Prof.

Yashvant D Patel
Mechanical Engineering Department
ADIT
 Introduction
 End-effector is a device that attaches to the wrist
of the robot arm.
 The proper shape and size of gripper & method of
holding are determined by the object to be
grasped & task to be performed.

Grippers Tools

• They are designed to • They are designed to

grasp and hold objects. perform work on the part
 Types of grippers
 Mechanical Grippers  Pneumatic gripper

 Vaccum Cup type  Hooks type

 Adhesive gripper  Scoops and ladles

 Magnetic gripper  Inflatable devices

 Expandable bladder
type
Mechanical Grippers
Design of gripper fingers
Different actuations in gripper design:

Linkage actuation
Rack and pinion actuation
Cam actuation
Screw actuation
Other design of mechanical grippers
Gripper Design : Total weight of 3kg of an object

1) Bottom base
2) Support shafts
3) Motor
4) Motor attached base
5) Palm
6) Planetary Gear
7) Rods
8) Worm gear

Complete structure of grippers

Designed by National University of Singapore
 11) Finger Holder
Upper Part includes,
12) Pulley
13) Solid
14) Shaft
Lower Part includes,
15) Helical Gear
16) Pulley
17) Solid
18) Shaft
Single Finger
19) Timing Belt
Vaccum Grippers
Adhesive Grippers
NASA is developing gecko-inspired adhesive grippers that
could grapple objects in space such as defunct satellites
and orbital debris which pose a serious risk to
spacecraft.
Magnetic Grippers
Expandable bladder type
Features
 Grips and lifts opened mouth containers quickly and efficiently
 Rubber bladder inflates to 140% of size to firmly grip loads from the inside
 Good load capacity and is unaffected by dusty environments
 Requires just a small amount of air pressure (10-15+ PSI) to expand and attach.
To release simply reverse the air flow
Pneumatic Grippers
Force Analysis of gripper:

 The force due to mass W= mg

 The friction force f= μ N fg
 The design force fd= n W
 Hence gripping force fg= n m g / μ N

Performing Linkage analysis:

Fa= (2nm/ μ N) (L1/L2) (L3/L4) (g±a)

Power requirement :

dp = Diameter of piston of actuator

Ap = Area of piston
p = Pressure intensity of air needed = Fa/ Ap
PR = Power requirement to produce this pressure
= PQ/1000 Where Q= Volume flow rate of air
in m3/sec.
Given Parameters:
L1=100 mm L2= 40 mm L3=90 mm

By taking the moment about point A,

=1024.5N

F=724.44N
1. Part Specification
2. Performance Specification
3. Source specification
4. Position specification
5. Environment specification
6. Material specification
7. Actuation selection
8. Protection selection
9. Service condition
10. Other consideration
 Important factors that determine required grasping
force

 The weight of an object

 Consideration of weather the part can be grasped consistently
about its centre of mass. If not then an analysis of possible
moments from off centre grasping should be considered.
 The speed and acceleration with which the robot arm moves
and orientation relationship between the direction of
movement and position of the fingers on the object (means the
movement is parallel or perpendicular to finger surface
contacting the part)
 Coefficient of friction between the object and gripper forces
Questions ? Answers?
Grippers

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