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End Effectors
Published in David D. Ardayfio, Fundamentals of Robotics, 2020
The end effector or end-of-arm tooling is the device that a robot manipulates to perform a given task (Figure 2.1). The term end effector covers a wide range of different tools and devices that can be classified in two main categories: (1) grippers and (2) tools. Grippers are the end effectors that actually grip a part for transfer operations in the work envelope of the robot (Figures 2.2 through 2.4). They are normally used for point-to-point tasks such as loading and unloading of machines and palletizing. Tools are the devices which actually perform the task; all the robot does is to position these tools in the working range. Examples of such tools are gluing guns, drills, routers, welding torches, arc welding guns, grinders, spray guns, deburring tools, and automatic screwdrivers. The robot trajectory is important when tool-type end effectors are used. Typically the robot must be programmed to manipulate the tool in a well-defined task path. The following sections examine several aspects of the design and use of grippers.
Intelligent Industrial Robots
Published in Richard L. Shell, Ernest L. Hall, Handbook of Industrial Automation, 2000
Wanek Golnazarian, Ernest L. Hall
The Robot Industries Association (RIA) has defined an industrial robot as “a reprogrammable multifunctional manipulator designed to move material, parts, tools or specialized devices, through variable programmed motions for the performance of a variety of tasks.” The most common types of manipulators may be modeled as an open kinematic chain of rigid bodies called links, interconnected by joints. Some have closed kinematic chains such as four-bar mechanisms for some links. The typical industrial robot is mounted on a fixed pedestal base which is connected to other links. The end effector attaches to the free end and enables the robot to manipulate objects and perform required tasks. Hard automation is differentiated because of the single function. Computer numerical control (CNC) machines have a smaller variety of tasks.
Applications of Technology
Published in Roger Timings, Basic Manufacturing, 2006
A robot must be able to reach workpieces and tools. This requires a combination of an arm and a wrist subassembly, plus a ‘hand’ usually called the end effector. The robot’s sphere of influence is based upon the volume into which the robot’s arm can deliver the wrist subassembly and end effector. The end effector can be a welding head, a spray paint gun, a gripper for loading and unloading work or any other device. Let’s consider the geometric configurations normally available.
User Representations in Human-Computer Interaction
Published in Human–Computer Interaction, 2021
Sofia Seinfeld, Tiare Feuchtner, Antonella Maselli, Jörg Müller
Physical and virtual tools enable users to carry out actions in distant or virtual spaces that would otherwise be unreachable. A person can use a physical wooden stick to reach an object that is far away, or a virtual cursor to select icons during indirect interaction. Remarkably, during such tool-use we are able to transfer the motor control of a specific body part to a mechanical or virtual end-effector, without significantly affecting our performance during the task at hand. End-effector, in this context, refers to the part of the tool that comes into contact with the object we are manipulating (Arbib, Bonaiuto, Jacobs, & Frey, 2009). A large amount of evidence has shown that this mastery in tool-use may be explained by the incorporation of tools into the mental representation of our body and the space immediately surrounding it, also known as peripersonal space (Berti & Frassinetti, 2000; Maravita & Iriki, 2004; Martel, Cardinali, Roy, & Farnè, 2016).
Versatile cleaning service robot based on a mobile manipulator with tool switching for liquids and garbage removal in restrooms
Published in Advanced Robotics, 2022
Tatsuhiro Wakayama, Eri Fujiura, Mari Yamaguchi, Naoki Yoshida, Tomoaki Inoue, Hiroki Ikeuchi, Masaki Yamamoto, Lotfi El Hafi, Gustavo A. Garcia Ricardez, Jun Takamatsu, Tadahiro Taniguchi, Tsukasa Ogasawara
Restroom cleaning includes various tasks such as wiping off simulated urine and disposing of garbage. It is difficult to perform such various tasks with a single end effector as specific work performance may deteriorate. Therefore, the proposed robot system uses three types of tools at the end effector with an automatic replacement function. For automatic tool replacement, the robot uses a tool changer attached to the tip of its arm and the tool storage attached to its mobile base. Each end effector tool is shown in Figure 14: mop, palletcher, and vacuum. The tools that come into contact with the garbage, the toilet bowl, or the floor, such as the mop and the palletcher, were designed to be highly compliant and thus safe.