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SAINI
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2. Tools
End effectors designed to perform work on the part rather that to merely grasp it. e.g. spot welding, spray painting, etc.
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MECHANICA GRIPPERS
A mechanical gripper is an end effector that uses mechanical fingers actuate by a mechanism to grasp an object. The function of the gripper mechanism is to translate some form of power input into the grasping action of the finger against the part.
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MECHANICA GRIPPERS
Two ways of constraining the part in the gripper
Physical Constriction of the part within the fingers. Friction b/w the fingers and the workpart.
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As per types of kinematic device:1. 2. 3. 4. 5. 6. Linkage actuation Gear and rack actuation Cam actuation Screw actuation Rope and pulley actuation Miscellaneous
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Cam-Actuated Gripper
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Disadvantages
Include the residual magnetism remaining in the work-piece Picking up only one sheet from stack
Stripper Device operated by sir cylinder used with a permanent Magnet Gripper
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Adhesive Grippers
Adhesive substance performs the grasping action e.g. Handle fabric and other lightweight materials.
Liquid cement application for assembly Heating torches Water jet cutting tool
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2. Compliance
Its refers to the wrist sockets ability to yield elastically when subjected to a force. In effect, it is opposite of rigidity. Remote Center Compliance (RCC) devices have been designed to provide high lateral compliance for centering the object relative to the hole.
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To eliminate this potential damage Use Breakaway Feature in the wrist socket. Sensor to indicate, so somehow take preventive action to reduce further overloading.
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THANK YOU
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