Discuss the classification of End Effectors with neat sketches.

Question

Accepted Answer

# Solution: Classification of End Effectors

An **end effector** is a device mounted at the robot wrist that directly interacts with the workpiece or environment.

## Classification

### 1. Grippers

Grippers hold, move and release objects.

**Mechanical gripper:** uses fingers/jaws.

```text
      Robot wrist
          │
       ┌──┴──┐
       │     │
      /       \
   Finger   Finger
      \       /
       [Object]
```

Types include:
- Two-finger grippers
- Three-finger grippers
- Internal grippers
- Angular/parallel grippers

### 2. Vacuum Grippers

Use suction cups and negative pressure to pick flat or smooth objects.

```text
Robot wrist
     │
  Vacuum line
     │
   ┌───┐
   │cup│
   └─┬─┘
 [Workpiece]
```

Applications include glass, sheets and electronic components.

### 3. Magnetic Grippers

Use permanent magnets or electromagnets to handle ferromagnetic materials such as steel components.

### 4. Welding End Effectors

Carry welding tools such as spot-welding guns or arc-welding torches.

```text
Robot wrist → Welding gun → Workpiece
                         ⚡
```

### 5. Spraying/Painting End Effectors

Use spray guns or nozzles for painting, coating and surface treatment.

### 6. Drilling and Machining Tools

Include drills, milling cutters, grinders and deburring tools for manufacturing operations.

### 7. Special-Purpose End Effectors

Designed for specific applications such as:
- Surgical tools
- Cutting tools
- Adhesive dispensers
- Polishing tools
- 3D-printing heads

## Active and Passive End Effectors

**Active:** require energy or actuation, such as pneumatic/electric grippers and powered welding tools.

**Passive:** depend mainly on mechanical geometry or the workpiece interaction, such as simple hooks or fixtures.

## Conclusion

The choice of end effector depends on **workpiece shape, weight, material, required force, operation, accuracy and production environment**.

Solution: Classification of End Effectors