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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.  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:

End Effector

FSW End Effector

The major parts are:

  1. Mounting to robot arm
  2. Smart Camera (a Microscan Vision MINI)
  3. Gripper with pneumatic suction cup (mounted on a Misumi MPPU10 Air Linear Guide)
  4. Second gripper mechanism
  5. My sample part

I choose to use vacuum grippers for simplicity.  Using two gripper adds flexibility, since the robot can exchange parts at the fixture.

Part

FSW Part

It’s a simple part; I made it non-symmetric so it’s easier to see the effects of certain robot sequences.

Fixture

Fixture

This fixture is a very simple place to put the part.  Most likely, a real fixture would have a clamp and more connections, but this one is good enough for my planned demonstrations.

 

 

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