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.

      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.

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.

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.