{"id":238,"date":"2020-05-18T09:14:12","date_gmt":"2020-05-18T09:14:12","guid":{"rendered":"http:\/\/www.tthk.ee\/inlearcs\/?page_id=238"},"modified":"2020-05-18T10:07:43","modified_gmt":"2020-05-18T10:07:43","slug":"4-end-of-effector-selection-procedure","status":"publish","type":"page","link":"https:\/\/www.tthk.ee\/inlearcs\/4-end-of-effector-selection-procedure\/","title":{"rendered":"4.\tEnd-of- Effector selection procedure"},"content":{"rendered":"
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End-effector (gripper, tool, etc) gives a functionality to the industrial robot. Depending of the industrial task the robot is fulfilling is the construction and functionality of an end effector. Some nomenclature of end-effectors is given in the Figure 4.1.
\nIn robotics, an end effector is the device at the end of a robotic arm, designed to interact with the environment. The exact nature of this device depends on the application of the robot. In the strict definition, which originates from serial robotic manipulators, the end effector means the last link of the robot. Wikipedia<\/p>\n

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Figure 4.1 <\/strong>Industrial robot and different types of end-effectors.<\/p>\n

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The most essential robot periferial is the end effector, or end-of-arm-tooling (EOT). There are very different application for EOT. Most common are end effectors including welding devices (MIG, TIG welding, spot welding), spry guns also grinding and deburring devices (pneumatic disk or belt grinders); grippers (devices that can grip an object, usually electromechanical or pneumatic); picking objects by vacuum; EOT devices for machining, etc. EOT are frequently highly complex. They can carry out different activities at the same time and may utilize various sensors. End-effector systems are rapidly in developing.<\/p>\n

The basic construction of joining the end-effector with the robot arm gives the degree of freedom to the end effector and also the functionality for doing a certain industrial task (see Fig 4.2). Wrist configuration main elements are:<\/p>\n

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      • Wrist assembly is attached to end-of-arm<\/li>\n
      • End effector is attached to wrist assembly<\/li>\n
      • Function of wrist assembly is to orient end effector<\/li>\n
      • Body-and-arm determines global position of end effector<\/li>\n
      • Two or three degrees of freedom:\n