Robotics Basics Presentation

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.

Robotics Basics Presentation

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