234
D. Sakthimurugan et al.
Table 1 The type of magnets and their advantage, disadvantages and applications
Parameter
Servo-electric
gripper
Pneumatic
gripper
Magnetic gripper Permanent magnet
gripper
Working
Mechanism
Electric motors
control the
movement of the
jaws using
electric input
from the robot
Grippers provide
their actuation
by compressed
air into chamber.
It converts air
pressure into
mechanical force
[3]
Grippers using
are generally
powered by DC
power for
handling material
These kinds of end
effectors do not
need power to
operate. They are
separate piece from
magnet, by cut
electric power
Energy used
Electrical energy Air-operated
actuator
Electrical energy Electrical energy
Grasping speed Fast
Relatively speed Very fast
Fastest
Environmental
adapt-ability
These actuators
are not suited for
all environments
Actuators
involve areas of
extreme
temperatures. A
typical
temperature
range is −40 °F
to 250 ° F
At some point,
affect the
magnets due to
factors like ohmic
heating, core
losses [7]
This magnet can not
use this type of
magnets for hot
device applications
Material used Alloy
steel/titanium
Alloy steel
Ferromagnetic
material
Ferromagnetic
material
Precision
Highly Precise.
Range of
accuracy is ±
0.00315 inches
and repeatability
of less than
0.0000394 inch
Pneumatic
actuators
generate precise
linear motion by
providing
accuracy, within
0.1 inches and
repeatability
within 0.001
inches
The grasping
speed is fast, as
the magnet is
magnetized,
taking 0.5 s
The grasping speed
is fast, as the gripper
is constantly on
pneumatic is used to
activate on and off
position. Time
consumed is 1–1.5 s
Gripping factor High Gripping
factor, due to
feedback
response
Simple and
quick hence high
gripping factor
Gripping factor is
weak, as it’s
prone to slippage
and if excess oil
comes in contact
with the surface
of magnet (5)
Gripping factor
relatively weak, as
it’s prone to
slippage and if
excess oil (film
thickness > 10 mm)
comes in contact
with the surface of
magnet
Shape of
gripper
Jaw type- double
and triple, 5
finger type
grippers (6)
Claw type,
double and triple
jaw gripper
Rectangular
magnetic, Single
long arm, circular
magnetic
Rectangular
magnetic slab,
Single long arm,
circular magnetic
slab [8]
(continued)
D. Sakthimurugan et al.
Table 1 The type of magnets and their advantage, disadvantages and applications
Parameter
Servo-electric
gripper
Pneumatic
gripper
Magnetic gripper Permanent magnet
gripper
Working
Mechanism
Electric motors
control the
movement of the
jaws using
electric input
from the robot
Grippers provide
their actuation
by compressed
air into chamber.
It converts air
pressure into
mechanical force
[3]
Grippers using
are generally
powered by DC
power for
handling material
These kinds of end
effectors do not
need power to
operate. They are
separate piece from
magnet, by cut
electric power
Energy used
Electrical energy Air-operated
actuator
Electrical energy Electrical energy
Grasping speed Fast
Relatively speed Very fast
Fastest
Environmental
adapt-ability
These actuators
are not suited for
all environments
Actuators
involve areas of
extreme
temperatures. A
typical
temperature
range is −40 °F
to 250 ° F
At some point,
affect the
magnets due to
factors like ohmic
heating, core
losses [7]
This magnet can not
use this type of
magnets for hot
device applications
Material used Alloy
steel/titanium
Alloy steel
Ferromagnetic
material
Ferromagnetic
material
Precision
Highly Precise.
Range of
accuracy is ±
0.00315 inches
and repeatability
of less than
0.0000394 inch
Pneumatic
actuators
generate precise
linear motion by
providing
accuracy, within
0.1 inches and
repeatability
within 0.001
inches
The grasping
speed is fast, as
the magnet is
magnetized,
taking 0.5 s
The grasping speed
is fast, as the gripper
is constantly on
pneumatic is used to
activate on and off
position. Time
consumed is 1–1.5 s
Gripping factor High Gripping
factor, due to
feedback
response
Simple and
quick hence high
gripping factor
Gripping factor is
weak, as it’s
prone to slippage
and if excess oil
comes in contact
with the surface
of magnet (5)
Gripping factor
relatively weak, as
it’s prone to
slippage and if
excess oil (film
thickness > 10 mm)
comes in contact
with the surface of
magnet
Shape of
gripper
Jaw type- double
and triple, 5
finger type
grippers (6)
Claw type,
double and triple
jaw gripper
Rectangular
magnetic, Single
long arm, circular
magnetic
Rectangular
magnetic slab,
Single long arm,
circular magnetic
slab [8]
(continued)