Grippers in Motion - the Fascination of Automated Handling Tasks - Wolf Part 7 doc

... Getting To Grips With Handling Tasks 3 The length of the gripper fingers in uences the forces and moments occurring at the gripper kinematics. Therefore, gripping force is frequently specified in ... gripper24 - 102 - oo2 - oo2 - oo2 - oo2 - 31 - 31 - 4 1 - 51 - 6flexible gripper jawsswivel grippers multiple grippers << degree of flexibility 0 1 2 3 4 5 6 7 8 9 10 11 ... specifies the type of gripping force which can be applied to the workpiece, and together with the type of gripper fingers it finally determines the principle of gripping, e. g. form-fit or force-fit...

... survived the stiffening competition dur-ing the first years. In the first robot catalogs published in the former German Democratic Republic (1983 edition by the Forschungszen-trum des Werkzeugmaschinenbaus, ... Werkzeugmaschinenbaus, Karl-Marx-Stadt) and nearly parallel in the Federal Republic of Germany (1984 edition by the Fraunhofer Institute for Manufacturing Engineering and Automation IPA in Stuttgart, Germany) ... working in the Stanford Artificial Intelligence Laboratory (SAIL), developed the Stanford Arm in 1969. This 6degree of freedom (6-dof) all-electric mechanical manipulator was hardly a human-like...

... 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 functionFT 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 the amount of cabling in automation ... into the pick position.Auxiliary process time for feeding the processing machine is reduced to a minimum as the swivel movement can be performed without any or with minimum effort by the handling...

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... separated into single steps from setting up a workpiece to testing it. Production plan-ning aims at synchronizing handling time and machine time in order to prevent time-consuming handling processes ... iÀÊ-VÕ/iÊ>ÃV>ÌÊvÊÕÌ>Ìi`Ê>`}Ê/>ÃÃÀ««iÀÃÊÊÌ1.1 The Handling Process The process of handling component parts or workpieces in produc-tion is often underrated as technically simple or even trivial. From the production point of view ... iÀÊ-VÕ>`}\Ê/iÊ1`iÀÀ>Ìi`Ê*ÀViÃãÛiiÌÊ>««V>ÌÃÊ>`ÊV«iÌÃÊ>ÀiÊvÀiµÕiÌÞÊiÝ«iVÌi`ÊÌÊ«iÀvÀÊ>ÀÕ`ÊÌiÊVVÊÜVÊiÝVii`ÃÊ>Ê«ÀviÃÃ>Ê>ÌiÌi¼ÃÊÃiÌÊÌ>ÃÊLÞÊv>À°ÊÊ}À««iÀÊÀiµÕÀi`ÊÌÊÛiÊÜÀ«iViÃÊ>ÌÊ>ÊVÞViÊÌiÊvÊ£xÊ«iViÃÊ«iÀÊÕÌiÊ«iÀvÀÃÊÀiÊÌ>Ê£ÓÊÊ«i}Ê>`ÊVÃ}ÊÃÌÀiÃÊ«iÀÊÞi>ÀÊÕ`iÀÊVÃÌ>ÌÊ«iÀ>Ì°ÊÊ,LÌÃÊ«iÀvÀ}ÊÛiÀÊ£ääÊ>`ÊÀiÊ>`}ÊÌ>ÃÃÊ«iÀÊÕÌiÊ>ÀiʵÕÌiÊVÊÌ`>Þ°ÊÌiÊÈäÃÊÜÀ«iViÊ>`}Ê>ÃÊ>ʺ>ÊVÃÌ>ÌÊÃÕÀViÊvÊÜ>ÃÌi»ÊÜ>ÃÊ>Ài>`ÞÊ«ÕÌÊ>ÌÊÌiÊViÌiÀÊvÊÀiÃi>ÀVÊLÞÊ*Àv°Êiâ>iÊÊ - ÕÌÌ}>ÀÌ]ÊiÀ>Þ°ÊÊÌiÀÃÊvÊÀ>Ì>â>ÌÊÌiÊvVÕÃÊÜ>ÃÊÃiÌÊÊ>Û`}Ê«ÀiÊ>`Ê«ÃÌ«iÀ>Ì}ÊÌiÃÊ`ÕÀ}Ê>ViÊÌÊÊ«iÀ>ÌðÊ>ViÊ«iÀ>Ì}ÊÃÌ>vvÊÜ>ÃÊÌÊLiÊ`iVÕ«i`ÊvÀÊ>ViÊÌiÊLÞÊiV>V>ÊÀÊ>ÕÌ>Ìi`ÊÃÞÃÌiÃÊÜiÊ>`}ÊÌiÊÜ>ÃÊÌÊLiÊÀi`ÕVi`ÊÌÊ>ÊÕ°}ÕÀiÊ£°ÓÊ>ViÊÌiÊÉÊ>`}ÊÌiÓä,IBRARY OF #ONGRESS#ONTROL.UMBER)3".4HISWORKISSUBJECTTOCOPYRIGHT!LLRIGHTSARERESERVEDWHETHER THE WHOLEOR PART OF THE MATERIALISCONCERNEDSPECIlCALLY THE RIGHTS OF TRANSLATIONREPRINTINGREUSE OF ILLUSTRATIONSRECITATIONBROADCASTINGREPRODUCTIONONMICROlLMOR IN ANYOTHERWAYANDSTORAGE IN DATABANKS$UPLICATION OF THISPUBLICATIONORPARTSTHEREOFISPERMITTEDONLYUNDER THE PROVISIONS OF THE 'ERMAN#OPYRIGHT,AW OF 3EPTEMBER IN ITSCURRENTVERSIONANDPERMISSIONFORUSEMUSTALWAYSBEOBTAINEDFROM3PRINGER6IOLATIONSARELIABLEFORPROSECUTIONUNDER THE 'ERMAN#OPYRIGHT,AW3PRINGERISA PART OF 3PRINGER3CIENCE"USINESS-EDIASPRINGERONLINECOM¥3PRINGER6ERLAG"ERLIN(EIDELBERG0RINTED IN )TALY4HEUSE OF GENERALDESCRIPTIVENAMESREGISTEREDNAMESTRADEMARKSETC IN THISPUBLICATIONDOESNOTIMPLYEVEN IN THE ABSENCE OF ASPECIlCSTATEMENTTHATSUCHNAMESAREEXEMPTFROM THE RELEVANTPROTECTIVELAWSANDREGULATIONSANDTHEREFOREFREEFORGENERALUSE#OVERDESIGNREFORMDESIGN3TUTTGART4YPESETTINGBY THE AUTHOR0RINTEDONACIDFREEPAPERn2ALF3TEINMANN3CHUNK'MB(#O+'3PANNUND'REIFTECHNIK"AHNHOFSSTRAE,AUFFEN.ECKAR'ERMANY(ENRIK3CHUNK3CHUNK)NC+ITTY(AWK$RIVE-ORRISVILLE.#53!$R!NDREAS7OLFROBOMOTION'MB()NDUSTRIESTRAE3TUTTGART'ERMANY£Ê...

... λ1 - 2Nmkg39 Handling: The Underrated Process1.3 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 coordinates. Further parameters ... ratios at the time. The force/weight ratio, i. e. the grip-ping force in relation to the weight of the gripper multiplied by the stroke of the finger, was at 2.4 J/kg for the short stroke. The next...

... 8.0006.9695. 272 2.9622. 977 884823 77 0900 72 5 78 7518533256199149130 7. 0006.0005.000 The German Federation of the Engineering Industries VDMA gives the following outlook in its yearly ... 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, maintained during the moving process, ... soon as they had reached a certain level.62industrial robotterminalrobot controloffline programmingcomputerrobot kinematicsmulti-sensor systemFigure 2.13 Of ine programming in the early...

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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 ... 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