Robotics and Autoamtion_ manipulators, actuators and end effectors
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The document discusses manipulators, actuators, and end effectors in robotics, focusing on their construction, control circuits, and various types of end effectors such as grippers and tools. It categorizes grippers based on their operation and design considerations, including mechanical and magnetic options. Additionally, it covers the principles of control in manipulators, including pneumatic and electronic force control methods, along with factors to consider in the selection and design of grippers.
Robotics and Autoamtion_ manipulators, actuators and end effectors
- 1. Unit – 3 Manipulators, Actuators and End Effectors Prepared by JAI GANESH S Asst. Prof – Dept. of ECE
- 2. Syllabus UNIT III MANIPULATORS, ACTUATORS AND GRIPPERS • Construction of manipulators – manipulator dynamics and force control – electronic and pneumatic manipulator control circuits • End effectors – Various types of grippers – Design considerations. We will discuss second half first and then first Half
- 3. End Effectors • In robotics, an end effectors are the device or tool that's connected to the end of a robot arm end enables the robot arm to perform specific task • Usually end effectors are custom engineered for a particular task
- 4. Types of End Effectors • There are wide segments of end effectors required to perform the variety of different work functions. • The various types can be divided into two major categories – Grippers – Tools
- 5. Grippers • They are the end effectors used to grasp and hold objects. • They are widely used in machine loading and unloading • There are various types of grippers based on how they grasp the objects – Mechanical Gripper – Magnetic gripper – Suction gripper or vacuum gripper
- 6. General classifications of gripper – No. of Grippers • Single gripper – This will have only one grasping device attached to the robot • Double gripper – This will have 2 grasping devices attached to the robot
- 7. • External Gripper • Internal Gripper General classifications of gripper – gripping surface
- 8. Mechanical Grippers – basic definition and operation • A mechanical gripper is an end effectors that uses mechanical fingers actuated by a mechanism to grasp an object. • Fingers are some times called as jaws.
- 9. Constraining the part in the gripper • Physical Constriction Method • Friction between the fingers and workpart – In this approach the fingers must apply a force that id sufficient for friction to retain the part against gravity, acceleration and any other forces
- 10. Friction between the fingers and workpart
- 11. Types of gripper mechanism • Classification based on finger movement – Pivoting Movement • Linear actuation • Gear and rack actuation • Cam actuation • Screw actuation • Rope and pulley actuation • miscellaneous – Linear or translational movement
- 12. Pivoting Gripper Mechanisms – Linear Actuations
- 13. Pivoting Gripper Mechanisms – Gear and Rack method
- 14. Pivoting Gripper Mechanisms – Cam Actuated Method
- 15. Pivoting Gripper Mechanisms – screw Actuated Method
- 16. Pivoting Gripper Mechanisms – rope and pulley Actuated Method
- 17. Other Types of Gripper • In addition to mechanical gripper there are variety of other devices that can be designed to lift and hold the objects – Vacuum cups – Magnetic – Adhesive – Hooks scoops and other miscellaneous Devices
- 18. Vacuum Grippers
- 19. Magnetic Gripper • Suitable for handling ferrous materials • Merits: – Pick up time is very fast – Variation in part size can be tolerated – They have the ability to handle the metal parts with holes – Requires only one surface of gripping • Demerits: – Residual magnetism on work part – Limited precision – Slipping problem
- 20. Adhesive Grippers • Suitable for grasping fabrics and other light weight objects
- 21. Tools as End Effectors • Spot welding tools • Arc welding torch • Spray painting nozzle • Rotating spindle for – Drilling – Routing – Brushing – Grinding • Liquid cement applicator for assembly • Heating torches • Water jet cutting tool
- 22. Spot welding
- 23. Arc welding
- 24. Spray painting
- 25. Drilling
- 26. Water jet cutting tool
- 27. Consideration in gripper selection and design • The gripper must have the ability to reach the surface of a work part. • The change in work part size must be accounted for providing accurate positioning. • During machining operations, there will be a change in the work part size. As a result, the gripper must be designed to hold a work part even when the size is varied. • The gripper must not create any sort of distort and scratch in the fragile work parts. • The gripper must hold the larger area of a work part if it has various dimensions, which will certainly increase stability and control in positioning. • The gripper can be designed with resilient pads to provide more grasping contacts in the work part. The replaceable fingers can also be employed for holding different work part sizes by its interchangeability facility
- 28. Check List of Factors in the selection and design of grippers
- 29. Check List of Factors in the selection and design of grippers
- 30. Robot Kinematics and Dynamics
- 31. Representation of 3D object
- 35. Frame Transformation – Translation of frame
- 36. Frame Transformation – Rotation of the frame
- 37. Frame – Translation and Rotation
- 40. Determining 3x3 Rotational Matrix
- 41. Determining 3x3 Rotational Matrix
- 42. Determining 3x3 Rotational Matrix
- 43. Repeating the Procedure to determine rotation along x and y
- 45. Manipulators – Links and Joints
- 48. Manipulator control • Position Control – Linear control of manipulator • Open loop and closed loop control • Trajectory following control • Continuous and discrete control – Non linear control of manipulator • Adaptive control • Lyapunov stability analysis • Force control – Pneumatic control – Electronic control
- 49. Pneumatic Force Control Advantages – High effectiveness – High durability and reliability – Simple design – High adaptability to harsh environment – Safety – Easy selection of speed and pressure – Environmental friendly – Economical Limitations • Relatively low accuracy • Low loading • Processing required before use • Uneven moving speed • Noise
- 50. Components of Pneumatic Control Circuits – 2 components • Production and transportation of compressed air – Compressor – Pressure Regulating Component
- 51. • Consumption of compressed air – Execution component • Single acting Cylinder Components of Pneumatic Control Circuits – 2 components
- 52. • Double acting Cylinder
- 53. Directional control valve 2/2 Directional control valve 3/2 Directional control valve
- 54. Control Valve • Non return Valves • Flow Control Valves • Shuttle Valves
- 55. Setting of circuit Diagram
- 56. Few Basic Circuits • Flow Amplification Circuit
- 57. Few Basic Circuits • Signal Inversion
- 58. Few Basic Circuits • Memory Function
- 59. Single Acting Cylinder Control • Direct and Speed Control
- 60. Double Acting Cylinder Direct control Single control
- 62. Electronic Force Control • Merits – Compact in size – Consumes less power – Faster response – No noise as like in pneumatic systems
- 63. Characteristics of various control systems
- 64. Force control components • Generally force control and position control is achieved by using Electric Motors – DC Motors • Working Principle • Speed control methods – Flux Control Method – Armature Control Method – Voltage Control Method – AC Motors – Stepper Motors