Chapter 9 End Effectors ff ff 279 Copyright Goodheart-Willcox Co., Inc. 9.3 Changeable End Effectors Robots used in manufacturing require either multipurpose or changeable end effectors. This type of tooling increases the effectiveness and fl exibility of a robotic fl system. Equipping the manipulator with a multifunction end effector allows a single end effector to perform multiple tasks in a single process or on a single workpiece. Another option is to design an easily changeable end effector, which is also called quick-change tooling. Quick-change tooling offers several end effector options that can be read- ily attached and removed from the manipulator as the process requires. With quick-change tooling capabilities, a robot can handle parts of various shapes and perform a wide range of assembly tasks and machining operations. Adding this flexibility in the robotic system increases overall productivity. fl When designing a robotic system with changeable end effectors, two consid- erations must be addressed. The interface adapters must be standardized, and operators must be able to change end effectors with minimum downtime. To make interface adapters standard for use with many different end effectors, they must have compatible mounting and securing systems. All the connectors for electric, hydraulic, and pneumatic components should be provided with the adapters. Since robots come in different sizes, different sizes of standard adapters may need to be provided as well. A B Schunk-USA Figure 9-10. Typical automatic tool changer applications. A—An automatic tool changing system permits this robot to execute three operations automatically: cleaning, primer coating, and gluing. B—A large gantry robot is equipped with an automatic tool changing system. Note the extra-long fi ngers on the gripper that allow the clamping of large rings. fi