Robot end effector (original) (raw)
نهاية الروبوت العاملة هي الجهاز في نهاية ذراع الروبوت وقد صمم من أجل أن بقوم بوظائف خاصة. وتعتمد طبيعة ونوعية هذا الجهاز على طبيغة ونوع العمل الذي سيقوم به الروبوت الصناعي. ويمكن تبديل هذه النهاية من أجل القيام بوظيفة أخرى. يتم تثبيت هذا الجهاز في منطقة من الروبوت تعرف باسم TCP
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| dbo:abstract | Un terminal, en anglès end effector, és el dispositiu que es fixa al final d'un robot industrial, permetent desenvolupar una tasca específica. En molts sistemes els terminals són simples pinces que es tanquen al voltant d'un objecte i permeten agafar-lo i manipular-lo. Tot i això poden ser molt més complexos, imitant morfologies animals o tenint diferents dits amb múltiples juntes. Altres terminals són eines especialitzades que serveixen per a tasques molt concretes. En tots els casos la subjecció és molt important, especialment quan s'hi aplica una força, i també la connexió amb l'ordinador del robot, que és l'encarregat de controlar el terminal. Tot i que els terminals poden ser subministrats per l'empresa fabricant sovint també es poden dissenyar a mida per la tasca que han de realitzar. (ca) نهاية الروبوت العاملة هي الجهاز في نهاية ذراع الروبوت وقد صمم من أجل أن بقوم بوظائف خاصة. وتعتمد طبيعة ونوعية هذا الجهاز على طبيغة ونوع العمل الذي سيقوم به الروبوت الصناعي. ويمكن تبديل هذه النهاية من أجل القيام بوظيفة أخرى. يتم تثبيت هذا الجهاز في منطقة من الروبوت تعرف باسم TCP (ar) Als Endeffektor wird in der Robotik das letzte Element einer kinematischen Kette bezeichnet. Bei Industrierobotern kann es sich hierbei zum Beispiel um eine Einheit zum Schweißen von Autokarosserien oder allgemein um einen einfachen Greifer handeln, bei humanoiden Robotern sind dies beispielsweise die Hände. Der im englischen als TCP (Tool Center Point) bezeichnete ausgezeichnete Punkt am Ende der kinematischen Kette ist das Zielsystem, für das die aus der gestellten Aufgabe resultierenden Positionieranforderungen gelten. Aufgabenspezifisch kann der TCP dabei auch außerhalb des Roboters liegen, Beispiele wären der Fokus eines gegriffenen Lasers oder auch die Mitte des gerade transportierten Objekts. Siehe auch: * Aktor * Greifsystem * Manipulator (de) In robotics, an end effector is the device at the end of a robotic arm, designed to interact with the environment. The exact nature of this device depends on the application of the robot. In the strict definition, which originates from serial robotic manipulators, the end effector means the last link (or end) of the robot. At this endpoint, the tools are attached. In a wider sense, an end effector can be seen as the part of a robot that interacts with the work environment. This does not refer to the wheels of a mobile robot or the feet of a humanoid robot, which are not end effectors but rather part of a robot's mobility. End effectors may consist of a gripper or a tool. When referring to robotic prehension there are four general categories of robot grippers: 1. * Impactive: jaws or claws which physically grasp by direct impact upon the object. 2. * Ingressive: pins, needles or hackles which physically penetrate the surface of the object (used in textile, carbon, and glass fiber handling). 3. * Astrictive: attractive forces applied to the object's surface (whether by vacuum, magneto-, or electroadhesion). 4. * Contigutive: requiring direct contact for adhesion to take place (such as glue, surface tension, or freezing). These categories describe the physical effects used to achieve a stable grasp between a gripper and the object to be grasped.Industrial grippers may employ mechanical, suction, or magnetic means. Vacuum cups and electromagnets dominate the automotive field and metal sheet handling. Bernoulli grippers exploit the airflow between the gripper and the part, in which a lifting force brings the gripper and part close each other (using Bernoulli's principle). Bernoulli grippers are a type of contactless grippers; the object remains confined in the force field generated by the gripper without coming into direct contact with it. Bernoulli grippers have been adopted in photovoltaic cell handling, silicon wafer handling, and in the textile and leather industries.Other principles are less used at the macro scale (part size >5mm), but in the last ten years, have demonstrated interesting applications in micro-handling. Other adopted principles include: Electrostatic grippers and van der Waals grippers based on electrostatic charges (i.e. van der Waals' force); capillary grippers; cryogenic grippers, based on a liquid medium; ultrasonic grippers; and laser grippers, the latter two being contactless-grasping principles. Electrostatic grippers use a charge-difference between gripper and part (electrostatic force) often activated by the gripper itself, while van der Waals grippers are based on the low force (still electrostatic) of atomic attraction between the molecules of the gripper and those of the object.Capillary grippers use the surface tension of a liquid meniscus between the gripper and the part to center, align and grasp a part. Cryogenic grippers freeze a small amount of liquid, with the resulting ice supplying the necessary force to lift and handle the object (this principle is used also in food handling and in textile grasping). Even more complex are ultrasonic grippers, where pressure standing waves are used to lift up a part and trap it at a certain level (example of levitation are both at the micro level, in screw- and gasket-handling, and at the macro scale, in solar cell or silicon-wafer handling), and laser source that produces a pressure sufficient to trap and move microparts in a liquid medium (mainly cells). Laser grippers are known also as laser tweezers. A particular category of friction/jaw grippers is that of needle grippers. These are called intrusive grippers, exploiting both friction and form-closure as standard mechanical grippers. The most known mechanical gripper can be of two, three or even five fingers. The end effectors that can be used as tools serve various purposes, including spot-welding in an assembly, spray-painting where uniformity of painting is necessary, and other purposes where the working conditions are dangerous for human beings. Surgical robots have end effectors that are specifically manufactured for the purpose. (en) Chwytak – jest to oprzyrządowanie technologiczne manipulatorów robotów przeznaczone do manipulowania przedmiotami. Zadaniem tych narzędzi jest uchwycenie detalu, utrzymanie go podczas transportu oraz jego zwolnienie w miejscu docelowym. (pl) 在机器人技术中，末端执行器是位于机械臂末端的设备，用于与环境交互。这个装置的确切性质取决于该机器人的应用方式。 在严格的定义中，末端执行器是指机器人的最后一个连杆(或末端)。在这个端点上，工具会被附于其上。在更广泛的定义上，末端执行器可以被视为机器人与工作环境相互作用的一部分。这并不是指可以移动机器人的轮子或人形机器人的脚，它们不是末端执行器，而是机器人机动性的一部分。 末端执行器可能包括一个抓手或一个工具。当提及机器人抓握时，一般有四类机器抓握器： 1. * 冲击性：通过直接撞击物体而在物理上抓住物体的爪子。 2. * 侵入性：针脚、针或梳毛，物理上穿透物体表面(用于纺织品、碳和玻璃纤维处理)。 3. * 收缩性：施加于物体表面的吸引力(真空、磁或电附着力)。 4. * 接触性：需要直接接触才能发生粘附(如胶水、表面张力或冻结)。 这些类别描述了用于在抓取器和被抓取物体之间实现稳定抓取的物理效应。 (zh) |
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| rdfs:comment | نهاية الروبوت العاملة هي الجهاز في نهاية ذراع الروبوت وقد صمم من أجل أن بقوم بوظائف خاصة. وتعتمد طبيعة ونوعية هذا الجهاز على طبيغة ونوع العمل الذي سيقوم به الروبوت الصناعي. ويمكن تبديل هذه النهاية من أجل القيام بوظيفة أخرى. يتم تثبيت هذا الجهاز في منطقة من الروبوت تعرف باسم TCP (ar) Chwytak – jest to oprzyrządowanie technologiczne manipulatorów robotów przeznaczone do manipulowania przedmiotami. Zadaniem tych narzędzi jest uchwycenie detalu, utrzymanie go podczas transportu oraz jego zwolnienie w miejscu docelowym. (pl) 在机器人技术中，末端执行器是位于机械臂末端的设备，用于与环境交互。这个装置的确切性质取决于该机器人的应用方式。 在严格的定义中，末端执行器是指机器人的最后一个连杆(或末端)。在这个端点上，工具会被附于其上。在更广泛的定义上，末端执行器可以被视为机器人与工作环境相互作用的一部分。这并不是指可以移动机器人的轮子或人形机器人的脚，它们不是末端执行器，而是机器人机动性的一部分。 末端执行器可能包括一个抓手或一个工具。当提及机器人抓握时，一般有四类机器抓握器： 1. * 冲击性：通过直接撞击物体而在物理上抓住物体的爪子。 2. * 侵入性：针脚、针或梳毛，物理上穿透物体表面(用于纺织品、碳和玻璃纤维处理)。 3. * 收缩性：施加于物体表面的吸引力(真空、磁或电附着力)。 4. * 接触性：需要直接接触才能发生粘附(如胶水、表面张力或冻结)。 这些类别描述了用于在抓取器和被抓取物体之间实现稳定抓取的物理效应。 (zh) Un terminal, en anglès end effector, és el dispositiu que es fixa al final d'un robot industrial, permetent desenvolupar una tasca específica. En molts sistemes els terminals són simples pinces que es tanquen al voltant d'un objecte i permeten agafar-lo i manipular-lo. Tot i això poden ser molt més complexos, imitant morfologies animals o tenint diferents dits amb múltiples juntes. Altres terminals són eines especialitzades que serveixen per a tasques molt concretes. En tots els casos la subjecció és molt important, especialment quan s'hi aplica una força, i també la connexió amb l'ordinador del robot, que és l'encarregat de controlar el terminal. (ca) Als Endeffektor wird in der Robotik das letzte Element einer kinematischen Kette bezeichnet. Bei Industrierobotern kann es sich hierbei zum Beispiel um eine Einheit zum Schweißen von Autokarosserien oder allgemein um einen einfachen Greifer handeln, bei humanoiden Robotern sind dies beispielsweise die Hände. Siehe auch: * Aktor * Greifsystem * Manipulator (de) In robotics, an end effector is the device at the end of a robotic arm, designed to interact with the environment. The exact nature of this device depends on the application of the robot. In the strict definition, which originates from serial robotic manipulators, the end effector means the last link (or end) of the robot. At this endpoint, the tools are attached. In a wider sense, an end effector can be seen as the part of a robot that interacts with the work environment. This does not refer to the wheels of a mobile robot or the feet of a humanoid robot, which are not end effectors but rather part of a robot's mobility. (en) |
| rdfs:label | نهاية الروبوت العاملة (ar) Terminal (robòtica) (ca) Endeffektor (de) Robot end effector (en) Chwytak (robotyka) (pl) 末端执行器 (zh) |
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