ROBOT DRIVE SYSTEMS

& END EFFECTORS

 DRIVE SYSTEMS
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The Drive systems provide power to
the entire robot systems
The drive system is used to determines
the speed ,
load carrying capacity, and
the performance of the robot
 Types of drive systems

 HYDRAULIC DRIVE
 ELECTRIC DRIVE
 PNEUMATIC DRIVE
 ADVANCED ACTUATORS
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Needs From Drive Systems

 Reliability
 Accuracy
 No Of DOF
 Various forces
 Various effects
 Co-Ordinate Systems
 HYDRAULIC DRIVE
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 ITS SOPHISTIGATED FOR ROBOTS
 ASSOCIATED IN LARGE ROBOTS
 THIS DRIVE IS ONLY FOR ROTATIONAL DRIVE
OR LINEAR DRIVE
 Types

1. Linear Hydraulic Actuators
 Single, Double & Double Acting with double rod
2. Rotary Actuator
 Gear, Vane , Piston Motors
3. Actuators
 Spring Return
 Ram Type
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 PNEUMATIC DRIVE

 FOR SMALLER SYSTEMS WITH LESS D.O.F
 PERFORMS PICK & PLACE OPERATIONS ONLY
WITH FAST CYCLES
 THIS SYSTEM HAVING COMPLIANCE OR
ABILITY TO ABSORB SOME SHOCK
 THIS IS ONLY FOR ROTARY OPERATIONS.
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 Various Drive Systems
for Robot systems
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 The Various considering Factors are mentioned

below
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 ELECTRIC DRIVE

 IT DO NOT PROVIDE AS MUCH SPEED & POWER
 ASSOCIATED IN SMALL ROBOTS
 ACCURACY & REPEATABILITY IS BETTER
 ACTUATED BY DC MOTOR OR STEPPER MOTOR
 THIS DRIVE IS ONLY FOR ROTATIONAL DRIVE
BY DRIVE TRAIN & GEAR SYSTEMS
 PERFORM LINEAR SYSTEMS BY PULLEY
SYSTEMS
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 Stepper motor

 A device which transforms electrical pulses into
equal increments of rotary shaft motion called steps.
 Here electrical pulse is applied to it in a proper
sequence.
 The motor rotation has several direct relationship to
these input
 The speed depends on the frequency of the input
pulse
 Stepper motor types

 Variable –reluctance
 Permanent magnet
 hybrid
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Variable –reluctance
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 Working

 It work for (round) long time
 Easiest to under stand a structural point
 It has a rotor and a wound stator.
 When stator windings energized with DC current the
poles become magnet
 Permanent magnet

 The step angle
of 7.5 to 15 degree
Hybrid motor

 Working

 This is more expensive than permanent motor
 It provide better performance
 100-400 steps per revolution occurs
 When to use stepper
motor

 When the controlled movement required
 When we need controlled rotating angle, speed,
position and synchronism.
 In different applications
 Eg. Printer, plotter, hard disk,
D.C Servomotors

 Working

 When automatic control systems are called as servo
motors
 It converts electrical signals into angular
displacement of the shaft
 The supply may be AC or DC
 Drive mechanisms

 Gears
 Spur gear
 Bevel gear
 Worm gear
 Pulley drive
 Linear drive
 Rack & pinion
 Ball & roller screws
 Harmonic drive
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 End Effectors

 It is a device that is attached to the end of the wrist
 It act as a hand for robot
 It may be a Gripper, Vacuum Pump, tweezers,
scalpel, blow-torch
 Some robots can change end effectors and be
reprogrammed for different set of tasks
 Consideration of End
Effector Design

 It have several fingers, joints, & more DOF
 Any combination of these factors gives different grip
modalities to the end effector

 Basic types of end arm
tooling

 Attachment device
 Support & containment device
 Pneumatic pickup device
 Magnetic pickup device
 Mechanical pickup device
 Classification of End of
Arm Tooling

 According to method to hold part in the gripper
 Mechanical gripper
 Vacuum gripper
 Magnetic gripper
 According to Special purpose tools
 Drills
 Welding guns
 Paint sprayers
 Grinders (cont)
 cont

 According to Multi-function capability of gripper
 Remote center compliance
 Special purpose grippers
Classification of Grippers

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 Mechanical finger
Gripper

It is an End effector that uses mechanical
finger actuated by mechanism to grasp the
objects
The mechanical grippers are actuated by
hydraulic/ pneumatic/ solenoids/
motors, are designed based on strength
considered

 Finger Grippers

 It generally have 2 opposite fingers or 3 fingers in
120o degree
 All these fingers are driven together, un till the object
are gripped
 The 2 finger gripper can be further split as parallel
motion or angular motion fingers
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GRIPPERS WITH 2
FINGERS
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