Robot Concept

End-effector
Pick n Place Robot
END-EFFECTORS
Workpiece Analysis

The part being transferred or worked on must be analyzed to determine critical parameters to be designed into the
end-effector.
Workpiece Analysis and End-effector Requirement

Workpiece analysis
Parameter Unit End-effector requirement

Dimension (see workpiece Size end-effector

modelling) Weight end-effector
Tolerance +- 0.01 mm Need for compliance
Material Aluminum -
Physical properties (see workpiece need for controlling the applied force through
modelling) sensors can also be resolved.

Weight < 50 gram Number of grip and location

Surface finish Smooth Type of method for handling part (vacuum)
Process Analysis and End-effector Requirement

Process analysis
Parameter Unit End-effector requirement

Part quantity 100 pieces Number of hand or end-effector

Range of part size (see workpiece modelling) Manual part change

Presentation and Positioning without Possible contact point, dimensional clearance, end-
orientation orienting part effector mounting plate,
Need for sensor Detect part position and Need for sensor to detect object position and
presence presence
Cycle time 2 parts in one operation Number of tool
step
CLASSIFICATION OF END-EFFECTORS

In general, end-effectors can be classified by function as follows:

1. Mechanical hands
2. Special tools
3. Universal hands

Special Tools

As mentioned above in Section 2, there are two functional classifications of end-effector for robots: gripping
devices for handling parts, and tools for doing work on parts.
Special tools components :
Attachment devices are simply mounting plates with brackets for
Attachment devices securing tools to the tool mounting plate of the robot arm
Support and containment devices Support and containment devices include lifting forks, hooks,
scoops, and ladles
The most common pneumatic pickup device is a vacuum cup
Pneumatic pickup devices which attaches to parts to be transferred by suction or vacuum
pressure created by a Venturi transducer or a vacuum pump
Pneumatic Pickup Devices

The most common pneumatic pickup device is a vacuum cup (Figure 34), which attaches to parts to be transferred
by suction or vacuum pressure created by a Venturi transducer or a vacuum pump.

Typically used on parts with a smooth surface finish, vacuum cups are available in a wide range of sizes, shapes, and
materials

Parts with nonsmooth surface finishes can be picked up by a vacuum system if a ring of closed-cell foam rubber is
bonded to the surface of the vacuum cup

Venturi vacuum transducers, which are relatively inexpensive, are used for handling small, lightweight parts where
a low vacuum flow is required. Vacuum pumps, which are quieter and more expensive, generate greater vacuum
flow rates and can be used to handle heavier parts

When a Venturi or vacuum pump is used, a positive air blow-off may be used to separate the part from the vacuum
cup. Vacuum cups have temperature limitations and cannot be used to pick up relatively hot parts.
Vaccuum cup pickup device

Workpiece size : concave with diameter 32 mm

height 16 mm
Workpiece mass : < 100 gr
Distance from workpiece : 1 mm
𝑾 𝟓𝟎 𝒙 𝟏𝟎−𝟑 𝒙 𝟗.𝟖
Supply pressure :𝑬𝒇𝒇𝒆𝒄𝒕𝒊𝒗𝒆 𝑨𝒓𝒆𝒂 = 𝝅 = 𝟏𝟐. 𝟐 𝑷𝒂 < 𝟎. 𝟏 𝑴𝑷𝒂
𝟒
(𝟑𝟐 𝒙 𝟏𝟎−𝟑 )𝟐

Lifting force untuk tipe vacuum Bernouli dengan supply 0.1 Mpa dann jarak 1 mm(lihat
graphic)
XT661 40 : 0.4 N
XT661 60 : 0.4 N
XT661 80 : 0.5 N
XT661 100 : 1 N
XT661 120 : 2 N
Ubah massa workpiece [g] menjadi [N}
50 𝑥 9.8
100 gr : 1000 = 0.49 𝑁

Temporary lifting force ≥ workpiece mass, maka XT 661 – 80 dengan jumlah 1 unit menjadi pilihan vacuum pad
Actuator
Sensor
Keyence FS-V31
List part end –effector robotic pick and place robot

Keyence FS-V31
Fibre optic sensor

Pneumatic
actuator :
SMC CU 6 10 D

Vacuum pad : Non-contact gripper

Bernouli type SMC XT 661-8C-X321
List part end –effector robotic pick and place robot

No End –effector components Type Quantity

1 Pneumatic actuator SMC CU 6 10 D 2

Double acting, single rod
2 Vacuum pad Non-contact gripper Bernouli type SMC 2
XT 661-8C-X321

3 Urethane pad SMC X 207 2

4 Fibre optic sensor Keyence FS-31V 2
5 Power for actuation SMC Mist Separator AM 1
6 Power for actuation SMC Regulator AR/ARM 10 1
7 Power for actuation 2 Port Valve SMC VXY/VQ 20 1