Implementation of a cacuum effector for the ABB IRB 140 industrial robot

Abstract

The article describes the implementation of the vacuum effector [1]. Based on requirements such as a 1kg load capacity, a maximum acceleration of 10 m/s2 and a source of energy – an air of 5bar pressure, it addresses a effector´s body design, presents a calculation of suction cups and also a test of the implemented vacuum effector including its evaluation.