Grippers in Motion - the Fascination of Automated Handling Tasks - Wolf Part 9 pot

'ETTING4O'RIPS7ITH(ANDLING4ASKS  &ORWORKPIECESWITHESPECIALLYGREATTOLERANCESTWOSENSORSCANBE USEDTOLIMITTHESPACEFORGRIPPING4HElRSTSENSORMEASURESTHE OPERATINGELEMENTSENTERINGTHISSPACEWHILETHEGRIPPERISBEING CLOSED7HILEhCROSSINGvTHESENSORAmANKISMEASURED)FTHE SECONDSENSORATTHEENDOFTHEGRIPPINGTASKAREADOESNOTRECEIVE ANYSIGNALITCANBEASSUMEDTHATTHEWORKPIECEHASBEENPICKED UP)FTHESECONDSENSORISACTIVATEDATTHEENDOFTHEGRIPPING TOLERANCETHEPICKOPERATIONHASFAILED (ALLEFFECTSENSORSWHICHAREACTIVATEDBYMAGNETSCANBEUSEDFOR ABROADRANGEOFAPPLICATIONSASWELL!MAGNETWHICHISlTTEDTO THEPISTONOFAPNEUMATICCYLINDERACTIVATESTHESENSOR4HUSMORE THANTWOSWITCHINGPOINTSAREAVAILABLEBECAUSETHESENSORSCAN BElTTEDTOTHEDRIVECYLINDEROVERTHEENTIRELENGTHOFTHEPISTON MOVEMENT GRIPPERWITHDISPLAYFOR MEASURING MEASURINGTHEPISTONPOSITION BYMAGNETICSENSORSINTHE TONGUE &GRIPPINGFORCE $-3STRAINGAUGE BRIDGEASMEASURING ADAPTER &IGURE&ORCEMEASURINGADAPTER MONITORINGGRIPPINGFORCESATTHEGRIPPER lNGERS          FINALMEASURINGLENGTHMM FORCE.                RIGIDNESSCA.«M -EASURINGSENSORSARENORMALLYUSEDFORMEASURINGWORKPIECES FORPOSITIONINGTHEGRIPPERSTROKEORFORCONTROLLINGTHEGRIPPING FORCE4HESEMEASURINGTASKSMAYBEOFINTERESTFORPICKANDPLACE OPERATIONSASWELLASFORWORKPIECETRANSPORT)NADDITIONSENSORS CANBElTTEDTOTHEGRIPPERmANGEFORTHEMOVINGUNITSEE #HAPTER 4HEGRIPPERlNGERSCANBEUTILIZEDASSENSORSFORFORCEINDUCTIONBY ADHESIVESENSORSWHICHARElTTEDTOTHEGRIPPERlNGERS 4HISSOCALLEDFORCEMEASURINGADAPTERCANRECORDANDANALYZE GRIPPINGFORCESWITHTHEHELPOFA$-3STRAINGAUGEBRIDGE 4HEFORCEMEASURINGBRIDGEISMOUNTEDBETWEENlNGERANDGRIPPER KINEMATICSFORTHISPURPOSE 4HERESULTOFTHISTACTILEMEASURINGSENSORSISASOCALLEDDYNAMIC FORCEMEASUREMENTPARALLELTOTHEGRIPPINGPROCESS4HISMEASURE MENTISVISUALIZEDBYASOFTWAREWHICHDIRECTLYCONVERTSITINTO ADIAGRAMEGFORAPERCENTGRIPPINGCONTROLPROTOCOL!SA RESULTWORKPIECESCANBECLASSIlEDACCORDINGTOTHEFORCEREACHED 7ITHTHEPROTOCOLDATAPREVENTIVEGRIPPERMAINTENANCEISACHIEVED  &IGURE$YNAMICGRIPPINGFORCEMEASURING  'ETTING4O'RIPS7ITH(ANDLING4ASKS   !PNEUMATICDRIVEISNOTSUFlCIENTIFSENSORINGASWELLASACTIVE GRIPPERCONTROLISNECESSARY&ORCOMPLEXGRIPPINGTASKSDEPENDING ONACTIVEGRIPPERCONTROLELECTRICALLYDRIVENGRIPPERSHAVEBECOMEA CLEARTRENDOVERTHEPASTYEARS 3ERVOELECTRICDRIVESAREFAVOREDBECAUSETHEYAREHIGHLYmEXIBLE PROGRAMMABLE3IMPLEINTEGRATIONINTOBUSSYSTEMSANDNETWORKS USEDINAUTOMATIONISAMAJORBENElTPERMITTINGONLINECONTROLOF THEGRIPPER.EVERTHELESSTHEUSEOFELECTRICGRIPPERSISSTILLTOO EXPENSIVEFORMANYAPPLICATIONS /NEEXAMPLEOFANELECTRICGRIPPERWITHTHERESPECTIVESENSORSIS THEGRIPPERWITH$#CURRENTMOTORSHOWNHERE 4HEGRIPPERINCLUDESASPINDLEDRIVEWITHMAGNETICBRAKEANDAN INCREMENTALENCODERFORDETERMININGPOSITIONANDANGLEVELOCITY 0RECISEGUIDANCEINCOMBINATIONWITHTHEBALLREVOLUTIONSPINDLE PERMITSANESPECIALLYACCURATEANDSENSITIVEGRIPPINGFORCECONTROL 2EPEATABILITYISASACCURATEASMMFORTHEGRIPPERlNGERSATA GRIPPERSTROKEOFUPTOMM!TCLOSINGOFTHEGRIPPERlNGERSA VELOCITYOFMMPERSECONDISACHIEVEDEQUALLINGACLOSINGTIMEOF SECONDS-AXIMUMGRIPPINGFORCEIS.  'ETTING4O'RIPS7ITH(ANDLING4ASKS  4HElNGERGRIPPERSALREADYMENTIONEDREQUIREEVENMORESENSITIVE SENSORS4HElNGERSOFTHE"ARRET(ANDAREBASEDON$-3STRAIN GAUGETECHNOLOGYWHICHPERMITSTHEMTOHAVEASENSEOFTOUCH 4HEEVALUATIONUNITWHICHCONVERTSSENSORDATAINTOPOSITIONING ORDERSFORTHEDRIVESISALSOINTEGRATEDINTOTHEHANDINACCORDANCE WITHTHEMODULARCONCEPT4HElGURESSHOWTHESENSORSINTHE lNGERSANDTHEEVALUATIONUNITWITHTHECIRCUITBOARDINTHEmANGEOF THEHAND !VERYSPECIALKINDOFSENSORTECHNOLOGYHASBEENDEVELOPEDFOR THEFOLLOWINGGRIPPER4HISSMALLPARTSGRIPPERHASANELECTRICDRIVE ANDCANBEEQUIPPEDWITHUPTOSENSORS4HECONSTRUCTION INTEGRATESTHEENTIRECONTROLELECTRONICSINTOTHEGRIPPERASWELL 4HESENSORSCANMEASURETEMPERATUREFORCEPOSITIONANDEVEN WORKPIECECONDUCTIVITY #URRENTEFFORTSINSENSORINTEGRATIONSIGNALAFUTURETRENDFORTHE FOLLOWINGGRIPPERATTRIBUTESWHICHWILLBEAVAILABLEWITHINTHENEXT FEWYEARS sADAPTABILITY sSENSEOFTOUCH sVISUALACUITYhEYESIGHTv sINTERACTIVITYhACTINGANDREACTINGv #!$IMAGESENSORSINTHE lNGEROFTHE"ARRET(AND %VALUATIONUNITWITHCIRCUIT BOARD  SELECTIONOF GRIPPERDRIVES ACCURATEPOSITIONING PROCESSCONTROL CAREFULHANDLING OFWORKPIECES GRIPPEROPTIMIZED FORRESPECTIVETASK INTERACTIVITY VISUALACUITY SENSEOFTOUCH ADAPTABILITY FUNCTIONALITY CUSTOMERBENEFIT INTELLIGENCE PROGRESSINGRIPPERDEVELOPMENT INTEGRATION VISUALSYSTEM ACTIVE XYBALANCE GRIPPINGAND FORCECONTROL )NSHORTSENSORSINCOMBINATIONWITHTHERESPECTIVEDRIVEAND CONTROLTECHNOLOGYMAKETHEGRIPPERMOREINTELLIGENT'RIPPERDRIVES AREEXPECTEDTOBEAVAILABLEFORINDIVIDUALSELECTIONACCORDINGTOTHE RESPECTIVETASK4HUSTHEGRIPPERCANBEFULLYADAPTEDINTERMSOF GRIPPINGRADIUSGRIPPINGCONTROLORGRIPPINGFORCE'RIPPINGFORCE CONTROLENSURESCAREFULANDGENTLEWORKPIECEHANDLING!DDITIONAL FUNCTIONSSUCHASWORKPIECEMEASURINGCANBEPERFORMED)NTEGRAT INGIMAGEPROCESSINGSYSTEMSINTOORONTOTHEGRIPPERPERMITSCON TROLONTHEGRIPPINGANDHANDLINGPROCESS!NACTIVECOMPENSATION CANBEPERFORMEDDURINGTHElNALSTEPSUCHASAMOSTACCURATE ADJUSTMENTOFTHEGRIPPERJAWSWHICHISVERYUSEFULFORWORKPIECE INSERTION "YALLMEANSTODAY{SANDTOMORROW{SGRIPPERSAREFARBEYONDTHE 6$)DElNITIONASDESCRIBEDATTHEBEGINNINGOFTHISCHAPTER 4HE#LAMPANDTHE2ELEASEFUNCTIONWEREATTHECENTEROFTASK DElNITIONCURRENTAPPLICATIONSAREMUCHMORECHALLENGING &IGURE'RIPPERDEVELOPMENTTRENDFORSENSORS  ÛiiÌÊ``ÃÊ6>Õi { >ÞÃÃÊvÊ/iÊiÌVÊ/>Ã ,i>â>ÌÊvÊ/iÊiÌVÊ*ÀViÃÃià ÀÊi>ÀÊÝÃÊÌÊ-ÝÝÃÊ,LÌ -iÃÀÃÊÊÌ ÛiiÌÊ``ÃÊ6>Õi { {Ê ÛiiÌÊ``ÃÊ6>Õi {°£Ê iÌVÊvviVÌÃÊÊ7À«iViÃÊ°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°° £ÇÓ {°ÓÊ ,i>â>ÌÊvÊ/iÊiÌVÊ*ÀViÃÃiÃÊ°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°° £n ÛiiÌÊ``ÃÊ6>Õi { {Ê ÛiiÌÊ``ÃÊ6>Õi vÌiÀÊ>ÊVÃiÊÊ>ÌÊÌiÊ«VÊ«iÀ>ÌÊÊ>«ÌiÀÊÎ]ÊÌiÊÛiiÌÊ vÊÌiÊÜÀ«iViÊÃÊÜÊ>ÌÊÌiÊViÌiÀÊvÊÕÀÊ>ÌÌiÌ°ÊÞ>VÃÊ ÌÀi>ÌÊvÀViÃÊ>ÃÊÌiÊV>ÕÃiÊvÊiÌVÊ«ÀViÃÃiðÊ/iÊ>ÌÌiÀÊÌÊÞÊ yÕiViÊ}À««iÀÊ`iÃ}ÊÌÊ>Ê}Ài>ÌÊiÝÌiÌÊLÕÌÊ>ÃÊ`iÌiÀiÊÌiÊ VViÊvÊÌiÊ`iÛViÊvÀÊ}iiÀ>Ì}ÊÛiiÌ°Ê/iÊ>««À«À>ÌiÊ iÌVÊ`iÛViÊÕÃÌÊLiÊÃiiVÌi`]Ê>`ÊÌiÊÜi}ÌÃÊvÊLÌÊ}À««iÀÊ >`ÊÜÀ«iViÊii`ÊÌÊLiÊÌ>iÊÌÊ>VVÕÌÊ>ÃÊÌ>LiÊvÀViÃ°Ê /iÊ«ÀwÌ>LÌÞÊvÊ>Ê>ÕÌ>Ìi`ÊÃÕÌÊ`i«i`ÃÊÊÛiVÌÞÊ>`Ê VÞViÊÌiÊ>ÃÊÜi°Ê/iÊÕÌ«ÕÌÊ«iÀÊÕÀÊÃÊÌiÊ`iÌiÀ}Êv>VÌÀÊvÀÊ «>ÌÊ«À`ÕVÌÛÌÞÊ>`]ÊÊVÃiµÕiVi]ÊvÀÊiVVÊivwViVÞ°Ê «>ÌÊ«À`ÕVÌÛÌÞÊrÊÕÌ«ÕÌÊÉÊÌi /iÊ>ÀÌâ>ÌÊvÊ>Ê>ViÊÃÊV>VÕ>Ìi`ÊÊÌiÊL>ÃÃÊvÊÌÃÊ À`>ÀÞÊÃiÀÛViÊviÊÌÊ>ÃÃiÃÃÊÌiÊÀiÌÕÀÊvÊÃÕVÊ>ÊÛiÃÌiÌ°Ê ÊÌiÀÃÊvÊiVVÊivwViVÞ]Ê>Ê>ÕÌ>Ìi`ÊÃÕÌÊÃÊÕÃÕ>ÞÊ V«>Ài`ÊÌÊ>Õ>Ê>LÀ° iÛiÀÌiiÃÃ]ÊÌÃÊV>VÕ>ÌÊv>ÃÊÌÊVÃ`iÀÊ«ÀÌ>ÌÊ>ëiVÌÃÊ vÊÃ>viÌÞ]ʵÕ>ÌÞ]ÊÀÊÞ}ii]Ê>ÃÊ>À}ÕiÌÃÊÊv>ÛÀÊvÊ>ÕÌ>  Ì°Ê7iÛiÀÊÃÊ>LiÊÌÊÛ>ÕiÊÌiÃiÊ>ëiVÌÃÊÊÌiÀÃÊvÊiVVÊ ivwViVÞ]ÊÜÊ>ÛiÊÃÕvwViÌÊÃÌ>>ÊÌÊ«iÊÕ«ÊiÜÊ>««V>ÌÃÊ Ê>ÕÌ>ÌÊ>`ÊLiÊ«>ÌiÌÊiÕ}ÊÌÊ>ÃÌiÀÊiÀiÌÊÌiVV>Ê V>i}iÃ°Ê ÃÊ«Ìi`ÊÕÌÊÊ>«ÌiÀÊÎ]Ê>Ê«VÊ«iÀ>ÌÊ«iÀvÀi`ÊLÞÊ>Ê }À««iÀÊ`i«i`ÃÊÊÛ>ÀÕÃÊv>VÌÀðÊ->ÀÊVÀÌiÀ>ÊyÕiViÊÌiÊ ÛiiÌÊvÊ>ÊÜÀ«iVi]ÊÌÊÌÊvÀ}iÌÊÌiÊV>À>VÌiÀÃÌVÃÊvÊ ÌiÊ>`}Ê`iÛVi°Ê/iÊ«ÀViÃÃÊvÊÛ}ÊÜÀ«iViÃÊÜÌÊÌiÊ ÀiëiVÌÛiÊ}À««iÀÊÃÞÃÌi]ÊÌiÊiÌVÊ`iÛVi]Ê>`ÊÌiÊ«>ViÊ «iÀ>Ì]Êii`ÊÌÊLiÊ>>Þâi`ÊÊ`iÌ>° Ê £Çä LiÌÊV`ÌÃÊÊ vÊÌiÊiÌVÊÌ>Ã 7À«iViÉ}À««iÀÊÊ VL>ÌÊvi>ÌÕÀià iÌVÊvi>ÌÕÀià vÀi}Ê>ÌiÀ>Ê vÀÊ iÌVÊi>ÃÕÀ}Ê iVVÊivwViVÞÊÀiµÕÀi iÌÃÊ `iÃÊ iÌVÊvÀÊ ÜÀ«iViÊÛ>ÀiÌÞÊ ÌiÀ>Vi `i}ÀiiÃÊvÊvÀii`Ê`v®Ê Ìi«iÀ>ÌÕÀiÊ >ÃÃÊ ÛiVÌÞÊ iiÀ}ÞÊÃÕ««ÞÊ iÌÊvÊiÀÌ>Ê >VViiÀ>ÌÊ ÃÌ>>ÌÊ«ÌÃÊ ViÌiÀÊvÊ}À>ÛÌÞÊ «ÀiVÃÊ Vi>ÀÊ ÃÕÀv>ViÊ Ài«i>Ì>LÌÞ Þ}ii VÃÃÌiVÞÊ ÀÃÃÊvÊVÃ >Ìi>VivÀiiÊ Ã>viÌÞÊ«ÀÛÃÃÊ ÌÀÊ«ÀViÃÃÊ«>À>iÌiÀÃÊ />LiÊ{°£ÊÃÃiÌ>Êvi>ÌÕÀiÃÊvÊÌiÊiÌVÊÌ>Ã /iÊ>LiÌÊV`ÌÃÊvÊ«À`ÕVÌÊ>ÀiÊL>ÃV>ÞÊÌiÊÃ>iÊvÀÊ iÌVÊ`iÛViÃÊ>ÃÊvÀÊÌiÊ}À««}Ê«ÀViÃðÊ/iÊV>i}iÃÊÜVÊ >ÕÌ>ÌÊV«iÌÃÊ>ÀiÊv>Vi`ÊÜÌ]ÊÃÕVÊ>ÃÊ>ÀÃÊiÛÀ iÌÃ]ÊÃÌÀVÌÊÞ}iiÊÀÊVi>ÀÊÀiµÕÀiiÌÃ]Ê>ÀiÊ>ÃÊÌiÊÃ>i° "ÌiÀÊVÀÌiÀ>]ÊÃÕVÊ>ÃÊÜi}ÌÊ>`Ê`iÃ]ÊÜVÊÜiÀiÊvÀiÀÞÊ `iwi`ÊLÞÊÌiÊÜÀ«iViÊ>i]Ê>ÀiÊÜÊ`iwi`ÊLÞÊÌiÊÜÀ«iViÉ }À««iÀÊVL>Ì°ÊÀViÃÊV>ÕÃi`ÊLÞÊ`Þ>VÃ]ÊÜVÊ>ÞÊi>`Ê ÌÊÌiÊÃÃÊvÊ>ÊÜÀ«iVi]Êii`ÊÌÊLiÊÌ>iÊÌÊ>VVÕÌÊÜiÊ ÃiiVÌ}ÊÌiÊ>««À«À>ÌiÊÜÀ«iViÉ}À««iÀÊVL>Ì° ÊÌÃÊÀiëiVÌ]ÊiÌVÊvi>ÌÕÀiÃÊ>ÀiÊÕÃÌÊ>ÃÊ«ÀÌ>ÌÊvÀÊÌiÊ}À« «}Ê«ÀViÃÃÊ>ÃÊvÀÊÃiiVÌ}ÊÌiÊ>««À«À>ÌiÊi>ÌVðÊiÌVÊ vi>ÌÕÀiÃÊÊ>ÕÌ>ÌÊÌiV}ÞÊV>ÊLiÊV«>Ài`ÊÌÊÌÃiÊÊ Ã«ÀÌÃÊi`ViÊLiV>ÕÃiÊÛiVÌÞ]Ê>VViiÀ>Ì]Ê>`Ê«ÀiVÃÊvÊ ÛiiÌ]Ê>ÀiÊiµÕ>ÞÊÛ>Õi`°Ê £Ç£ [...]... Inertia The forces of inertia result from acceleration of the workpiece`s mass F= ma F= force [N], m = mass of the workpiece [kg], a = acceleration [m/s2] These forces must overlap the forces which result from the acceleration of the earth, in order to calculate the force required for force-fit gripping Profound knowledge of the movements performed by the gripper permits a competent decision on the gripper... gripping force α jaw opening angle FH force to lift β force auxiliary angle FNA emergency stop force ϕ friction angle FS force to fall ς FR resulting force μ rotary angle FV force to displace μ friction value FZ centrifugal force ω permeability ⋅ ω angle velocity, rotary velocity G weight g opening angle acceleration of the earth Table 4.3 Relevant symbols and their meaning Effects of The Forces of Inertia... for force-fit gripping Profound knowledge of the movements performed by the gripper permits a competent decision on the gripper construction The following overview includes the necessary steps for analyzing workpiece kinetics and calculating the corresponding gripping force 173 ... The following symbols are important for calculations: Relevant symbols and their meaning a acceleration aR radial acceleration overall rotary specs at tangential acceleration k correction factor I,L lengths of links M moment m mass aNA emergency stop acceleration p az central acceleration PO over-pressure normal pressure A plane PU under-pressure B magnetic induction r radius D .  RIGIDNESSCA.«M -EASURINGSENSORSARENORMALLYUSEDFORMEASURINGWORKPIECES FORPOSITIONING THE GRIPPERSTROKEORFORCONTROLLING THE GRIPPING FORCE4HESEMEASURING TASKS MAYBE OF INTERESTFORPICKANDPLACE OPERATIONSASWELLASFORWORKPIECETRANSPORT)NADDITIONSENSORS CANBElTTEDTO THE GRIPPERmANGEFOR THE MOVINGUNITSEE #HAPTER 4HEGRIPPERlNGERSCANBEUTILIZEDASSENSORSFORFORCEINDUCTIONBY ADHESIVESENSORSWHICHARElTTEDTO THE GRIPPERlNGERS 4HISSOCALLEDFORCEMEASURINGADAPTERCANRECORDANDANALYZE GRIPPINGFORCESWITH THE HELP OF A $-3 STRAINGAUGEBRIDGE 4HEFORCEMEASURINGBRIDGEISMOUNTEDBETWEENlNGERANDGRIPPER KINEMATICSFORTHISPURPOSE 4HERESULT OF THISTACTILEMEASURINGSENSORSISASOCALLEDDYNAMIC FORCEMEASUREMENTPARALLELTO THE GRIPPINGPROCESS4HISMEASURE MENTISVISUALIZEDBYASOFTWAREWHICHDIRECTLYCONVERTSITINTO ADIAGRAMEGFORAPERCENTGRIPPINGCONTROLPROTOCOL!SA RESULTWORKPIECESCANBECLASSIlEDACCORDINGTO THE FORCEREACHED 7ITH THE PROTOCOLDATAPREVENTIVEGRIPPERMAINTENANCEISACHIEVED  &IGURE$YNAMICGRIPPINGFORCEMEASURING  'ETTING4O'RIPS7ITH(ANDLING4ASKS   !PNEUMATICDRIVEISNOTSUFlCIENTIFSENSORINGASWELLASACTIVE GRIPPERCONTROLISNECESSARY&ORCOMPLEXGRIPPING TASKS DEPENDING ONACTIVEGRIPPERCONTROLELECTRICALLYDRIVEN GRIPPERS HAVEBECOMEA CLEARTRENDOVER THE PASTYEARS 3ERVOELECTRICDRIVESAREFAVOREDBECAUSETHEYAREHIGHLYmEXIBLE PROGRAMMABLE3IMPLEINTEGRATIONINTOBUSSYSTEMSANDNETWORKS USED IN AUTOMATIONISAMAJORBENElTPERMITTINGONLINECONTROL OF THE GRIPPER.EVERTHELESS THE USE OF ELECTRIC GRIPPERS ISSTILLTOO EXPENSIVEFORMANYAPPLICATIONS /NEEXAMPLE OF ANELECTRICGRIPPERWITH THE RESPECTIVESENSORSIS THE GRIPPERWITH$#CURRENTMOTORSHOWNHERE 4HEGRIPPERINCLUDESASPINDLEDRIVEWITHMAGNETICBRAKEANDAN INCREMENTALENCODERFORDETERMININGPOSITIONANDANGLEVELOCITY 0RECISEGUIDANCE IN COMBINATIONWITH THE BALLREVOLUTIONSPINDLE PERMITSANESPECIALLYACCURATEANDSENSITIVEGRIPPINGFORCECONTROL 2EPEATABILITYISASACCURATEASMMFOR THE GRIPPERlNGERSATA GRIPPERSTROKE OF UPTOMM!TCLOSING OF THE GRIPPERlNGERSA VELOCITY OF MMPERSECONDISACHIEVEDEQUALLINGACLOSINGTIME OF SECONDS-AXIMUMGRIPPINGFORCEIS.  'ETTING4O'RIPS7ITH(ANDLING4ASKS  4HElNGER GRIPPERS ALREADYMENTIONEDREQUIREEVENMORESENSITIVE SENSORS4HElNGERS OF THE "ARRET(ANDAREBASEDON $-3 STRAIN GAUGETECHNOLOGYWHICHPERMITSTHEMTOHAVEASENSE OF TOUCH 4HEEVALUATIONUNITWHICHCONVERTSSENSORDATAINTOPOSITIONING ORDERSFOR THE DRIVESISALSOINTEGRATEDINTO THE HAND IN ACCORDANCE WITH THE MODULARCONCEPT4HElGURESSHOW THE SENSORS IN THE lNGERSAND THE EVALUATIONUNITWITH THE CIRCUITBOARD IN THE mANGE OF THE HAND !VERYSPECIALKIND OF SENSORTECHNOLOGYHASBEENDEVELOPEDFOR THE FOLLOWINGGRIPPER4HISSMALLPARTSGRIPPERHASANELECTRICDRIVE ANDCANBEEQUIPPEDWITHUPTOSENSORS4HECONSTRUCTION INTEGRATES THE ENTIRECONTROLELECTRONICSINTO THE GRIPPERASWELL 4HESENSORSCANMEASURETEMPERATUREFORCEPOSITIONANDEVEN WORKPIECECONDUCTIVITY #URRENTEFFORTS IN SENSORINTEGRATIONSIGNALAFUTURETRENDFOR THE FOLLOWINGGRIPPERATTRIBUTESWHICHWILLBEAVAILABLEWITHIN THE NEXT FEWYEARS sADAPTABILITY sSENSE OF TOUCH sVISUALACUITYhEYESIGHTv sINTERACTIVITYhACTINGANDREACTINGv #!$IMAGESENSORS IN THE lNGER OF THE "ARRET(AND %VALUATIONUNITWITHCIRCUIT BOARD  SELECTION OF GRIPPERDRIVES ACCURATEPOSITIONING PROCESSCONTROL CAREFUL HANDLING  OF WORKPIECES GRIPPEROPTIMIZED FORRESPECTIVETASK INTERACTIVITY VISUALACUITY SENSE OF TOUCH ADAPTABILITY FUNCTIONALITY CUSTOMERBENEFIT INTELLIGENCE PROGRESS IN GRIPPERDEVELOPMENT INTEGRATION VISUALSYSTEM ACTIVE XYBALANCE GRIPPINGAND FORCECONTROL )NSHORTSENSORS IN COMBINATIONWITH THE RESPECTIVEDRIVEAND CONTROLTECHNOLOGYMAKE THE GRIPPERMOREINTELLIGENT'RIPPERDRIVES AREEXPECTEDTOBEAVAILABLEFORINDIVIDUALSELECTIONACCORDINGTO THE RESPECTIVETASK4HUS THE GRIPPERCANBEFULLYADAPTED IN TERMS OF GRIPPINGRADIUSGRIPPINGCONTROLORGRIPPINGFORCE'RIPPINGFORCE CONTROLENSURESCAREFULANDGENTLEWORKPIECE HANDLING !DDITIONAL FUNCTIONSSUCHASWORKPIECEMEASURINGCANBEPERFORMED)NTEGRAT INGIMAGEPROCESSINGSYSTEMSINTOORONTO THE GRIPPERPERMITSCON TROLON THE GRIPPINGAND HANDLING PROCESS!NACTIVECOMPENSATION CANBEPERFORMEDDURING THE lNALSTEPSUCHASAMOSTACCURATE ADJUSTMENT OF THE GRIPPERJAWSWHICHISVERYUSEFULFORWORKPIECE INSERTION "YALLMEANSTODAY{SANDTOMORROW{S GRIPPERS AREFARBEYOND THE 6$)DElNITIONASDESCRIBEDAT THE BEGINNING OF THISCHAPTER 4HE#LAMPAND THE 2ELEASEFUNCTIONWEREAT THE CENTER OF TASK DElNITIONCURRENTAPPLICATIONSAREMUCHMORECHALLENGING &IGURE'RIPPERDEVELOPMENTTRENDFORSENSORS  ÛiiÌÊ``ÃÊ6>Õi { >ÞÃÃÊvÊ/iÊiÌVÊ/>Ã ,i>â>ÌÊvÊ/iÊiÌVÊ*ÀViÃÃià ÀÊi>ÀÊÝÃÊÌ - ÝÝÃÊ,LÌ -iÃÀÃÊÊÌ ÛiiÌÊ``ÃÊ6>Õi { {Ê.  RIGIDNESSCA.«M -EASURINGSENSORSARENORMALLYUSEDFORMEASURINGWORKPIECES FORPOSITIONING THE GRIPPERSTROKEORFORCONTROLLING THE GRIPPING FORCE4HESEMEASURING TASKS MAYBE OF INTERESTFORPICKANDPLACE OPERATIONSASWELLASFORWORKPIECETRANSPORT)NADDITIONSENSORS CANBElTTEDTO THE GRIPPERmANGEFOR THE MOVINGUNITSEE #HAPTER 4HEGRIPPERlNGERSCANBEUTILIZEDASSENSORSFORFORCEINDUCTIONBY ADHESIVESENSORSWHICHARElTTEDTO THE GRIPPERlNGERS 4HISSOCALLEDFORCEMEASURINGADAPTERCANRECORDANDANALYZE GRIPPINGFORCESWITH THE HELP OF A $-3 STRAINGAUGEBRIDGE 4HEFORCEMEASURINGBRIDGEISMOUNTEDBETWEENlNGERANDGRIPPER KINEMATICSFORTHISPURPOSE 4HERESULT OF THISTACTILEMEASURINGSENSORSISASOCALLEDDYNAMIC FORCEMEASUREMENTPARALLELTO THE GRIPPINGPROCESS4HISMEASURE MENTISVISUALIZEDBYASOFTWAREWHICHDIRECTLYCONVERTSITINTO ADIAGRAMEGFORAPERCENTGRIPPINGCONTROLPROTOCOL!SA RESULTWORKPIECESCANBECLASSIlEDACCORDINGTO THE FORCEREACHED 7ITH THE PROTOCOLDATAPREVENTIVEGRIPPERMAINTENANCEISACHIEVED  &IGURE$YNAMICGRIPPINGFORCEMEASURING  'ETTING4O'RIPS7ITH(ANDLING4ASKS   !PNEUMATICDRIVEISNOTSUFlCIENTIFSENSORINGASWELLASACTIVE GRIPPERCONTROLISNECESSARY&ORCOMPLEXGRIPPING TASKS DEPENDING ONACTIVEGRIPPERCONTROLELECTRICALLYDRIVEN GRIPPERS HAVEBECOMEA CLEARTRENDOVER THE PASTYEARS 3ERVOELECTRICDRIVESAREFAVOREDBECAUSETHEYAREHIGHLYmEXIBLE PROGRAMMABLE3IMPLEINTEGRATIONINTOBUSSYSTEMSANDNETWORKS USED IN AUTOMATIONISAMAJORBENElTPERMITTINGONLINECONTROL OF THE GRIPPER.EVERTHELESS THE USE OF ELECTRIC GRIPPERS ISSTILLTOO EXPENSIVEFORMANYAPPLICATIONS /NEEXAMPLE OF ANELECTRICGRIPPERWITH THE RESPECTIVESENSORSIS THE GRIPPERWITH$#CURRENTMOTORSHOWNHERE 4HEGRIPPERINCLUDESASPINDLEDRIVEWITHMAGNETICBRAKEANDAN INCREMENTALENCODERFORDETERMININGPOSITIONANDANGLEVELOCITY 0RECISEGUIDANCE IN COMBINATIONWITH THE BALLREVOLUTIONSPINDLE PERMITSANESPECIALLYACCURATEANDSENSITIVEGRIPPINGFORCECONTROL 2EPEATABILITYISASACCURATEASMMFOR THE GRIPPERlNGERSATA GRIPPERSTROKE OF UPTOMM!TCLOSING OF THE GRIPPERlNGERSA VELOCITY OF MMPERSECONDISACHIEVEDEQUALLINGACLOSINGTIME OF SECONDS-AXIMUMGRIPPINGFORCEIS.  'ETTING4O'RIPS7ITH(ANDLING4ASKS  4HElNGER GRIPPERS ALREADYMENTIONEDREQUIREEVENMORESENSITIVE SENSORS4HElNGERS OF THE "ARRET(ANDAREBASEDON $-3 STRAIN GAUGETECHNOLOGYWHICHPERMITSTHEMTOHAVEASENSE OF TOUCH 4HEEVALUATIONUNITWHICHCONVERTSSENSORDATAINTOPOSITIONING ORDERSFOR THE DRIVESISALSOINTEGRATEDINTO THE HAND IN ACCORDANCE WITH THE MODULARCONCEPT4HElGURESSHOW THE SENSORS IN THE lNGERSAND THE EVALUATIONUNITWITH THE CIRCUITBOARD IN THE mANGE OF THE HAND !VERYSPECIALKIND OF SENSORTECHNOLOGYHASBEENDEVELOPEDFOR THE FOLLOWINGGRIPPER4HISSMALLPARTSGRIPPERHASANELECTRICDRIVE ANDCANBEEQUIPPEDWITHUPTOSENSORS4HECONSTRUCTION INTEGRATES THE ENTIRECONTROLELECTRONICSINTO THE GRIPPERASWELL 4HESENSORSCANMEASURETEMPERATUREFORCEPOSITIONANDEVEN WORKPIECECONDUCTIVITY #URRENTEFFORTS IN SENSORINTEGRATIONSIGNALAFUTURETRENDFOR THE FOLLOWINGGRIPPERATTRIBUTESWHICHWILLBEAVAILABLEWITHIN THE NEXT FEWYEARS sADAPTABILITY sSENSE OF TOUCH sVISUALACUITYhEYESIGHTv sINTERACTIVITYhACTINGANDREACTINGv #!$IMAGESENSORS IN THE lNGER OF THE "ARRET(AND %VALUATIONUNITWITHCIRCUIT BOARD  SELECTION OF GRIPPERDRIVES ACCURATEPOSITIONING PROCESSCONTROL CAREFUL HANDLING  OF WORKPIECES GRIPPEROPTIMIZED FORRESPECTIVETASK INTERACTIVITY VISUALACUITY SENSE OF TOUCH ADAPTABILITY FUNCTIONALITY CUSTOMERBENEFIT INTELLIGENCE PROGRESS IN GRIPPERDEVELOPMENT INTEGRATION VISUALSYSTEM ACTIVE XYBALANCE GRIPPINGAND FORCECONTROL )NSHORTSENSORS IN COMBINATIONWITH THE RESPECTIVEDRIVEAND CONTROLTECHNOLOGYMAKE THE GRIPPERMOREINTELLIGENT'RIPPERDRIVES AREEXPECTEDTOBEAVAILABLEFORINDIVIDUALSELECTIONACCORDINGTO THE RESPECTIVETASK4HUS THE GRIPPERCANBEFULLYADAPTED IN TERMS OF GRIPPINGRADIUSGRIPPINGCONTROLORGRIPPINGFORCE'RIPPINGFORCE CONTROLENSURESCAREFULANDGENTLEWORKPIECE HANDLING !DDITIONAL FUNCTIONSSUCHASWORKPIECEMEASURINGCANBEPERFORMED)NTEGRAT INGIMAGEPROCESSINGSYSTEMSINTOORONTO THE GRIPPERPERMITSCON TROLON THE GRIPPINGAND HANDLING PROCESS!NACTIVECOMPENSATION CANBEPERFORMEDDURING THE lNALSTEPSUCHASAMOSTACCURATE ADJUSTMENT OF THE GRIPPERJAWSWHICHISVERYUSEFULFORWORKPIECE INSERTION "YALLMEANSTODAY{SANDTOMORROW{S GRIPPERS AREFARBEYOND THE 6$)DElNITIONASDESCRIBEDAT THE BEGINNING OF THISCHAPTER 4HE#LAMPAND THE 2ELEASEFUNCTIONWEREAT THE CENTER OF TASK DElNITIONCURRENTAPPLICATIONSAREMUCHMORECHALLENGING &IGURE'RIPPERDEVELOPMENTTRENDFORSENSORS  ÛiiÌÊ``ÃÊ6>Õi { >ÞÃÃÊvÊ/iÊiÌVÊ/>Ã ,i>â>ÌÊvÊ/iÊiÌVÊ*ÀViÃÃià ÀÊi>ÀÊÝÃÊÌ - ÝÝÃÊ,LÌ -iÃÀÃÊÊÌ ÛiiÌÊ``ÃÊ6>Õi { {Ê. forces which result from the accel- eration of the earth, in order to calculate the force required for force-fit gripping. Profound knowledge of the movements performed by the gripper permits a