robotics, designing the mechanisms 2ed

[...]... which the partition protects the operator sitting on the manual side of the device from the harmful environment of the working zone The serving arm in the working zone duplicates the manual movements of the operator using the gripper on his side of the wall The window allows the operator to follow the processes in the working zone This manipulator has seven degrees of freedom, namely, rotation around the. .. required Rotating the handle of the meat chopper, for example, the operator provides the device with the power needed for transporting the meat to the cutter, chopping it, and squeezing it through the device's openings The speed of feeding or meat transporting is coordinated with the chopping pace by the pitch of the snake and the dimensions and form of the cutter Analogously, when the key of the typewriter... sequence The barrel 6 rotates to the required position, and then the gripper of the device 7 picks up the item For this purpose the lever 9 faces the corresponding sector of barrel 6 and moves vertically until the gripper finds itself opposite the required item (obviously the level of the items in the magazines changes constantly as production proceeds, and the memory of the machine keeps track of the levels... obtains the item from the lever 9, at the second the leads of the electronic item are prepared for assembling by the device 11, and at the third the actual assembling takes place For this latter operation, the lever of the manipulator 10 drops so that the leads hit the corresponding openings in the X-Ftable which is already in position (The devices 6, 7 and 10 are of the cylindrical kind.) The device... seconds, the radius r of rotor number n can be calculated from the following expression: where V /„ rn (f)n = the = the = the - the peripheral velocity of the rotors, length of the arc where the product is handled for the n-th rotor, radius of the «-th rotor, and angle of the arc of the n-th rotor where the product is handled In addition, there are rotors 2 which provide for transmission of the product... seven) degrees of freedom The rotation relative to the X-X axis is achieved by the cylindrical pipe 1 which is placed in an immovable drum mounted in the partition The length of the pipe determines the distance between the operator and the servo-actuator The inside of the pipe serves as a means of communication for exploiting the other degrees of freedom The rotation around the joints A-A is effected... manipulates a hammer, the trajectory of this tool, the power of its impact, and the pace of action are controlled by the operator In this case, the feedback or the sensors which inform the operator about the real location of the hammer, its speed, and its accumulated energy are the muscles of the arm, the hand, the shoulder, and the eyes Obviously, this is also true for a spade or a chisel 2 The energy source... cuts the leads to the proper length, and then bends them downwards to create the required pitch This action is shown schematically in Figure 1.18 a and b, respectively After the items have been installed on the circuit plate, the leads underneath the plate must be bent to fasten the items to the plate and to prepare them for soldering (which will provide proper reliable electric contact between the. .. under the tools that handle them Thus, the ratio becomes very important since it describes the efficiency of the transporting block The higher the ratio, the smaller are the time losses for nonproductive transportation In the periodically acting systems some time is required for the idle and auxiliary strokes that the tools have to execute For instance, a drill has to approach a part before the actual... a sequence of events follows: the carbon ribbon is lifted, the hammer with the letter is accelerated towards the paper, and the carriage holding the paper jumps for one step This sequence is built into the kinematic chain of the device 5 The energy source is a motor, and the control is carried out in series by the kinematics of the system; for example, an automatic lathe, an automatic loom, an automatic . and the actual parameters of the trajectory (say, the coordinates of the points connecting the straight line or the center coordi- nates and the radius of the arc, etc.). Other. became more sophisticated the trajectories were then computed by the computer of the machine. At this level of refinement the operator had to define both the kind of the trajectory (say, . this tool, the power of its impact, and the pace of action are controlled by the operator. In this case, the feedback or the sensors which inform the operator about the real