Lecture 5 Year 2

1
Lecture 5 - Year 2

• Robotics - End Effectors

2
What we will cover

• Revision - Lecture 4
• End Effectors
• Types
• Power supply
• Video - Stem Feeder, PCB Assembly and Soldering

3
Lecture 4 - Revision

• Types of robot motion
• Actuation
• Vision

4
End Effector

• Definition
• 3 Key Types
• Grippers
• Tools
• Sensors

5
Gripper Types

• Mechanical Gripper
• Vacuum Cups
• Magnetic
• Hooks
• Scoops/Ladles

6
Tooling Types

• Spray Gun
• Arc Welding
• Routers, Grinders Sanders
• Heating Torch
• Spot Welding Gun

7
Gripper Power Systems

• Hydraulic
• Pneumatic
• Electric
• Spring

8
Considerations - Gripper Design

• The Task Object
• Robot
• Environment
• Handling Operation
• Cost
• Flexibility
• Changeover
• Safety

9
End Effector Selection

• Task
• Gripper Features
• As light as possible.
• Fulfils the task.
• Orientate the part.

10
Video

• For the stem assembly - what kind of chuck was
  used?
• Odd form components - how were they identified?
• Soldering - was the soldering tool self cleaning?

11
Summary

• Introduction to end effectors.
• Types of grippers/tooling.
• Overview of design considerations.
• Review of video.