End effector

End effector

"Other use:in Computer Graphics, an end effector is the position and orientation of the last joint in a chain of joints"

In robotics, an end effector is the device at the end of a robotic arm, designed to interact with the environment. The exact nature of this device depends on the application of the robot.

This is a strict definition, which originates from serial robotic manipulators. There the end effector means the last link (or end) of the robot. At this endpoint the tools are attached. In a wider sense, an end effector can be seen as the part of a robot that interacts with the work environment. This does not refer to the wheels of a mobile robot or the feet of a humanoid robot which are also not end effectors - they are part of the robot's mobility.

Examples

The end effector of an assembly line robot would typically be a welding head, or a paint spray gun. A surgical robot's end effector could be a scalpel or others tools used in surgery. Other possible end effectors are machine tools, like a drill or milling cutters. The end effector on the space shuttle’s robotic arm uses a pattern of wires which close like the aperture of a camera around a handle or other grasping point.

When referring to robotic prehension there are four general categories of robot gripper, these are:1. Impactive - jaws or claws which physically grasp by direct impact upon the object.2. Ingressive - pins, needles or hackles which physically penetrate the surface of the object (used in taxtile, carbon and glass fibre handling).3. Astrictive - suction forces applied to the objects surface (whether by vacuum, magneto or electroadhesion).4. Kontugutive - requiring direct contact for adhesion to take place (such as glue, surface tension or freezing). [Monkman. G.J., Hesse. S., Steinmann. R. & Schunk. H. Robot Grippers. Wiley. ISBN 978-3-527-40619-7]

See also

* Grapple (tool)
* Hook
* Tongs
* Shadow Hand

References

* Koren, Y. (1985). Robotics for engineers. McGraw-Hill. ISBN 0-07-035399-9
* Monkman. G.J., Hesse. S., Steinmann. R. & Schunk. H. Robot Grippers. Wiley. ISBN 978-3-527-40619-7


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