End effector design

During designing the robot’s end effectors, try to meet the following requirements should be met as much as possible:

  1. Check whether the structure of the end effector can adapt to all products. Especially when it comes to the sorting application with a large number of SKU. It is necessary to consider the symmetry and offset of the end effector.

  2. Check whether the end effector suction force, grasping force is sufficient and can grasp all products stably;

  3. The end effector of the suction cup can equip vacuum detection sensor according to product features, such as carton products, can determine whether the carton is grasped. It is recommended to add the buffer structure on the end effector, which has a good protective effect on robots and products.

  4. avoiding being hanged and ripped off is required for the wiring layout in the robot move.

  5. When a singularity occurs in the robot’s working position, try to design an end effector containing offset to increase the tolerance of the singularity to the robot. Meanwhile, try to choose 45°, 30° and other common angles.

  6. It is necessary to consider the working space of the robot. During meeting the requirements of robot processing, the length of the end effector shouldn’t be too long or too short .

  7. The 3D model of end effector is required to be kept during designing, which is convenient for subsequent debugging.

Tip

The 3D model of the end effector helps Mech-Viz to accurately detect the collision. Please see Collision Detection and End Effector & Objects/