is required to manipulate a tool to
perform an operation on a work part. Tools for specific purposesThe tool acts as end-effector: Spot-welding
tools, arc-welding tools, spray-painting nozzles, and rotating spindles for drilling and grinding.
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THANK YOU