Grippers in Motion - the Fascination of Automated Handling Tasks - Wolf Part 3 doc

... survived the stiffening competition dur- ing the first years. In the first robot catalogs published in the former German Democratic Republic (19 83 edition by the Forschungszen- trum des Werkzeugmaschinenbaus, ... rotations 3 rotations moving unit moving unit moving unit moving unit State:12/19 83 100% = 134 industrial robots Horizontal tilt arm devices Cartesian devices...

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... jaws dual gripper 2 4 - 10 2 - oo 2 - oo 2 - oo 2 - oo 2 - 3 1 - 3 1 - 4 1 - 5 1 - 6 flexible gripper jaws swivel grippers multiple grippers << degree of flexibility 0 1 2 3 4 5 6 7 8 9 10 ... for increased moment capacity Getting To Grips With Handling Tasks 3 The length of the gripper fingers in uences the forces a...

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... fitted to the inner ring of the sensor. The tool (or gripper) force is transmitted by three crossbars onto the fixture ring of the robot. Figure 4.9 FTC principle of function FT sensor in operation ... transmitting information from the gripper to the control of the kinetic device is wireless transmission technology. The latter can be expected to greatly reduce t...

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... λ 1 - 2 Nm kg 39 Handling: The Underrated Process 1 .3 What Are The Main Points of This Book? The following chapters focus on the realization of handling technol- ogy tasks. Keynote is the process ... to be gripped. Handling Handling means creating, defined changing or temporarily maintain- ing a pre-set alignment of geometrically defined bodies in a system of...

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... soon as they had reached a certain level. 62 industrial robot terminal robot control offline programming computer robot kinematics multi-sensor system Figure 2. 13 Of ine programming in the early ... orientation of the workpieces in relation to the tool`s or the gripper`s system of co-ordinates. This Secure function is usually built up before the moving process, mainta...

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... than in the other examples. Form-fit gripping in the direction of accelera- tion and of gravity is provided in the second example. The gripper must counteract the force which stretches the gripper ... ÀÌ>ÀÞ Ãi>ÀÊ}À` }Ê`ÀÛi ÌiÊ`ÀÛi vÀÊiÛiÀÊ `ÀÛi V«ÊiÛiÀÊ `ÀÛiÊ Üi`}iÊ`ÀÛiÊ ÜÌÊÀViÀÊ ÃÜÌV iLÜÊiÛiÀÊ `ÀÛiÊ VÕÀÛiÊÌ}ÕiÊ `ÀÛi >VÀÊ`ÀÛ...

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... applied in case of workpiece tolerances leading to bracings. 1 43 Getting To Grips With Handling Tasks 3 In addition to placing them in stacks the workpieces can be placed in rows if the gripper ... positioning of workpieces may cause premature wear or damage of gripper or handling system in the long run. The same applies to faulty positioning of the gr...

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