ATI Glossary for Robotic End Effectors and Robotic Tooling

In determining the appropriate products and models of robotic tooling that are required for an application, it is helpful for all parties to speak the same technical language. For that reason, we have compiled this brief glossary of robotic terms.

Robotic and Robot-Related Terms

Collision Sensor - Robotic end effector or device that can detect a crash before or during a collision of the robot or its tool. Collision sensors send a signal back to the robot controller before or during a collision to have the robot avoid the collision or stop before or during a collision. Robotic crash protection devices are collision sensors that detect the collision during the crash.  A collision sensor is also know as a robot safety joint, robot overload protection device, crash protection device, quickstop (trademark of Applied Robotics), robot safety mount, robotic clutch, and robotic collision protector.

Compensator - Remote Compliance Center Device from ATI using three to twelve elastomeric shear pads to aid in the insertion of peg-in-hole applications.

End-Effector - Any object attached to the robot flange (wrist) that serves a function. This would include robotic grippers, robotic tool changers, robotic crash protection, robotic rotary joint, robotic press tooling, compliance device, robotic paint gun, robotic deburring tool, robotic arc welding gun, robotic transgun, etc. End effector is also known as robotic peripheral, robotic accessory, robot or robotic tool, end of arm (EOA) tooling, or end-of-arm device. End effector may also be hyphenated as "end-effector." Moment - (Mech.) (a) With respect to a point, the product of the intensity of the force into the perpendicular distance from the point to the line of direction of the force. (b) With respect to a line, the product of that component of the force which is perpendicular to the plane passing through the line and the point of application of the force, into the shortest distance between the line and this point. (c) With respect to a plane that is parallel to the force, the product of the force into the perpendicular distance of its point of application from the plane.
Remote Compliance Center (RCC) -  Any compliance structure has a center of compliance.   If you were to push at this center you would have a pure lateral motion (no rotation). If you were to rotate this center, you would have rotation with no lateral motion. A remote compliance center is a compliance center projected outward from the device. Remote compliance centers decouple lateral and angular motion. A RCC device can be used in assembly to ease the insertion force.  When a project compliance center is near the insertion point of a peg-in-hole type assembly, the peg translates into the hole when it strikes the outside lead-in chamfer without rotating. This translation without rotation prevents the jamming and galling seen from compliance devices that have a compliance center far away from the insertion point. The ATI Compensator is a RCC device.
Robot - Any multi-axes automated articulated arm that can be reprogrammed.
Robot Crash Protection Device (CPD) - See Collision Sensor.

Robotic Rotary Joint - Device used to keep electrical and pneumatic cables on robot stationary while cables for tool rotate with tool.  A Rotary Joint has two halves: a stationary half that is mounted on a robot arm, and a rotating half that mounts to the robot wrist and tool.  Slip ring technology is used to pass electrical signals. Also known as robotic rotary union, robot slip ring.
Robotic Deburring Tool - Deburring tool, air or electrically driven, with compliance and a method to mount to a robot wrist.  Deburring tools can also be mounted to a bench or fixture, with parts brought to the unit to be deburred.
Robotic Tool Changer or Robot Coupler - An end-effector with two mating parts normally called a Master Side and Tool Side that have been designed to lock or couple together automatically and are able to pass utilities such as electrical signals, pneumatic, water, etc. Most robot couplers use pneumatics to lock the Master and Tool side together. The robot tool changer provides flexibility for any automated process in order to change tools and pass various utilities. The Master Side of the tool changer mounts to a robot, CNC machine or other structure. The Tool Side of the tool changer mounts to tooling, such as grippers, welders, or deburring tools. A robotic tool changer is also known as an automatic tool changer (ATC), robot tool changer, robot coupler, robotic coupler, and robotic connector.

Shear Pads - Compliance pads that have layers of rubber metal stacked at heights from 0.5 to 1.5 inches.  The stacking of rubber metal layers provides soft lateral compliance and high axial compliance.  This high ratio of axial to lateral compliance provides the means to project a compliance center.

Utility Coupler - A Utility Coupler is a dedicated connection device that couples air or electric signals for docking and fixturing applications. A Utility Coupler is typically not designed to carry payloads. Instead, the ATI Utility Coupler includes compliance features that will compensate for severe tooling misalignments. A Utility Coupler is also known as a multi-coupling or quick connector device.