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8/11/2019 Robotics Basics Presentation
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Compiled &Presented By :-
AYUSH TIWARI
1021230033 [MECH-A]
Submitted To:-
Srinath Sir Mech. Dept.
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BASICS
Grippers are end effectors used to grasp and
manipulate objects during the work cycle.
The easier way to describe a gripper is to think of
the human hand. Just like a hand, a gripper enables
holding, tightening, handling and releasing of an
object.A gripper is just one component of an automated
system. A gripper can be attached to a robot or it
can be part of a fixed automation system.
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TYPES OF GRIPPER ENDS
1. Standard Grippers (Angular and parallel, Pneumatic,
hydraulic, electric, spring powered, Power-openedand Spring-closed, PC-SO, PO-PC)
2. Vacuum Grippers (Single or multiple, use venturi or
vacuum pump)
3. Vacuum Surfaces (Multiple suction ports, to graspcloth materials, flat surfaces, sheet material)
4. Electromagnetic Grippers (often used inconjunction with standard grippers)
5. Air-Pressure Grippers (balloon type)
1. Pneumatic fingers
2. Mandrel grippers
3. Pin grippers
6. Special Purpose Grippers (Hookin devices,positioners).
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INTRODUCTION
Vacuum grippers are used in the robots for grasping the
nonferrou s objects. It uses vacuum cup sas the
gripping device, which is also commonly known as
suc t ion cups. This type of grippers will provide good
handling if the objects are smoo th, flat, and clean. It has
only one surface for gripping the objects. Most
importantly, it is not best suitable for handling the objectswith holes.
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VACUUM GRIPPERS AKA SUCTION CUPS
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TYPES OF VACUUM GRIPPERS
One vendor, Piab Inc., claims A suitable suction cup is available
for virtually any situation
with very few exceptions. Suction cupsare very well suited for a wide variety of needs and circumstances.
They can handle plate, eggs, paper, wood practically any material.
Be it smooth, irregular, bent, porous, airtight, lightweight, heavy,
angled, hot or cold, the material can be handled by suction cups
safely, gently and quickly.
SMALL TO
MEDIUM
OBJECTS
LARGE.
HEAVY
OBJECTS
UNEVEN OBJEC
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TYPES OF VACUUM GRIPPERSLevel compensator
A level compensator compensates for differences in level and absorbs shocks.The mounting also reduces the need for accurate positioning in height.
BALL JOINT
A ball joint adjusts itself automatically to different contact angles
and reduces the bending moments on the suction cup. The ball-joint is recommended in the following typical cases:
for lifting heavy objects or plates for handling workpieces that are in motion for handling workpieces that are curved or have irregular surfaces
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VACUUM CUPS
Generally, the vacuum cups (suction cups) will be in the round
shape. These cups will be developed by means of rubberorother elastic materials. Sometimes, it is also made of sof t
plast ics. Moreover, the vacuum cups are prepared of hard
materials for handling the soft material objects.
Two different devices are used in the suction cups for creating the
vacuum. They are:
Venturi
Vacuum pump
Venturi device is operated with the help of shop air pressure, while
the vacuum pump is driven either by means of vane or pis ton
device. The vacuum pump has the ability to create the highvacuum. As the venturi is a simple device, it is more rel iableand
inexpensive. Both these devices are very well capable of
providing high vacuum if there is a sufficient supply of air
pressure.
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VACUUM GRIPPER APPLICATIONS
PACKAGING:
CanningTray Making
Bottling
Box Making
Capping
Labeling
Bagging & Sealing
MATERIAL HANDLING:
Auto Manufacturing
Steel Fabricators
Conveyors
Manufacture & Packaging of Compact Dics
ElectronicsHeavy Industry
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VACUUM GRIPPER SPECIFICATION
WATCH OUT FOR LIFTING FORCES PARALLEL TO THE SURFACE..!!
DONT FORGET THE DYNAMIC FORCES..!!
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VACUUM GRIPPER SPECIFICATION
Gripping force: generally up to 300 lbs. Multiple cups can pick up to 6,000
Pressures:requires
3 to
15 psi gageSizes:suction cups typically range between .05 and 18 inch diameters
Cost: Suction cup assembly $10-$500 Supporting technology: $500 $2,000
Supporting Technologies: Compressors, lines, valves, air filters, controllers
Companies:Thomas Register lists 100+ vendors. Here are the biggest:
Piab AnverVaccon All-Vac
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VACUUM CUP ROBOT GRIPPER
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MULTIPLE VACUUM CUP ROBOT GRIPPER
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MULTIPLE VACUUM CUP ROBOT GRIPPER
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ADHESIVE GRIPPERS
An adhesion gripper is a robot end effector that grasps objects by
literally sticking to them. In its most primitive form, this type ofgripper consists of a rod, sphere, or other solid object covered
with two-sided tape. Velcro can also be used if the object(s) to
be grasped are likewise equipped.
A major asset of the adhesive gripper is the fact that it is simple. As
long as the adhesive keeps its stickiness, it will continue to
function without maintenance. However, there are certainlimitations. The most significant is the fact that the adhesive
cannot readily be disabled in order to release the grasp on an
object. Some other means, such as devices that lock the
gripped object into place,must be used.
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REFERENCES
http://www.theproductfinder.com
http://www.motionNET.com
http://www.thomasregister.com
http://www.piab.com specializes in vacuum technology)
http://www.phdinc.com good definitions, explanations of grippers)
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SUMMARY
Grippers are used widely in many industries.
Grippers are usually custom designed.
When looking for a gripper, know what you
want it to do.
Many modern grippers are sensor-integrated.