Robot end effector: Difference between revisions

Revision as of 21:22, 6 February 2012

Revision as of 09:42, 15 February 2012

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There are two mechanisms of gripping the object in between the fingers (due to simplicity in the two finger grippers, in the following explanations, two finger grippers are considered).

===== Shape of the gripping surface== ===

The shape of the gripping surface on the fingers can be chosen according to the shape of the objects that are lifted by the grippers. For example, if the robot is designated a task to lift a round object, the gripper surface shape can be a negative impression of the object to make the grip efficient, or for a square shape the surface can be plane.

===== Force required to grip the object =====

Though there are numerous forces acting over the body that has been lifted by the robotic arm, the main force acting there is the frictional force. The gripping surface can be made of a soft material with high coefficient of friction so that the surface of the object is not damaged. The robotic gripper must withstand not only the weight of the object but also acceleration and the motion that is caused due to frequent movement of the object. To find out the force required to grip the object, the following formula is used

:<math>F= \mu W n </math>