282 Industrial Robotics Fundamentals Copyright Goodheart-Willcox Co., Inc. Grippers that are designed to handle fragile objects are an example of custom end effectors. End effectors with soft, fl exible cups have been developed for deli- fl cate applications, such as handling lightbulbs and eggs. Custom-designed end effectors may combine gripper types or be uniquely shaped to meet the needs of a par- ticular operation, Figure 9-12. Expandable grippers are end effectors that clamp irregularly shaped workpieces using mechanical fi ngers fi equipped with hollow rubber envelopes that enlarge when pressurized. The envelopes ensure even distribu- tion of surface pressure. One type of expandable gripper surrounds an object, gripping it from the outside. Another type grips hollow objects from the inside. Expandable grippers are ideal for handling fragile parts or parts that vary a great deal in size. De-STA-Co Figure 9-12. This gripper is equipped with a vision guidance system that allows the robot to fi nd objects fi that are not placed symmetrically. This type of device can also be used in environments with changing conditions, such as lighting levels, and for locating and gripping objects that are placed randomly. The end effector of the CyberKnife System is a linear accelerator that is used to treat tumors anywhere on the human body. Robotics in Society: CyberKnife® System The CyberKnife System is a robotic radiosurgery system available from Accuray® Incorporated. This system offers a non-invasive treatment option for patients with cancerous tumors. The manipulator of the CyberKnife® System has an extensive range of motion, which allows the end effector (a linear accelerator) to be posi- tioned anywhere on the body. Additionally, high-resolution image detectors con- tinuously track the position and location of the target tissue during the treatment session. This information is communicated to the manipulator, which automatically adjusts the end effector to compensate for movement of the patient or tissue. The continuous tracking capabilities of the CyberKnife® System provide accurate treat- ment and reduce damage from the radiation beams to surrounding tissues. Traditional radiosurgery systems are confi ned to treating tumors in the head and neck. Accuray® made use of new technologies to develop a fl exible and precise robotic radiosurgery system that offers a wide range of patients an effective option in the fi ght against cancer. Image used with permission from Accuray Incorporated