1. Define end effectors.
End effector is a device that is attached to
the end of the wrist arm to perform specific task. It is also called as
gripper.
2.
Give some examples of Robot End Effector.
Gripper
Tools
Welding
equipments
End
of arm Tooling (EOAT)
3.
Difference between internal grippers and external grippers.
In
internal grippers, the finger pads are mounted on the inside of the fingers.
This mounting allows the pads to fit into the inside diameter of the part it
must lift. The pads are pressed against the inside wall of the part.
An
external gripper is designed so that the finger pads press against the outside
of the component. The exterior surface of the grips had closed fingers.
4.
Types of Mechanical Grippers.
Linkage
actuation gripper
Gear
and rack actuation gripper
Cam
actuated gripper
Screw
actuated gripper
5.
List any two limitations of magnetic grippers
Residual
magnetism
Side
slippage
More
than one sheet will be lifted by the magnet from a stack
6.
List any four important factors to be considered in the selection and
design of grippers.
The
gripper must have the ability to reach the surface of a work part.
The
change in work part size must be accounted for providing accurate positioning.
During
machining operations, there will be a change in the work part size. As a
result, the gripper must be designed to hold a work part even when the size is
varied.
The
gripper must not create any sort of distort and scratch in the fragile work
parts.
7.
Give some examples of tool as robot End effector.
Spot
Welding Tools
Arc
welding Torch
Spray
painting nozzle
Water
jet cutting tool
8.
Name some feedback devices used in robotics.
Potentiometer
Resolver
Encoder
9. Types of encoders?
(a)
Linear encoder
(b)
Rotary encoder
(i)
Absolute encoder
(ii)
Incremental encoder
10. Types of Drive systems used in
Robots.
Electric
motors like: Servomotors, Stepper motors
Hydraulic
actuators
Pneumatic
actuators
11. Characteristics of actuating
systems.
Weight
Power-to-weight
ratio
Operating
Pressure
Stiffness
Vs. Compliance
12. List any two unique features of
a stepper motor.
Moves
in known angle of rotation.
Position
feedback is not necessary.
Rotation
of the shaft by rotation of the magnetic field.
13. What is a RCC device? For what
purpose is it used in a robot?
In
robotics, a Remote Center Compliance, Remote Center of Compliance or RCC is a
mechanical device that facilitates automated assembly by preventing peg-like
objects from jamming when they are inserted into a hole with tight clearance.
In a naive design without an RCC, a robot might pick up a peg with its gripper,
center the peg over the hole and then push the peg along the axis of the hole.
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