Chapter 2 Fundamentals of Robotics 29
A tachometer is a device used to measure the speed of an object. In the
case of robotic systems, a tachometer is used to monitor acceleration and
deceleration of the manipulator’s movements.
End Effector
The end effector is the robot’s hand, or the end-of-arm tooling on the
robot. It is a device attached to the wrist of the manipulator for the purpose
of grasping, lifting, transporting, maneuvering, or performing operations
Figure 2-7. Actuators can be powered by electric motors, pneumatic (air) cylinders, or hydraulic (oil)
cylinders. Linear actuators provide straight-line movement. Rotational movement around an axis is
provided by the angular (rotary) actuator. (PHD, Inc.)