End effectors

Question 1

What is a gripper?

Answer 1

Is a mechanical tool that allows picking and moving objects in the ws.

• Fundamental role in the robotic task
• Usually designed ad-hoc for the application

Question 2

Gripper classification (type of lock).

Answer 2

ONE CONTACT SURFACE:
- adhesive grip: force lock
- reverse grip: form lock

MORE THAN 1 CONTACT SURFACE:
- force-fit: force lock
- force-fit/form-fit: both lock
- form-fit: form lock

Question 3

All types of gripper actuation (examples).

Answer 3

• Pneumatic / hydraulic
• Electric
• Magnetic
• Electrostatic
• Sucker: uses compressed air, very fast

Question 4

Gripper jaws classification.

Answer 4

• Angular/Radial
• Linear/Parallel
• Self centering

Question 5

Gripper accessories.

Answer 5

• Remote center of compliance devices
• Force/Torque sensor
• Quick tool changer
• Multi tool

Question 6

What is the Remote Center Compliance device (RCC)?

Answer 6

Is a mechanical device that facilitates automated assembly by preventing peg-like objects from jamming when they are inserted into a tight hole.

• It is usually build between the wirst and the gripper.