The robotic gripper is a form of end effector that is attached to the wrist of the robot for performing certain operations or operations. There are many types of robot end actuators to suit the different operation and operation requirements of the robot. End actuators can be divided into handling, machining and measuring.
End effector for transport refers to various gripping devices for picking up or absorbing objects being transported.
The end effector for machining is a robotic attachment with a processing tool such as a spray gun, a welding torch, a grinding wheel, a milling cutter, etc., for performing the corresponding machining operations.
The end effector for measurement is an additional device equipped with a measuring head or sensor for measurement and inspection work.
When designing the robot end effector, pay attention to the following problems;
1. The robot end effector is designed according to the robot's operation requirements. With the advent of a new end effector, a new application area for robots can be added. Therefore, new robotic end effectors created according to the needs of the work and people's imagination will continue to expand the field of application of the robot.
2. The weight of the robot end effector, the weight of the grasped object, and the sum of the operating forces. The allowable load force of the robot. Therefore, the robot end effector is required to be small in size, light in weight, and compact in structure.
3. The versatility and specificity of the robot end effector are contradictory. The universal end effector is complicated in structure and even difficult to implement. For example, the humanoid dexterous hand of the humanoid robot has not yet been put into practical use. At present, it is still those robotic end effectors that are simple in structure and versatile. From the practical application of the industry, we should focus on the development of a variety of dedicated, high-efficiency robot end-effectors, combined with a quick changer for the end effector to achieve multiple functions of the robot, without the use of a versatile end effector. Go through a variety of assignments. Because this versatile actuator is complicated in structure and expensive.
4. Universality and omnipotence are two concepts. The omnipotence refers to a multi-functional machine, while the versatility refers to a limited end effector that can be applied to different robots. This requires end-effectors to have standard machinery. Interfaces such as flanges enable standardization and building blocks for end effectors.
5. The robot end effector is easy to install and maintain, and it is easy to implement computer control. The most convenient for computer control is the electric actuator. Therefore, the mainstream of industrial robot actuators is electrical, followed by hydraulic and pneumatic (in the drive interface, the need to increase the electro-hydraulic or electro-gas conversion).
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