WRISTS : Wrist roll, yaw, and pitch (Figure 3.3.1). There are 3 motions and 3 actuators are required for motion.
End Effectors (Figure3.3.2): Welding head, riveter, spot welder.
Grippers in manipulators
Grippers are used to grip, pick, place, and release the object.
There may be single gripper and / or multiple grippers. Many a time grippers are actuated by pneumatic systems.
Figure 3.3.2
EE types (Figure3.3.2): spot welding gun for different position weld on automotive assembly line. Following figure shows typical End Effectors used on assembly, machining line.
Figure 3.3.3
Gripper (figure 3.3.3) This pneumatic gripper (balloon shaped) is being used to pickup hollow cylindrical objects by gripping them on the inside surface.
Figure 3.3.4
In this gripper the gripper faces move parallel to each other using a parallel bar mechanism. Ultrasonic waves detect whether the object is present and then the fingers close to pick the object. (Figure 3.3.4)
Figure 3.3.1
