end effectorIn robotics , an end effector is a device or tool connected to the end of a robot arm. The structure of an end effector, and the nature of the programming and hardware that drives it, depends on the intended task. If a robot is designed to set a table and serve a meal, then robotic hands, more commonly called grippers, are the most functional end effectors. The same or similar gripper might be used, with greater force, as a pliers or wrench for tightening nuts or crimping wire. In a robot designed to tighten screws, however, a driver-head end effector is more appropriate. A gripper is a hindrance in that application; the driver can be attached directly to the robot arm. The driver can be easily removed and replaced with a device that operates with similar motion, such as a bit for drilling or an emery disk for sanding. A robot arm can accommodate only certain end-effector task modes without changes to the ancillary hardware and/or programming. It is not possible to directly replace a gripper with a screwdriver head, for example, and expect a favorable result. It is necessary to change the programming of the robot controller and use a different set of end-effector motors to facilitate torque rather than gripping force. Then the gripper can be replaced with a driver head. Also see eye-in-hand system and motion plan .
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| Last updated on:
Sep 21, 2005 |
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