Grippers in Motion - the Fascination of Automated Handling Tasks - Wolf Part 5 pps

À`iÀÊÃÌ>ÌÕÃÊ«ÌÃÊvÀÊÜÀ«iVià >®ÊVÕLi]ÊÊÃÞiÌÀV>Ê>Ýà ÜÀ«iViÊÊ ÀiÌ>ÌÊ ÜÀ«iViÊ ÃÌ>ÌÕà >ÌÀÝ wi` £°ÊLÕÊ}`ÃÊÊ Ó°Ê«>iÊ Î°Êi>ÀÊ {°ÊÀÌ>ÌiÊ>ÀÕ`ÊÛÊ x°ÊÀÌ>ÌiÊ>ÀÕ`ÊÜÊ È°ÊÃ>Ìi`Ê Ç°ÊÀÌ>ÌiÊ>ÀÕ`ÊÕ ä°äÊ £°äÊ Ó°äÊ Ó°£Ê Ó°ÓÊ Î°ÓÊ Î°Î ÊÜÀ«iVi ä°ä £°ä Ó°ä Ó°£ Ó°Ó Î°Ó Î°Î L®Ê`Ã]ÊÀÌ>ÀÞÊÃÞiÌÀÞÊ>ÀÕ`ÊÜ ÜÀ«iViÊ ÀiÌ>ÌÊ ÜÀ«iViÊÊ ÃÌ>ÌÕà >ÌÀÝ wi` £°ÊLÕÊ}`ÃÊÊ Ó°Êv«>i]Ê>ÌÊ«>À>iÊ ÀÌ>ÌÊ>ÀÕ`ÊÕÊ ÀÊÛÊvÀÊ«ÀiviÀÀi`Ê ÀiÌ>Ì®Ê ΰÊi>ÀÊ {°ÊÃ>Ìi` ä°äÊ £°£Ê Ê Ê Ê Ê Ó°£Ê ΰ£ ÊÜÀ«iViÊ «ÃÌ ä°ä £°£ Ó°£ ΰ£ 7 6 1 7 6 1 iÌÌ}Ê/Ê À«ÃÊ7ÌÊ>`}Ê/>Ãà ΠVVÀ`}ÊÌÊÜÀ«iViÊ}iiÌÀÞ]Ê>ÊÀ`iÀÊÃÌ>ÌÕÃÊÃÊÀiÊÀÊiÃÃÊ `vwVÕÌÊÌÊiÃÌ>LÃÊÀÊÌÊ>Ì>°Ê/>LiÊΰnÊÃÜÃÊÌiÊ`vviÀiViÃÊ LiÌÜiiÊVÕLiÊ>`Ê`ÃÊvÀðÊÊÀ`iÀÊÃÌ>ÌÕÃÊÎÉ£ÊvÀÊ`ÃÊvÀÃÊ >Ài>`ÞÊ`iÃVÀLiÃÊÌiÊ«ÃÌÊvÊÌiÊÜÀ«iViÊÊvÕÊLiV>ÕÃiÊvÊ ÌÃÊÀÌ>ÀÞÊÃÞiÌÀÞÊ>ÀÕ`ÊÌiÊÜÊ>Ýð iiÀ>ÞÊÌÊÕÃÌÊLiÊLÃiÀÛi`ÊÊÜÊv>ÀÊÜÀ«iViÊÃÞiÌÀÞÊ ÃÊ`i«i`iÌÊÊÀiÊÌ>ÊÌÃÊ}iiÌÀÞ°ÊvÊÜÀ«iViÃÊ`vviÀÊÊ ÃÕÀv>ViÊvi>ÌÕÀiÃÊ>ÃÊ>ÊÀiÃÕÌÊvÊV>}}ÊÌiÀÊ«ÃÌÊÌiÞÊ>ÀiÊÌÊLiÊ ÌÀi>Ìi`ÊiÊ>ÃÃÞiÌÀV>Ê«>ÀÌð />LiÊΰnÊvviVÌÊvÊÜÀ«iViÊÃÞiÌÀiÃÊÊÌiÊÀ`iÀÊÃÌ>ÌÕÃÊ 6 1 7 nÓ ÊiÝ>«iÊvÊÌÃÊVÕ`iÃÊVÃÊÜVÊ>ÀiÊ«ÕÌÊÌÊ>ÊViVÌÀÃÊ LiÌ°Ê/iÊÃâiÊvÊÌiÊVÊÃÊÕÃÌÊ>ÃÊ«ÀÌ>ÌÊ>ÃÊÌiÊ`vviÀiViÊ LiÌÜiiÊvÀÌÊ>ÛiÀÃi®Ê>`ÊL>VÊÀiÛiÀÃi®ÊvÊÌiÊV°Ê/iÊVÃÊÌÊ ÞÊii`ÊÌÊLiÊÃiÀÌi`ÊvÀÌÕ«ÊLÕÌÊ>}i`Ê>VVÀ`}ÞÊÌÊ>ViÛiÊ >ÊÀi«ÀiÃiÌ>ÌÛiÊÊ>ÃÊiÝ«>i`ÊÊÌiÊ«VÌÕÀi°Ê ÀÊi>VÊÌ>ÃÊÀÊ>`}ÊÃÌÕ>ÌÊÌÊÃÊ«ÀÌ>ÌÊÌÊ`iÃVÀLiÊÌiÊ À`iÀÊÃÌ>ÌÕÃÊvÊÌiÊÜÀ«iViÊLivÀiÊ>`Ê>vÌiÀÊ>`}°ÊÀÊÌÃÊ `iÃVÀ«ÌÊÜiÊV>ÊÃiiÊÜÊ>ÞÊ>ÝiÃÊÀÊ`i}ÀiiÃÊvÊvÀii`ÊÌiÊ >`}ÊÕÌÊÕÃÌÊ«ÀÛ`iÊÊÀ`iÀÊÌÊV«iÌiÞÊÃÛiÊÌiÊÌ>Ã° /iÊÕÌi`ÊÛ>ÀiÌÞÊvÊÜÀ«iViÊvi>ÌÕÀiÃÊ`i>`ÃÊ}Ê}À««}Ê yiÝLÌÞ°Ê/iÊÕLiÀÊvÊÜÀ«iViÊvi>ÌÕÀiÃÊ>Ê}À««iÀÊV«iÃÊÜÌÊ VÀÀië`ÃÊÌÊÌiÊÕLiÀÊ>`ÊÌÞ«iÊvÊvÀViÊ`ÕVÌÊ«ÌÃ°Ê /iÊÀiÊ«ÌÃÊÌÊ>««ÞÊvÀViÊÌÊ>ÊÜÀ«iViÊ>Ê}À««iÀÊvviÀÃ]Ê ÌiÊÀiÊÜÀ«iViÊ}iiÌÀiÃÊV>ÊLiÊ}À««i`°Ê/iÊ«iÀ>Ì}Ê iiiÌÃÊÀÊ}À««iÀÊw}iÀÃÊvÊ>Ê}À««iÀÊV>ÊLiÊ`iÃ}i`ÊÀÊ>`>«Ìi`Ê >VVÀ`}Þ° nÎ Getting To Grips With Handling Tasks 3 3.2 Gripper Fingers As Operating Elements Forces are transmitted by gripper fingers, the so-called operating elements of the gripper. The amount of force which needs to be applied depends on the body mass, surface friction, and geometry of the workpiece. Workpiece geometry defines criteria such as: • distance between force induction point and mass center of gravity • mass moment of inertia • type of force induction If gripping force just needs to be transmitted via surface friction, pressure must be put on the workpiece surface. For workpieces which easily react to pressure, e. g. the surface of which is easily deformed or damaged, a maximum pressure must be determined. For safety reasons maximum pressure during gripping must be clearly lower than the approved pressure for the respective mate- rial. Calculations on maximum pressure for different contact bod- ies are shown in table 3.9 distinguishing point and linear contact between gripper fingers and workpieces. Gripping forces vary according to form and number of active sur- faces between workpiece and gripper fingers. In table 3.10 three typical combinations of force-fit gripping are compared. The influ- ence of surface types on gripping force is expressed by the respec- tive formule. Differing coefficients of adhesive friction for defined material com- binations are detailed in table 3.11. 84 >ÌiÀ>ÊVL>Ìà VivwViÌÃÊvÊ>`iÃÛiÊvÀVÌÊ `ÀÞÊ ÕLÀV>Ìi` -ÌiiÊÊV>ÃÌÊÀÊ ä°Ó ä°£x -ÌiiÊÊÃÌiiÊ ä°Ó ä°£ -ÌiiÊÊÕ-Ê>ÞÊ ä°Ó ä°£ -ÌiiÊÊ*-Ê>ÞÊÊ ä°£x ä°£ -ÌiiÊÊ«Þ>À`Ê ä°Î ä°£x -ÌiiÊÊvÀVÌÊV>Ì}Ê ä°È ä°Î -ÌiiÊÊ+ÕiÌiÃÊ-1 ®Ê ä°ÎÊÊä°{  }À««}Ê vÀViÊ L>ÃVÊ }À««}Ê vÀVi yÕiV}Ê v>VÌÀÊvÊ VÌ>VÌÊÌÞ«iÊ VÀÀiVÌÛiÊ v>VÌÀÊvÀÊ VÌ>VÌÊÃ>viÌÞ   £  £   Ó      , - A  £   £  Ó   Ó   - A A  ,     -  , V>Ãi VÌ>VÌÊL`iÃÊ ÃâiÊÀ>`ÕÃÊ,Ê `ivÀ>ÌÊ>`Ê>Ý°Ê«ÀiÃÃÕÀi «ÌÊVÌ>VÌ £ ëiÀiÊ ,ÊrÊÀ Ó Ó ÜÊëiÀi ,ÊrÊÀ Ó Î «>i ,r i>ÀÊVÌ>VÌ { VÞ`iÀ V>ÃiÊ£ x ÜÊVÞ`iÀ V>ÃiÊÓ È «>i V>ÃiÊÎ & A & B À Ó À £ À £ À £ />LiÊΰÊ>ÝÕÊiÀÌâÊ«ÀiÃÃÕÀi />LiÊΰ£äÊÀ««}ÊvÀViÊV>VÕ>ÌÊvÀÊÛ>ÀÕÃÊw}iÀÊvÀà />LiÊΰ££ÊivwViÌÃÊvÊ>`iÃÛiÊvÀVÌÊvÀÊ`vviÀiÌÊÃÕÀv>ViÊ>ÌiÀ>ÊVL>ÌÃÊ -«iV>Ê}À««iÀÊ w}iÀÃÊ>`iÊvÀÊ +ÕiÌià « >Ý £]x  > Ó P r > £x£ Û Ó q®À]  Î r £ À £ £ ,  Ó £  Ó  £ ³ Ó Æ³r r £ À « >Ý Ó Lr P r L nÀ  ® £ Û Ó P nx i>ÃÌiÀ >ÕÕÊL>Ãi iÌÌ}Ê/Ê À«ÃÊ7ÌÊ>`}Ê/>Ãà ΠivwViÌÃÊvÊ>`iÃÛiÊvÀVÌÊ>ÀiÊÃÌ>Ìi`ÊvÀÊ`ÀÞÊ>`ÊÕLÀV>Ìi`Ê ÃÌ>ÌiÊvÊÌiÊÃÕÀv>ViðÊ/>LiÊΰ££ÊÕÃÌÀ>ÌiÃÊÌ>ÌÊÌiÊ>ÕÌÊvÊ}À« «}ÊvÀViÊ`i«i`ÃÊÊÌiÊvÀVÌʵÕ>ÌiÃÊvÊLÌÊÜÀ«iViÊ>`Ê }À««iÀÊÃÕÀv>ViðÊÀ««iÀÊ«À`ÕViÀÃÊvviÀÊ>ÌiÀ>ÃÊÜVÊVLiÊ }`ÊvÀVÌʵÕ>ÌÞÊÜÌÊ}ÊÃÌ>LÌÞ°Ê `ÊVÌ>VÌÊLiÌÜiiÊÜÀ«iViÊ>`Ê}À««iÀÊw}iÀÃÊÃÊiÃÃiÌ>Ê vÀÊÃ>viÊ}À««}Ê>ÌÊÕÊvÀVi°Ê/iÀivÀi]ÊÌÊ>iÃÊÃiÃiÊÌÊ >ÛiÊ>ÝÕÊÃÕÀv>ViÊVÌ>VÌÊLiÌÜiiÊÌiÊÜÀ«iViÊÃÕÀv>ViÊ >`ÊÌiÊ«iÀ>Ì}ÊiiiÌÃÊvÊÌiÊ}À««iÀ°ÊÊëiV>ÊV>Ì}ÊV «>ÀiÊÌ>LiÊΰ££®ÊV>ÊvÕÀÌiÀÊÀi`ÕViÊÌiÊvÀViÃÊÀiµÕÀi`°Ê-V>i`Ê >`iÃÛiÊVÕÃÃÊ>`iÊvÊi>ÃÌiÀÃÊVLi`ÊÜÌÊ>Ê>Õ ÕÊÃÕ««ÀÌÊ«>ÌiÊ>ÀiÊ>Û>>Li°Ê>ÃÌiÀÃÊvviÀÊ«>ÀÌVÕ>ÀÞÊ}`Ê vÀVÌÊÜiÊÌiÊ>ÕÕÊÃÕ««ÀÌÊ«>ÌiÊiÃÕÀiÃÊÃÌ>LÌÞ°Ê Ê iÃ`iÃÊÌiÊ`i>ÊVL>ÌÊvÊÜÀ«iViÊ>`Ê}À««iÀÊ>ÌiÀ>ÃÊ vÀVÌÊV>ÊLiÊVÀi>Ãi`ÊLÞÊvÀwÌÊ}À««}ÊÜVÊÃÊ>ViÛi`ÊLÞÊ >ÊÃÕÌ>LiÊ«ÀwiÊÃÕVÊ>ÃÊÃVÀi>ÀÃÊÀÊÌiiÌ°Ê/ÃÊÌÞ«iÊvÊ}À««}Ê vÀViÊÀi`ÕVÌÊÃÊ«iÀviVÌÊvÀÊ>`}ÊÜÀ«iViÃÊÜÌÕÌÊÃÕÀv>ViÊ ÀiÃÌÀVÌðÊ>ÃÌÊÀ]ÊvÀÊiÝ>«i]ÊV>ÊLiÊ}À««i`ÊÜÌÊ>À`ÊiÌ>Ê VÕVÃÊÜVÊ}Õ>À>ÌiiÊvÀwÌÊ}À««}°Ê/iÃiÊV>ÀL`iÊVÕVÃÊV>Ê >`iÊ>`ÃÊÕ«ÊÌÊÎä]äää Ê>`Ê>ÀiÊÃ«ÞÊÀi«>Vi`Ê>vÌiÀÊÜi>ÀÕÌ° >ÃÌiÀÊ«>ÊÛiÜÊ >ÃÌiÀÊ«Àwi nÈ ÀwÌÊ}À««}ÊÃÊÕÃÕ>ÞÊ>««i`ÊÌÊÜÀ«iViÃÊÜVÊ>ÀiÊ`ÕiÊvÀÊ vÕÀÌiÀÊ«ÀViÃÃ}°Ê 7ÌÊÌiÊi«ÊvÊÌiÃiÊiÌ`ÃÊ}À««}ÊvÀViÊV>ÊLiÊ`ÃÌÀLÕÌi`Ê LiÌÌiÀÊÊÌiÊÜÀ«iViÃÊvÀViÊ`ÕVÌÊ>Ài>ðÊÃÌÀLÕÌ}ÊvÀViÃÊ LÞÊi>ÃÊvÊ>Ýâ}ÊÌiÃiÊ>Ài>ÃÊÃÊiÊ«ÌÊÌÊÀi`ÕViÊ}À« «}ÊvÀVi°Ê/>LiÊΰ£ÓÊÕÃÌÀ>ÌiÃÊ`vviÀiÌÊvÀViÊ`ÕVÌÊ«ÌÃÊ vÀÊëiÀV>ÊÜÀ«iViðÊ/iÊLiÃÌÊÃÕÌÊÃÊÌÊiVÃiÊÜÀ «iViÃÊÜÌÊiÌiÀÊÌÜÊÀÊÌÀiiÊ}À««iÀÊ>ÜÃÊÜVÊ>ÀiÊ>`>«Ìi`ÊÌÊ ÜÀ«iViÊÀ>`Õð ÀÊÌiÊÀiëiVÌÛiÊ>`}ÊÌ>ÃÊiÌiÀÊÌiÊ}À««iÀÊw}iÀÊÀÊÌiÊ vÀViÊ`ÕVÌÊ>Ài>ÊvÊÌiÊÜÀ«iViÊii`ÊÌÊLiÊ`iÃ}i`ÊvÀÊ«Ì ÕÊÀiÃÕÌÃ°Ê /Þ«iÃÊvÊÛiiÌÊÌÀ>Ã>ÌÊÀÊÀÌ>Ì®ÊvÊÌiÊ«iÀ>Ì}Êii iÌÃÊ>ÞÊÛ>ÀÞÊ>VVÀ`}ÊÌÊ}À««iÀÊVÃÌÀÕVÌ°ÊÃÊÕÃÌÀ>Ìi`]Ê ÜÀ«iViÃÊvÊ`vviÀiÌÊ`iÃÃÊ>ÞÊÌÊvviÀÊ`iÌV>ÊVÌ>VÌÊ ÃÕÀv>ViÃÊÜVÊ>ÞÊi>`ÊÌÊ>VVÕÀ>ÌiÊ«ÃÌ}ÊvÊÜÀ«iViÃÊ ÜÌÊÌiÊ}À««iÀ°Ê-«iÀV>ÊÜÀ«iViÃÊ>ÀiÊiëiV>ÞÊÃÕÌ>LiÊvÀÊ ÕÃ}ÊiÊ}À««iÀÊ>ÜÊ`iÃ}ÊvÀÊÛ>ÀÕÃÊÜÀ«iViÊ`iÃÃ°Ê iÛiÀÌiiÃÃ]ÊÌÊ>ÞÊi>`ÊÌÊVÀÌV>Ê«ÀLiÃÊvÊÌiÊ}À««iÀÊv>ÃÊÌÊ «>ViÊÌiÊÜÀ«iViÃÊÊiÊ>`ÊÌiÊÃ>iÊ«ÃÌÊÛiiÌÃÊvÊ }À««iÀÊ>Üî°Ê*ÀiV>ÕÌÃÊ>ÛiÊÌÊLiÊÌ>iÊÌÊ«ÀiÛiÌÊvii`}ÊÌiÊ }À««iÀÊÃÞÃÌiÊÜÌÊÌiÊÜÀ}ÊÌÞ«iÊvÊÜÀ«iViÊ>ÃÊÌÃÊÃÊLÕ`Ê ÌÊ«ÀÛiÊVÃÃÊ`ÕÀ}ÊÌiÊ«VÊ«iÀ>Ì° /iÊvÀÊvÊÌiÊÜÀ«iViÊÃiÌÃÊÌ>ÌÃÊÊÌiÊvÀViÊ`ÕVÌÊ «ÌÃÊÌÀÕ}ÊÌiÊ}À««iÀÊw}iÀðÊÃÊ>ÊÀiÃÕÌ]ÊV>ÀivÕÊ}À««iÀÊ `iÃ}Ê>`ÊVÃÌÀÕVÌÊÃÊiÃÃiÌ>ÊvÀÊÃ>viÊ}À««}°ÊÀViwÌÊ}À«  «}Ê>ÃÊÜiÊ>ÃÊvÀwÌÊ}À««}Ê>ÀiÊ«ÌÃÊvÀÊÃiVÕÀ}ÊÌiÊÜÀ «iViÊÜÌÊÌiÊ}À««iÀÊ>VVÀ`}ÊÌÊÌiÊÀiëiVÌÛiÊvÀÊ>`ÊÛ }ÊÌ>Ã°ÊÀwÌÊ>`ÊvÀViwÌÊ}À««}Ê>ÀiÊvÀiµÕiÌÞÊVLi`° nÇ iÌÌ}Ê/Ê À«ÃÊ7ÌÊ>`}Ê/>Ãà Π/>LiÊΰ£ÓÊ}ÛiÃÊ>ÊÃÌÀÕVÌÕÀi`ÊÛiÀÛiÜÊÊÌiÊ}À««iÀÊ«ÌÃÊvÀÊ «VÊ«iÀ>ÌÃÊ>VVÀ`}ÊÌÊÕLiÀÊvÊVÌ>VÌÊÃÕÀv>ViÃÊ>`ÊÌÞ«iÊ vÊ}À««}°ÊÀViwÌÊ}À««}ÊÃÊ>ÃÊV>i`ÊvÀVÌÊVÊÀÊvÀViÊ V]ÊvÀwÌÊ}À««}ÊÃÊ>ÃÊÜÊ>ÃÊvÀÊV°Ê/ÃÊÛiÀÛiÜÊ ÃÜÃÊÌ>ÌÊÕ>Ê}À««}ÊVÕ`iÃÊ>Ê}À««}ÊÌÞ«iÃÊiÝVi«ÌÊvÀÊ >`iÃÛiÊ}À««}Êi}iVÌ}ÊÃÌVÞÊw}iÀÃ]ÊvÊVÕÀÃi®]ÊvviÀ}Ê ÛiÀÞÊ}ÊyiÝLÌÞÊvÀÊÌiÊ}À««}Ê«ÀViÃð «ÀV«iÊvÊvÕVÌ vÀViÊV vÀÊV }À««}ÊÜÌÊ iÊVÌ>VÌÊ ÃÕÀv>Vi >`iÃÛiÊ}À« ÀiÛiÀÃiÊ}À« }À««}ÊÜÌÊ ÀiÊÌ>ÊiÊ VÌ>VÌÊÃÕÀv>Vi vÀViwÌ vÀViwÌÉvÀwÌ vÀwÌ />LiÊΰ£ÓÊ>ÃÃwV>ÌÊvÊ}À««iÀÊ«ÀV«iÃÊvÊvÕVÌÊ>VVÀ`}ÊÌÊvÀwÌÊ>`ÊvÀViwÌÊ«Ìà >À`ÊiÌ>ÊÃiÀÌÊvÀÊ }À««iÀà nn ÀÕiÊ ÌÊ>««À«À>ÌiÊ >««À«À>ÌiÊ £ ÕÃiÊvÀwÌÊLivÀiÊvÀViwÌÊ}À««} Ó ÕÃiÊ>ÌÃ`}Êi>ÃÕÀiÃÊvÀÊ>`i ÃÛiÊ}À««iÀà Π«ÀÛ`iÊ«>À>iÊ}À««}ÊÃÕÀv>Vià { `iÃ}Ê}À««}ÊÃÕÀv>ViÃÊÜÌÊ`ÕiÊ `}iVi x «ÕÌÊViÌiÀÊvÊ}À>ÛÌÞÊÌÊÌiÊViÌiÀÊ vÊ}À««iÀÊw}iÀÃ È ÕÃiÊÌiÊÃ>iÊ}À««}Ê«ÌÃÊvÀÊ `vviÀiÌÊÜÀ«iViÃ Ç >Û`Ê}À««}ÊÃiÃÌÛiÊÃÕÀv>ViÃÊ«Ê rÊ«Ãi`®Ê n «À«ÊÌÜ>i`ÊÜÀ«iViÃÊ>`Ê ÀiÃÌÀVÌÊ}À««}ÊvÀVi  VÀi>ÌiÊ«>iÊ>`iÃÛiÊÃÕÀv>Vià £ä «ÀÛ`iÊViÌiÀ}ÊiiiÌÃÊvÀÊ }«ÀiVÃÊ}À««} « />LiÊΰ£ÎÊ,ÕiÃÊvÀÊÜÀ«iViÊ`iÃ}Ê>««À«À>ÌiÊvÀÊ}À««} n iÌÌ}Ê/Ê À«ÃÊ7ÌÊ>`}Ê/>Ãà ΠÀ««}ÊÜÌÊiÊVÌ>VÌÊÃÕÀv>Vi]ÊÌiÊÃV>i`Ê>`iÃÛiÊ}À«]ÊÃÊ ÌiÊV>ÃÃVÊ«iÀ>Ì}Ê«ÀV«iÊvÀÊÃÕVÌÊ}À««iÀÃ]Ê>}iÌVÊ}À« «iÀÃ]ÊÀÊ>`iÃÛiÊ}À««iÀðÊ/iÊÀiÛiÀÃiÊ}À«ÊÃÊÃiÌiÃÊÕÃi`ÊvÀÊ iÝÌÀiiÞÊ`vwVÕÌÊ}À««}ÊÌ>ÃÃÊÃÕVÊ>ÃÊV«}ÊÜÌÊÛiÀÞÊÕÃÌ>LiÊ ÜÀ«iViðÊ/iÊV>ÃÃVÊÀiÛiÀÃiÊ}À«ÊiÀiÞÊ`ÃÊÌiÊÜÀ«iViÊLÞÊ ÌiÊ«ÀV«iÊvÊ}À>ÛÌÞ° ÀwÌÊ>`ÊvÀViwÌÊ}À««}Ê>ÀiÊL>ÃVÊ«ÀV«iÃÊvÊ}À««}ÊÜÌÊ ÀiÊÌ>ÊiÊVÌ>VÌÊÃÕÀv>Vi°ÊL>ÌÃÊvÊvÀwÌÊ>`ÊvÀVi wÌÊ}À««}Ê>ÀiÊvÀiµÕiÌÞÊÕÃi`°ÊÃÊiÝ«>i`Êi>ÀiÀ]ÊÌiÊÕ>Ê >`ÊÃÊÃÕ«iÀÀÊÌÊ>ÞÊÌiVV>ÊÃÞÃÌiÃÊÊÌiÀÃÊvÊ}À««}ÊyiÝ LÌÞÊ>ÃÊÌÊ>ÌÕÀ>ÞÊVLiÃÊÕiÀÕÃÊ}À««}ÊÌÞ«iÃ°Ê Ê«ÀiÃÕ>LÞÊÃ«iÊ}À««}Ê«ÀViÃÃ]ÊÃÕVÊ>ÃÊ«V}ÊÕ«Ê>ÊVvvii VÕ«]ÊV«ÀÃiÃÊÃÌÊ`ÛiÀÃiÊ}À««}Ê«ÀV«iÃÊ>`ÊÃiÛiÀ>Ê}À« «}ʵÕ>Ìið /iÊÕÃiÀÃÊvÊ}À««}ÊÌiV}ÞÊÕÃÌÊÕÃÕ>ÞÊÀiÞÊÊÌiÀÊiÝ«iÀ iViÊÜÌÊÌiÊÀiiÛ>ÌÊÜÀ«iViÃÊÊÀ`iÀÊÌÊi«Ê`iÃ}Ê}À««iÀÊ w}iÀÃÊÀÊ}À««iÀÊ>ÜðÊÀ««iÀÊ«À`ÕViÀÃÊ«ÀÛ`iÊÌiÊÕÃiÀÊÜÌÊ>Ê }Ài>ÌÊÛ>ÀiÌÞÊvÊÃÌ>`>À`Ê}À««iÀÊ>ÜÃÊÜVÊ>ÀiÊ>Û>>LiÊ>ÃÊ>VViÃ ÃÀiÃÊvÀÊL>ÃVÊ}À««iÀÃ°Ê /iÊL>ÃVÊ}À««iÀÊ`iwiÃÊÌiÊÌiÀv>ViÊvÀÊ}À««iÀÊi>ÌVÃÊÌÊ iÃÕÀiÊV«>ViÊÊ>ÊÀiëiVÌðÊ}iÀÊL>ÃÊ>ÀiÊi>ÃÞÊÌÊ>ÃÃi Li]ÊiµÕ««i`ÊÜÌÊÌiÊÀiëiVÌÛiÊV>«}ÊVÌÕÀÃ]Ê>`Ê>Û>>LiÊ Ê>ÕÕ]ÊÃÌii]ÊÀÊÃÞÌiÌVÊÛiÀÃðÊÊÌiÀÃÊvÊ`iÃ}}Ê «iÀ>Ì}ÊiiiÌÃÊÌiÊÜÀ«iViÀi>Ìi`Ê>`ÊÌiÊ}À««iÀÀi>Ìi`Ê w}ÕÀiÃÊ>ÀiÊ«ÀÌ>Ì°Ê7iÊVL}ÊVÌ>VÌÊÃÕÀv>ViʵÕ>ÌiÃÊ ÌiÊÜÀ«iViÀi>Ìi`Êw}ÕÀiÃ]ÊiÊ°}ÊÌiÊvÀÊvÊÌiÊÜÀ«iVi]Ê>ÛiÊ `ÀiVÌÊyÕiViÊÊÌiÊ}À««iÀÀi>Ìi`Êw}ÕÀiÃ]Êi°Ê}°ÊÌiÊVÌ>VÌÊ ÃÕÀv>Við ä ÃÌ>Ì>ÀÞÊVÌ>VÌÊÃÕÀv>ViÃÊ yiÝLiÊVÌ>VÌÊÃÕÀv>Vià Ã}iÊÃÕÀv>ViÊ ÃiÛiÀ>ÊÃi«>À>ÌiÊ ÃÕÀv>ViÃÊ ÃiÛiÀ>ÊÕÃi«> À>Ìi`ÊÃÕÀv>Vià `ivÀ>LiÊ ÃÕÀv>Vià Û>LiÊ ÃÕÀv>Vià ÃÜÌVvvÉÃÜÌVÊ ÃÕÀv>Vià UÊÀÕ`Ê>Üà UÊ«ÀÃÊ>Üà UÊVLÊ>Üà UÊ`Õ>ÊÀÕ`Ê>ÜÃÊ UÊ>ÞÊVL>ÌÊvÊ vÀà UÊ}À««iÀÊ>ÜÊ ÜÌÊÃiÀÌi`Ê >ÜÊÃià UÊ}À>Õ>Ìi UÊ>}iÌVÊ«Ü`iÀ UÊi>ÃÌVÊw}iÀ UÊ«>ÃÌVi UÊÃ`}ÊÃÕÀv>Vià UÊ>`ÕÃÌ>LiÊÃÕÀ v>Vià UÊ>`iÃÛiÊ>Üà UÊiiVÌÀ>}iÌVÊÀÊ «iÀ>iÌÊ>}i ÌVÊ>Üà À>}iÊvÊ}À««iÀÊw}iÀà /iÊ`iÃ}ÊvÊ«iÀ>Ì}ÊiiiÌÃÊ>Ü>ÞÃÊ`i«i`ÃÊÊ>ÊëiVwVÊ Ì>ÃÊÃÕVÊ>ÃÊ«ÃÌÊÀ`Ê>`}°Ê/iÊ«ÃÌÊÀ`ÃÊii`ÊÌÊLiÊÌÀ>Ã «ÀÌi`ÊÊÃÕëiÃÊ>`ÊÃiÀÌi`ÊÌÊÌiÊ«ÀViÃÃ}ÊÕÌ°Ê /iÊ}À««iÀÊÊÌiÊ«VÌÕÀiÊV«iÃÊÜÌÊi}ÌÊ«ÃÌÊÀ`ÃÊ>ÌÊ>ÊÌiÊ ÌÊVÀi>ÃiÊÌiÊVÞViÊÌiÊvÊÌiÊ>`}Ê«ÀViÃðÊ/iÊ«ÃÌÊÀ`Ê «>ViÊ«iÀ>ÌÊÃÊ`iÌiÀi`ÊLÞÊÌiÊ«ÀViÃÃ}ÊÕÌÊ>`ÊÀiµÕÀiÃÊ ÛiÀÞÊÃiÃÌÛiÊ}À««iÀÊw}iÀðÊ/iÊ«ÀV«iÊvÊ}À««}ÊÃÊvÀVÌÊ V]Ê>`Ê}Ê}À««}ÊvÀViÊÃÊÀiµÕÀi`ÊvÀÊ«ÀViÃÃÊÀi>LÌÞ°Ê ÃÊÌiÊw}iÀÃÊ>ÀiÊLÌÊÃÊ>`Ê}]ÊÃÌÀ}Ê}À««}ÊvÀViÊV>ÕÃiÃÊ ÃÕLÃÌ>Ì>ÊÌiÃÊÜÌÊÌi°Ê7ÌÊÌiÊi«ÊvÊÌiÊÌii iÌiÌ`Ê®ÊvÀViÃÊV>ÊLiÊÛÃÕ>âi`ÊÊ`iÀÊÜÀÃ«Ê «>ViÃÊiµÕ««i`ÊÜÌÊÊ«ÕÌiÀÊ`i`ÊiÃ}®Ê>««V>ÌÃ°Ê 6ÃÕ>â}ÊvÀViÃÊi>ÃÊLi}Ê>LiÊÌÊÌÀÊÌiÊÊÀ`iÀÊÌÊ >Û`ÊÌiÊÀÃÊvÊ}À««iÀÊw}iÀÃÊLi}Ê`ivÀi`°ÊÊ Ê />LiÊΰ£{Ê"«ÌÃÊvÀÊVÌ>VÌÊÃÕÀv>ViÊ`iÃ} £ . ΰΠL®Ê`Ã]ÊÀÌ>ÀÞÊÃÞiÌÀÞÊ>ÀÕ`ÊÜ ÜÀ«iViÊ ÀiÌ>ÌÊ ÜÀ«iViÊÊ ÃÌ>ÌÕà >ÌÀÝ wi` £°ÊLÕÊ}`ÃÊÊ Ó°Êv«>i]Ê>ÌÊ«>À>iÊ ÀÌ>ÌÊ>ÀÕ`ÊÕÊ ÀÊÛÊvÀÊ«ÀiviÀÀi`Ê ÀiÌ>Ì®Ê ΰÊi>ÀÊ {°ÊÃ>Ìi` ä°äÊ £°£Ê Ê Ê Ê Ê Ó°£Ê ΰ£ ÊÜÀ«iViÊ «ÃÌ ä°ä £°£ Ó°£ ΰ£ 7 6 1 7 6 1 iÌÌ}Ê/Ê À«ÃÊ7ÌÊ>`}Ê/>Ãà ΠVVÀ`}ÊÌÊÜÀ«iViÊ}iiÌÀÞ]Ê>ÊÀ`iÀÊÃÌ>ÌÕÃÊÃÊÀiÊÀÊiÃÃÊ `vwVÕÌÊÌÊiÃÌ>LÃÊÀÊÌÊ>Ì>°Ê/>LiÊΰnÊÃÜÃÊÌiÊ`vviÀiViÃÊ LiÌÜiiÊVÕLiÊ>`Ê`ÃÊvÀðÊÊÀ`iÀÊÃÌ>ÌÕÃÊÎÉ£ÊvÀÊ`ÃÊvÀÃÊ >Ài>`ÞÊ`iÃVÀLiÃÊÌiÊ«ÃÌÊvÊÌiÊÜÀ«iViÊÊvÕÊLiV>ÕÃiÊvÊ ÌÃÊÀÌ>ÀÞÊÃÞiÌÀÞÊ>ÀÕ`ÊÌiÊÜÊ>Ýð iiÀ>ÞÊÌÊÕÃÌÊLiÊLÃiÀÛi`ÊÊÜÊv>ÀÊÜÀ«iViÊÃÞiÌÀÞÊ ÃÊ`i«i`iÌÊÊÀiÊÌ>ÊÌÃÊ}iiÌÀÞ°ÊvÊÜÀ«iViÃÊ`vviÀÊÊ ÃÕÀv>ViÊvi>ÌÕÀiÃÊ>ÃÊ>ÊÀiÃÕÌÊvÊV>}}ÊÌiÀÊ«ÃÌÊÌiÞÊ>ÀiÊÌÊLiÊ ÌÀi>Ìi`ÊiÊ>ÃÃÞiÌÀV>Ê«>ÀÌð />LiÊΰnÊvviVÌÊvÊÜÀ«iViÊÃÞiÌÀiÃÊÊÌiÊÀ`iÀÊÃÌ>ÌÕÃÊ 6 1 7 nÓ ÊiÝ>«iÊvÊÌÃÊVÕ`iÃÊVÃÊÜVÊ>ÀiÊ«ÕÌÊÌÊ>ÊViVÌÀÃÊ LiÌ°Ê/iÊÃâiÊvÊÌiÊVÊÃÊÕÃÌÊ>ÃÊ«ÀÌ>ÌÊ>ÃÊÌiÊ`vviÀiViÊ LiÌÜiiÊvÀÌÊ>ÛiÀÃi®Ê>`ÊL>VÊÀiÛiÀÃi®ÊvÊÌiÊV°Ê/iÊVÃÊÌÊ ÞÊii`ÊÌÊLiÊÃiÀÌi`ÊvÀÌÕ«ÊLÕÌÊ>}i`Ê>VVÀ`}ÞÊÌÊ>ViÛiÊ >ÊÀi«ÀiÃiÌ>ÌÛiÊÊ>ÃÊiÝ«>i`ÊÊÌiÊ«VÌÕÀi°Ê ÀÊi>VÊÌ>ÃÊÀÊ>`}ÊÃÌÕ>ÌÊÌÊÃÊ«ÀÌ>ÌÊÌÊ`iÃVÀLiÊÌiÊ À`iÀÊÃÌ>ÌÕÃÊvÊÌiÊÜÀ«iViÊLivÀiÊ>`Ê>vÌiÀÊ>`}°ÊÀÊÌÃÊ `iÃVÀ«ÌÊÜiÊV>ÊÃiiÊÜÊ>ÞÊ>ÝiÃÊÀÊ`i}ÀiiÃÊvÊvÀii`ÊÌiÊ >`}ÊÕÌÊÕÃÌÊ«ÀÛ`iÊÊÀ`iÀÊÌÊV«iÌiÞÊÃÛiÊÌiÊÌ>Ã° /iÊÕÌi`ÊÛ>ÀiÌÞÊvÊÜÀ«iViÊvi>ÌÕÀiÃÊ`i>`ÃÊ}Ê}À««}Ê yiÝLÌÞ°Ê/iÊÕLiÀÊvÊÜÀ«iViÊvi>ÌÕÀiÃÊ>Ê}À««iÀÊV«iÃÊÜÌÊ VÀÀië`ÃÊÌÊÌiÊÕLiÀÊ>`ÊÌÞ«iÊvÊvÀViÊ`ÕVÌÊ«ÌÃ°Ê /iÊÀiÊ«ÌÃÊÌÊ>««ÞÊvÀViÊÌÊ>ÊÜÀ«iViÊ>Ê}À««iÀÊvviÀÃ]Ê ÌiÊÀiÊÜÀ«iViÊ}iiÌÀiÃÊV>ÊLiÊ}À««i`°Ê/iÊ«iÀ>Ì}Ê iiiÌÃÊÀÊ}À««iÀÊw}iÀÃÊvÊ>Ê}À««iÀÊV>ÊLiÊ`iÃ}i`ÊÀÊ>`>«Ìi`Ê >VVÀ`}Þ° nÎ Getting To Grips With Handling Tasks 3 3.2 Gripper Fingers As Operating Elements Forces are transmitted by gripper fingers, the so-called operating elements of the gripper. The amount of force. workpieces. Gripping forces vary according to form and number of active sur- faces between workpiece and gripper fingers. In table 3.10 three typical combinations of force-fit gripping are compared. The in u- ence. in u- ence of surface types on gripping force is expressed by the respec- tive formule. Differing coefficients of adhesive friction for defined material com- binations are detailed in table 3.11.