Robot end effector

sex machineIn the strict definition, which originates from serial robotic manipulators, the end effector means the last link (or end) of the robot. At this endpoint the tools are attached. In a wider sense, an end effector can be seen as the part of a robot that interacts with the work environment. This does not refer to the wheels of a mobile robot or the feet of a humanoid robot which are also not end effectors—they are part of the robot's mobility.

End effectors may consist of a gripper or a tool. The gripper can be of two fingers, three fingers or even five fingers.

The end effectors that can be used as tools serves various purposes. Such as, Spot welding in an assembly, spray painting where uniformity of painting is necessary and for other purposes where the working conditions are dangerous for human beings. Surgical robots have end effectors that are specifically manufactured for performing surgeries.

Mechanism of gripping

Generally, the gripping mechanism is done by the grippers or mechanical fingers. The number of fingers can be two, three or even as high as five. Though in the industrial robotics due to less complications, two finger grippers are used. The fingers are also replaceable. Due to gradual wearing, the fingers can be replaced without actually replacing the grippers. 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

${\displaystyle F=\mu Wn}$ 

where:

${\displaystyle \,F}$	is	the force required to grip the object,
${\displaystyle \,\mu }$	is	the coeffecient of friction,
${\displaystyle \,n}$	is	the number of fingers in the gripper and
${\displaystyle \,W}$	is	the weight of the object.

But the above equation is incomplete. The direction of the movement also plays an important role over the gripping of the object. For example, when the body is moved upwards, against the gravitational force, the force required will be more than towards the gravitational force. Hence, another term is introduced and the formula becomes:

${\displaystyle F=\mu Wng}$ 

Here, the value of ${\displaystyle \,g}$  should not be taken as the acceleration due to gravity. In fact, here ${\displaystyle \,g}$  stands for multiplication factor. The value of ${\displaystyle \,g}$  ranges from 1 to 3. When the body is moved in the horizontal direction then the value is taken to be 2, when moved against the gravitational force then 3 and along the gravitational force, i.e., downwards, 1.

Examples

The end effector of an assembly line robot would typically be a welding head, or a paint spray gun. A surgical robot's end effector could be a scalpel or others tools used in surgery. Other possible end effectors are machine tools, like a drill or milling cutters. The end effector on the space shuttle’s robotic arm uses a pattern of wires which close like the aperture of a camera around a handle or other grasping point.

When referring to robotic prehension there are four general categories of robot grippers, these are^[1]:

1. Impactive – jaws or claws which physically grasp by direct impact upon the object.
2. Ingressive – pins, needles or hackles which physically penetrate the surface of the object (used in textile, carbon and glass fibre handling).
3. Astrictive – suction forces applied to the objects surface (whether by vacuum, magneto– or electroadhesion).
4. Contigutive – requiring direct contact for adhesion to take place (such as glue, surface tension or freezing).

Examples of end effectors

•  
  An example of a basic gripping end effector
•  
  A spot welding end effector
• A laser welding end effector
•  
  A repair and observation end effector in use in space (Canadarm2)
•  
  A highly sophisticated attempt at reproducing the human end effector

See also

• Grapple (tool)
• Tongs
• Shadow Hand

References

1. Monkman, G. J.; Hesse, S.; Steinmann, R.; Schunk, H. (2007). Robot Grippers. Wiley-VCH. p. 62. ISBN 978-3-527-40619-7.

• Koren, Y. (1985). Robotics for engineers. McGraw-Hill. ISBN 0-07-035399-9
• Monkman. G.J., Hesse. S., Steinmann. R. & Schunk. H. Robot Grippers. Wiley. ISBN 978-3-527-40619-7