26 RObotics Technology and Flexble Automation
ladling powders, molten metal or plastics. Mechanical type of
applications in forging and metal working industry.
Magnetic grippers may be employed for transfer of steel sheets grippersfichindps.
Vacuum cups may be used for transfer of sheets of glass, plastic or or
fir wide
of papers. thin she ts
Wrist Axes (R)
(RRR)
Group 1A Group 3D
Wrist Orientation R
(RR) PY R
Group 2A1
(BR)
Group 1B
Group 2B
R
P P
(BBR)
Group 3Ay
P Y R Group 2Az
(BBR)
Group 3B OPYR
(RBR)
(BBR)||
Group Group 3A
R
PY PY
FIG. 1.23 Different schemes of robot wrist orientations
Atypical end-effector is shown in Fig. 1.24 in which various designs of
interchangeable finger tips can be adopted. This is a two linkage gripper and it
is actuated by a linear drive system-a pneumatic or hydraulic piston that puls
or pushes the linkage causing rotation of the gripper inkages to close on or
open tree an object. Electrical motors may also be used to open or close the
gripper with suitable linkage systems. However, suitable Vee-locations can be
arranged for gripping, say, rotational components.
Robotics: History, Present Status and Future Trends 27
Work
Various
Fingers
FIG. 1.24 Two fingered end-effector with changeable finger-tijps
Atypical electromagnetic end-effector or gripper is illustrated in Fig. 1.25 in
which ferrous components can be easily gripped by the principle of
electromagnetism.
Electromagnet -Electromagnet
Coil Body
Protective Sheet
Object
FIG. 1.25 Electromagnetic end-effector
A vacuum end-effector or gripper as illustrated in Fig. 1.26 indicates the
suction cups to hold and transfer lighter objects. Small vacuum pumps create
the presure differential for necessary vacuum. Figure 1.27 indicates the MIG
welding torch or gun held in a robot end-effector. The torch is joining two pipes
following a weaving pattern. A robot end-effector, in a similar way, can also
hold a spray gun for spray painting.
Suction
Cup Object
FlG. 1.26 Vacuum end-effector with suction cups
28 Robotics Technology and Flexilble Autormaton
Tool
World Coordinates
+X
Coordinates
Null Tool
Robot
+Z
Base
Weldment
Torch
Coordinates
Pipe
+7 Tool Torch /D
FIG. 1.27 The welding gun (torch) weavinga weld pattern
Figure 1.28 indicates some typical examples of robot end-effectors
for manufacturing applications. suitable
However, three or multifingered grippers provide greater flexibility and more
dexterity. Dexterity of the fingers demands higher degrees of freedom. The
fingers having more dexterity are suitable for gripping a variety of materials
both soft and hard, thick and thin. But greater numbers of DOFs
make the
control-systern more complex.
For assembly operations, compliant end-effectors are the most suitable types
of grippers. Remote centre compliant (RCC) devices developed at the Charles
Stark Drapper Laboratory, Massachusetts facilitate the rotational and translational
alignment in response to the contact frictional forces when the part matches
into its mating hole. Thus RCC reduces the positional and orientational errors.
Figure 1.29 indicates the principle of an RCC device. The gripper with
Compound compliance can have both lateral as well as angular movement to
Compensate for locational error or orientational error while a peg is inserted
into a hole for the purpose of small assembly.
Robotics: History, Present Status and Future Trends 29
Shaft
For Small Diameters Fitted to the Diameter Fitted to the Length
Flat
Magnet Lifter Vacuum Double Gripper Vacuum Gripper
Box
For Large Objects Vacuum Gripper for Parts
Contour Surface
Vacuum Gripper
Corrugated Vacuum, Gripper
Surface Curved Surface Balloon Lifter, Bottles
FIG. 1.28 Robot end-effectors for different manufacturing applications
30 kobolC tocoouy dtexil e AuYWY
RCC
Device
Peg
Hole
FIG. 1.29 The RCC end-effector
1.6.3 Robot Actuators
The robot arm can be put toa desired motion with its payload if actuator modules
arefitted in toprovide power drives to the system. Actuators are classified into
1. Electromechanical actuators that include
(a) pneumatic actuators using compressed air
(b) hydraulic actuators using fluid power
(c) electric motors with
(6) d.c. motors
(i) a.c. motors
(ii) stepper motors using electromagnetics
(d) electrostatic actuators using electrical field that includes piezoelectic
actuators
(e) Micro-electro-mechanical systems (MEMS) actuators using combined
micromachining and ICfabrication technology.
Pneumatic Power Drives
Pneumatic systems may employ a linear actuator, i.e. double acting cushioned
cylinders or it may employ rotary actuators like vane motors. However, linear
actuators aremore popular.
Pneumatic power drive systems use compressed air to move the robot arm.
Alr is conmpressed by an air compressor and the compressed air is directed
through filter, regulator and lubricator (FRL) units to the hose pipes and then to
the pneumatic cylinders through the directional control valve. For stable
an air compressor usually pumps air into a storage tank and from there, suppy,
passes through FRL units to the pneumatic cylinder.
Ascheme of a
pneumatic power supply in a bang-bang (non-servo) robotis
illustrated in Fig. 1.30. As air enters into the
valve, the piston mOves on its outward strokeculinder via the directional contro
into the other end of the cylinder, the piston and when air is diverted to ene
air is exhausted into the makes the return stroke. The re
atmosphere. Pneumatic direction control valve cang
operaled by either levers, rollers or solenoids and this can also be pilot operatke
