[...]... 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... if the operation n takes Tn 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. .. to pass the item to the manipulator 10 The manipulator 10 has two degrees of freedom, i.e., it rotates, and it has three possible positions at which it stops: at the first it 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... 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... 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. .. 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... 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 of the items in each magazine of the barrel 6) After the item has been "caught," the radially moving gripper removes it from the barrel The lever rotates through 90°, and then stops at... 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... required amount of powder for the production of one tablet (This process is carried out by means of the movement of the rotor.) Then, the upper plungers begin to descend while the lower plungers create the bottom of the pressing die When the pressing of the tablet 6 is finished, both plungers continue their downward movement to push the finished product out of the die in position 7 All these movements of... degrees of freedom Obviously, other kinematic means can be used for this purpose, including electric, hydraulic, or pneumatic means Some of these means will be discussed later The mimicking action of the actuator arm must be as accurate as possible both for the displacements and for the forces the actuator develops The device must mimic the movement of a human arm and palm for actions such as pouring . alt="" ROBOTICS Designing the Mechanisms for Automated Machinery Second Edition This page intentionally left blank ROBOTICS Designing the Mechanisms for Automated Machinery Second Edition Ben-Zion. 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. 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