Robot Primer 11: End Effector For Simulation
I’ve put together a simple and unrealistic end effector that I will be using in the rest of this series to help illustrate my topics.Â It’s unrealistic because it can’t be manufactured as shown (for example, no pneumatic tubing).
Now for a quick look at what I’ve created:
The major parts are:
- Mounting to robot arm
- Smart Camera (a Microscan Vision MINI)
- Gripper with pneumatic suction cup (mounted on a Misumi MPPU10 Air Linear Guide)
- Second gripper mechanism
- My sample part
I choose to use vacuum grippers for simplicity.Â Using two gripper adds flexibility, since the robot can exchange parts at the fixture.
It’s a simple part; I made it non-symmetric so it’s easier to see the effects of certain robot sequences.
This fixture is a very simple place to put the part.Â Most likely, a real fixture would have a clamp and more connections, but this one is good enough for my planned demonstrations.