Robotics

End of Arm Tooling End of Arm Tooling

for Industrial Robotsfor Industrial Robots

End-of-arm Tooling End Effector = GripperEnd Effector = Gripper Mounted to a tooling plateMounted to a tooling plate Cost of end-of-arm tooling can account for Cost of end-of-arm tooling can account for

20% of the total cost of the robot20% of the total cost of the robot Two FunctionsTwo Functions::

1. Hold the part while work is being performed1. Hold the part while work is being performed

2. Hold tool which is performing work on the part2. Hold tool which is performing work on the part

End Effector Types

1) 1) Standard GrippersStandard Grippers (Angular and parallel, (Angular and parallel, Pneumatic, hydraulic, electric, spring powered, Pneumatic, hydraulic, electric, spring powered, Power-opened and Spring-closed, PC-SO, PO-Power-opened and Spring-closed, PC-SO, PO-PC)PC)

2) 2) Vacuum GrippersVacuum Grippers (Single or multiple, use (Single or multiple, use venturi or vacuum pump)venturi or vacuum pump)

3) 3) Vacuum SurfacesVacuum Surfaces (Multiple suction ports, to (Multiple suction ports, to grasp cloth materials, flat surfaces, sheet grasp cloth materials, flat surfaces, sheet material)material)

End Effector Types4) 4) Electromagnetic GrippersElectromagnetic Grippers (often used in (often used in

conjunction with standard grippers)conjunction with standard grippers)5) 5) Air-Pressure GrippersAir-Pressure Grippers (balloon type) (balloon type)

1. Pneumatic fingers1. Pneumatic fingers2. Mandrel grippers2. Mandrel grippers3. Pin grippers3. Pin grippers

6) 6) Special Purpose GrippersSpecial Purpose Grippers (Hooking (Hooking devices, custom positioners or tools)devices, custom positioners or tools)

End Effector Types7) 7) WeldingWelding (Mig/Tig, Plasma Arc, Laser, Spot) (Mig/Tig, Plasma Arc, Laser, Spot)

8) 8) Pressure SprayersPressure Sprayers (painting, waterjet cutting, (painting, waterjet cutting, cleaning)cleaning)

9) 9) Hot Cutting typeHot Cutting type (laser, plasma, deflashers-hot (laser, plasma, deflashers-hot knife)knife)

10) 10) Buffing/Grinding/Deburring typeBuffing/Grinding/Deburring type

11) 11) Drilling/Milling typeDrilling/Milling type

12) 12) Dispensing typeDispensing type (adhesive, sealant, foam)(adhesive, sealant, foam)

Standard Parallel Robot Gripper

Standard Parallel Robot Gripper

Standard Parallel Robot Gripper

Standard Parallel Robot Gripper

Standard Angular Robot Gripper(multiple end effector)

Multipart Robot Gripper

Vacuum Cup Robot Gripper

Multiple Vacuum Cup Robot Gripper

Multiple Vacuum Cup Robot Gripper

Robot Arc Welding Torch

Robot Welding Tool

Robot Sprayer

Robot Deburrer

Special Purpose Gripper:Palletizing

Special Purpose Gripper:Bagger

Special Purpose Tool:Sewing Robot

Special Purpose Tool:Palletizing

Bottle Palletizing ClipBottle Palletizing Clip

Multiple End-Effector Systems

Two or more grippers or end-of-arm toolsTwo or more grippers or end-of-arm tools Can be used interchangeably in the Can be used interchangeably in the

manufacturing cellmanufacturing cell

Multiple End-Effector Systems

AdvantagesAdvantages::1) Increasing the production capability of the 1) Increasing the production capability of the

work cellwork cell

2) Reduces process time for operation2) Reduces process time for operation

3) Fewer motions3) Fewer motions

Multiple End-Effector Systems

DisadvantagesDisadvantages::1) Additional complexity is added to the tooling1) Additional complexity is added to the tooling

2) Greater costs for design2) Greater costs for design

Multiple End-Effector System

Robot Compliance

Relationship between mating parts in an Relationship between mating parts in an assembly operationassembly operation

Means initiated or Means initiated or allowed part movementallowed part movement for the purpose of alignment between for the purpose of alignment between mating partsmating parts

Active Compliance Use sensors or vision-type systems for Use sensors or vision-type systems for

realignmentrealignment

1) The forces caused by part misalignment are 1) The forces caused by part misalignment are measured by sensorsmeasured by sensors

2) The degree of misalignment in all directions 2) The degree of misalignment in all directions is transmitted back to the robot controlleris transmitted back to the robot controller

3) The gripper is moved by the controller to 3) The gripper is moved by the controller to correct the misalignmentcorrect the misalignment

Passive Compliance

Provides compliance mechanically by Provides compliance mechanically by means of a remote center compliance means of a remote center compliance device (RCC)device (RCC)

Remote center (RCC) results are caused by Remote center (RCC) results are caused by forces applied to part in the gripperforces applied to part in the gripper

Links (rods) are used for compensation for Links (rods) are used for compensation for rotary or lateral movementsrotary or lateral movements

RCC Device

Click on image for more information.Click on image for more information.

Selective Compliance Articulated Robot Arm (SCARA) Movement of end-effector is restricted to a Movement of end-effector is restricted to a

tolerance range after a programmed point is tolerance range after a programmed point is reached (to complete the operation)reached (to complete the operation)