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Grippers in Motion - the Fascination of Automated Handling Tasks - Wolf Part 4 pot

Grippers in Motion - the Fascination of Automated Handling Tasks - Wolf Part 4 pot

Grippers in Motion - the Fascination of Automated Handling Tasks - Wolf Part 4 pot

... 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, ... accordingly. The potential for using robots in the food processing and the packaging industry is obvious as the demand for automated solutions is high. The furniture industry is another potential ... investments in 20 04. Rubber and synthetics producers, the chemical industry, machine (incl. electric) producers, and the metal manufacturing industry will have to increase their investments accordingly....
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Grippers in Motion - the Fascination of Automated Handling Tasks - Wolf Part 9 pot

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

... £n'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 $-3 STRAINGAUGETECHNOLOGYWHICHPERMITSTHEMTOHAVEASENSE OF TOUCH4HEEVALUATIONUNITWHICHCONVERTSSENSORDATAINTOPOSITIONINGORDERSFOR THE DRIVESISALSOINTEGRATEDINTO THE HAND IN ACCORDANCEWITH THE MODULARCONCEPT4HElGURESSHOW THE SENSORS IN THE lNGERSAND THE EVALUATIONUNITWITH THE CIRCUITBOARD IN THE mANGE OF THE HAND!VERYSPECIALKIND OF SENSORTECHNOLOGYHASBEENDEVELOPEDFOR THE FOLLOWINGGRIPPER4HISSMALLPARTSGRIPPERHASANELECTRICDRIVEANDCANBEEQUIPPEDWITHUPTOSENSORS4HECONSTRUCTIONINTEGRATES THE ENTIRECONTROLELECTRONICSINTO THE GRIPPERASWELL4HESENSORSCANMEASURETEMPERATUREFORCEPOSITIONANDEVENWORKPIECECONDUCTIVITY#URRENTEFFORTS IN SENSORINTEGRATIONSIGNALAFUTURETRENDFOR THE FOLLOWINGGRIPPERATTRIBUTESWHICHWILLBEAVAILABLEWITHIN THE NEXTFEWYEARSsADAPTABILITYsSENSE OF TOUCHsVISUALACUITYhEYESIGHTvsINTERACTIVITYhACTINGANDREACTINGv#!$IMAGESENSORS IN THE lNGER OF THE "ARRET(AND%VALUATIONUNITWITHCIRCUITBOARDÃÌ>>ÌÊ«ÌÃÊ ... decision on the gripper con-struction. The following overview includes the necessary steps for analyzing workpiece kinetics and calculating the corresponding gripping force. Table 4. 3 Relevant ... 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...
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Grippers in Motion - the Fascination of Automated Handling Tasks - Wolf Part 1 ppt

Grippers in Motion - the Fascination of Automated Handling Tasks - Wolf Part 1 ppt

... 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>`}\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 ... 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...
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Grippers in Motion - the Fascination of Automated Handling Tasks - Wolf Part 2 ppsx

Grippers in Motion - the Fascination of Automated Handling Tasks - Wolf Part 2 ppsx

... 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...
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Grippers in Motion - the Fascination of Automated Handling Tasks - Wolf Part 3 doc

Grippers in Motion - the Fascination of Automated Handling Tasks - Wolf Part 3 doc

... Werkzeugmaschinenbaus, Karl-Marx-Stadt) and nearly parallel in the Federal Republic of Germany (19 84 edition by the Fraunhofer Institute for Manufacturing Engineering and Automation IPA in Stuttgart, Germany) ... 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, ... The increasing number of application fields are a clear sign of this development. The broader the range of applications and the greater the required flexibility of the respective gripper, the...
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Grippers in Motion - the Fascination of Automated Handling Tasks - Wolf Part 5 pps

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

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Grippers in Motion - the Fascination of Automated Handling Tasks - Wolf Part 6 ppsx

Grippers in Motion - the Fascination of Automated Handling Tasks - Wolf Part 6 ppsx

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

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

... jawsdual gripper2 4 - 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 ... for increased moment capacity 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 ... 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...
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Grippers in Motion - the Fascination of Automated Handling Tasks - Wolf Part 8 pdf

Grippers in Motion - the Fascination of Automated Handling Tasks - Wolf Part 8 pdf

... applied in case of workpiece tolerances leading to bracings. 143 Getting To Grips With Handling Tasks 3 In addition to placing them in stacks the workpieces can be placed in rows if the gripper ... PPMPARTSPERMINUTE4ABLE0ICKANDPLACEWORKPIECES70SONEBYONEPERFORMANCEINCREASECOMPAREDTOSINGLEGRIP4ABLE0ICKWORKPIECES70SONEBYONEANDPLACETHEM IN ONESTACKPERFORMANCEINCREASECOMPAREDTOSINGLEGRIP0ICKWITHSINGLEGRIPANDPLACE IN STACKS4ABLE0ICKANDPLACEONEWORKPIECE70WITHSINGLEGRIPSOURCEROBOMOTION4ABLE0ICKANDPLACEWORKPIECES70SONEBYONEPERFORMANCEINCREASECOMPAREDTOSINGLEGRIP4ABLE0ICKWORKPIECES70SONEBYONEANDPLACETHEM IN ONESTACKPERFORMANCEINCREASECOMPAREDTOSINGLEGRIP4HEWORKPIECES IN THE EXAMPLEMUSTBEROTATEDDEGREEBEFORETHEYCANBEPICKEDUPBY THE MULTIPLEGRIPPER3UCHSUPPOSEDLYEASYCHANGES OF WORKPIECEORIENTATIONCANNOTBEPERFORMEDEFlCIENTLYBYMULTIPLE GRIPPERS IN PRACTICE4HEEXPENDITUREFORPROCESSRELIABILITYANDPERIPHERALADJUSTMENTISSUBSTANTIALCOMPAREDTO THE SINGLEGRIPPERWHICHOFTENPAYSBETTERDESPITEHIGHERCOSTFOR THE HANDLING DEVICE4HEPRINCIPLE OF MULTIPLEGRIPPINGDESCRIBEDSOFARISBASEDON THE ASSUMPTIONTHATALLWORKPIECESAREPICKEDUPBY THE GRIPPERAT THE SAMETIMEANDSUBSEQUENTLYPLACEDAT THE SAMETIME4HEPRINCIPLE OF STACK GRIPPERS WHICHHASlRSTBEENINTRODUCEDAT THE ! 54 /-! 4) #! IN -UNICH'ERMANYFUNCTIONSACCORDINGTO THE SINGLEGRIPPERCONCEPTBUTISABLETOSTORESEVERALWORKPIECESWITHIN THE GRIPPER$EPENDINGONWORKPIECEDIMENSION THE GRIPPEROFFERSASAVINGCAPACITY OF MINIMUMTWOWORKPIECESANDEXTREMELYSHORTOPENINGANDCLOSINGTIMES&OREFlCIENCYREASONS THE TIMEFORPICKINGAWORKPIECEUPANDSTORINGITWITHIN THE STACKGRIPPERMUSTBESHORTERTHAN THE TIMEFOR THE HANDLING MOVEMENTTRANSPORTPERFORMEDBY THE ROBOTORAXISSYSTEM3EVERALSUCCESSIVEPICKANDPLACEOPERATIONSPERFORMEDBY THE STACKGRIPPERMAKECYCLETIMESHORTERTHANSINGLEPICKANDPLACEOPERATIONSACCORDINGTO THE CLASSICPRINCIPLE OF SINGLEGRIPPING4HESTACKGRIPPERCOMBINESATLEAST PART OF THE BENElTS OF THE SINGLEGRIPPERWITHTHOSE OF THE MULTIPLEGRIPPER-OREOVERTHISGRIPPERHASASOCALLEDDUALSTROKEOPTION4HELATTERREDUCESCYCLETIMEISREDUCEDBECAUSE THE GRIPPERISABLETOPICKWORKPIECESONEAFTER THE OTHER IN SEQUENCEANDRELEASETHEMALLAT THE SAMETIMEPARALLELAT THE PLACESTATION!LIGNMENTPATTERNFORPLACEOPERATIONSREQUIRESROTATINGWORKPIECESDEGREE4ASKINCLUDESPICKOPERATIONFROMACONVEYOROPTIMIZEDFORBLENDANDPLACEOPERATIONFORPACKAGING0LACING IN STACKSDEGREEROTATION OF STACK3ELFSUPPORTINGSYSTEMSORINDIRECTLINKAGESAREDECOUPLEDFROMMATERIALSmOWBYBUFFERSORMAGAZINES4HEWORKPIECESARETAKENFROMSTORAGETOAPROCESSINGSTATIONWHERETHEYAREMANIPULATEDORREORIENTEDANDSUBSEQUENTLYPLACEDFORSTORAGEAGAIN4HEMATERIALSmOWMUSTBEDISTINGUISHED IN ASFARASCYCLETIMESARESELECTEDWITH THE RESULTTHAT THE HANDLING OPERATIONMUSTWAITFOR THE PROCESSINGMACHINE3WIVELUNITSAREFREQUENTLYEMPLOYEDTOAVOIDIDLINGDURINGWORKPIECECHANGE IN THE PROCESSINGMACHINE+INETICDEVICESWHICHCARRY THE GRIPPERS AREUSUALLYHIGHTECHCOMPONENTSWHICHAREMUCHMOREEXPENSIVETHAN THE GRIPPERS !SIXAXISROBOTFOREXAMPLECOSTSFARMORETHAN THE GRIPPERPERFORMING THE PICKOPERATION&ORMOSTINVESTMENTS IN AUTOMATIONPROlTABILITYCALCULATIONINCLUDES HANDLING OUTPUTPERMINUTEIEAROBOTWILLONLYPAYIFITISABLETOMOVEAMINIMUMNUMBER OF WORKPIECESPERMINUTE4HESEECONOMICCONCERNSLEADSFROM THE PRINCIPLE OF SINGLEGRIPPINGTO THE PRINCIPLE OF MULTIPLEGRIPPINGTOREDUCECYCLETIMEPERWORKPIECE/NEBENElT OF SINGLEGRIPPINGISTHATGRIPPERDESIGNDOESNOTNEEDTOBEVERYSOPHISTICATED!TWOlNGERORTHREElNGERGRIPPERWILLBESUFlCIENT#OMBINEDWITHAMULTIAXISROBOT THE GRIPPERCANmEXIBLYENCLOSEWORKPIECESBECAUSEGRIPPERPOSITIONINGCANBECOMBINEDWITHMOSTDIVERSEWORKPIECEORIENTATIONS)NTERMS OF WORKPIECEPOSITIONING IN THE WORKSPACE THE ROBOTCANMAKEFULLUSE OF ITSmEXIBILITY7ORKPIECEORIENTATIONISNOTIMPORTANTFORRELIABLEPICKOPERATIONS IN THISCASE&IGURE-ATERIALSmOWFORSELFSUPPORTINGSYSTEMWITHOUTSWIVELUNITsliding ... strategies 142 CHECKVALVEWAYVALVEWAYVALVEWITHSPRINGRETURNPNEUMATICDUALCHECKVALVETHROTTLECHECKVALVEWAYVALVEWAYVALVEWITHSPRINGRETURNACTUATION OF SINGLE GRIPPERS ACTUATION OF DUALGRIPPERS'ETTING4O'RIPS7ITH(ANDLING4ASKS4HEUSE OF SPRINGELEMENTSWHICHPRESS THE PISTON OF PNEUMATIC GRIPPERS INTO THE CLOSINGPOSITIONISONEPOSSIBILITYFORMAINTAINING THE GRIPPINGFORCE4HESPRINGSUPPORTS THE CLOSINGFORCEWITHAIRPRESSUREDURINGNORMALOPERATIONANDCLOSES THE GRIPPER&ORGRIPPINGFORCEMAINTENANCETENSIONSPRINGSORCOMPRESSIONSPRINGSCANBEUSED(OUSINGRESTRICTIONSEGFORCOMPACT GRIPPERS AREOFTENRESPONSIBLEFOR THE FACTTHATONLY PART OF THE MAXIMUMGRIPPINGFORCECANBESECURED4HISISANACCEPTABLECOMPROMISEBECAUSEITISSUFlCIENTTOSAFEGUARD THE STATICLOAD OF THE GRIPPERIEHOLDING THE WORKPIECEWITHIN THE GRIPPERWHILEITDOESNOTMOVEASALOSS OF ENERGYUSUALLYLEADSTOANEMERGENCYSTOP3PRINGELEMENTSMAINTAINING THE GRIPPINGFORCEAREALSOUSEDFORSECURINGWORKPIECESDURINGLONGERSTANDSTILLSEGOVERWEEKENDSASTHISREDUCESSTARTINGTIMESSPRINGSUPPORTEDGRIPPER0OTENTIALHAZARDSDUETOWORKPIECELOSSAREEVALUATEDEGONASCALE OF TO)N THE NEXTSTEP THE PROBABILITY OF OCCURRENCEFORTHESEHAZARDSCANBEASSESSED4HEPROBABILITY OF DETECTINGSUCHAHAZARDISEVALUATEDASWELL)FYOUTHENMULTIPLY THE POTENTIALHAZARDWITHBOTHITSPROBABILITY OF OCCURRENCEANDITSPROBABILITY OF DETECTIONYOUGET THE RISKFACTORFOR THE OVERALLRISKASSESSMENT4HEEXAMPLEFORARISKANALYSIS IN TABLEISBASEDON THE RISK OF WORKPIECELOSSBYAPNEUMATICGRIPPERIE THE WORKPIECESLIDINGWITHIN THE GRIPPER'RIPPINGFORCEISSUBSTANTIALLYREDUCEDBYADROP IN PRESSURE OF BARFROMASTANDARDPRESSURE OF BAR!NALYZING THE SITUATIONFOR THE ENTIRESYSTEMMEANSLOOKINGATITSINTERFACES IN RELATIONTOALLOTHERCOMPONENTSNOTJUSTTO THE GRIPPER&OR THE ENTIRESYSTEMAWORKPIECELOSSISEVALUATEDASHIGHLYCRITICALEGRISK OF PERSONALINJURYORMATERIALDAMAGE4HERISK OF FAULTYPOSITIONING OF THE WORKPIECEWITHIN THE GRIPPERISRATEDLOWEGCONCENTRICGRIPPERJAWSDONOTLET THE WORKPIECESLIDEBUTINTOONEDIRECTIONZ.EVERTHELESS THE PROBABILITY OF OCCURRENCEFORSLIDINGISRATEDHIGHERTHANFORTOTALWORKPIECELOSSBECAUSE THE WORKPIECEWOULDlRSTHAVETOSLIDEOUT OF THE GRIPPERJAWSBEFOREITCOULDGETLOST4HEPROBABILITY OF DETECTINGAPRESSUREDROPTOBARISRATEDRELATIVELYHIGHDUETO THE PRESSURECONTROLSENSORINSTALLEDWHICHWARNS THE OPERATOR!S THE OPERATORMAYFAILTONOTICETHISWARNING THE RISKANALYSISRESULTISSTILLRATEDAT'ETTING4O'RIPS7ITH(ANDLING4ASKS!SSHOWN IN TABLEBOTHNONTACTILEANDTACTILESENSORSCANBEFURTHERCLASSIlEDINTOSWITCHINGSENSORSANDMEASURINGSENSORS3WITCHINGSENSORSAREMOSTLYUSEDFORDETERMININGIFAPARTICULARPOSITIONHASBEENREACHED4HISTYPE OF GRIPPERMONITORINGHASBEENUSEDFOROVERTENYEARSANDISSTANDARDFORMECHANICAL GRIPPERS 0ROCESSRELIABILITY OF AUTOMATED PRODUCTIONSYSTEMSCOULDHARDLYBEACHIEVEDWITHOUTSENSORS#YCLETIMES OF HANDLING PROCESSESCANBEOPTIMIZEDBYSENSORSINSTEAD OF PROGRAMMINGWAITINGPERIODSFORGRIPPEROPENING0ROXIMITYSWITCHESREEDORMAGNETICSWITCHESAREOFTENEMPOYEDASSWITCHINGSENSORS3WITCHINGSENSORSCANMONITOR THE RESPECTIVEGRIPPERSTATUSIEMONITORING THE POSITIONSASFOLLOWSsGRIPPEROPENsGRIPPERCLOSEDsGRIPPERCLOSEDOPENFORINTERNALGRIP&OR THE lRSTTWOGRIPPERPOSITIONSITISCLEARWHERE THE SENSORSMUSTBElTTED4HESETWOPOSITIONS OF THE OPERATINGELEMENTSAREUSUALLYlNALPOSITIONS4HETHIRDPOSITIONGRIPPERCLOSEDOPENISMOREDIFlCULTTOMONITORWITHSWITCHINGSENSORS3WITCHINGTIMESORSENSORlTTINGMAYVARYACCORDINGTOWORKPIECETOLERANCESORDIFFERENTWORKPIECEDIMENSIONSMAGNETICSWITCH)INDUCTIVEPROXIMITYSWITCHmEXIBLEPOSITIONSENSOR'ETTING4O'RIPS7ITH(ANDLING4ASKS'RIPPING4AKES4IME!UTOMATEDSYSTEMSAREEITHERDESIGNEDASSELFSUPPORTINGSYSTEMSORWITHADIRECTLINKTOEXISTINGPRODUCTIONFACILITIES)NTHISRESPECTTHEYARENOTDIRECTLYINTEGRATEDINTO THE MATERIALSmOW)FDIRECTLINKAGETOPREORPOSTOPERATINGFACILITIESISSELECTEDEACHWORKPIECEFEDINTO THE HANDLING PROCESSISDUEFORFURTHERUSEORPROCESSING4HEDISTANCEBETWEENPICKANDPLACESTATIONISEFFECTEDWITHONEORSEVERALWORKPIECESWITHINAGRIPPER%ACHWORKPIECEDELIVERED IN THE DESIREDQUALITYANDCORRECTORDERSTATUSISSUPPOSEDTOBEMOVED&ORTHESESITUATIONS HANDLING TIMEPERWORKPIECEISESSENTIAL+INETICDEVICESWITHTHEIRCHARACTERISTICS IN TERMS OF WORKSPACEANDVELOCITYSEE#HAPTERARE OF GREATIMPORTANCEOPENINGANDCLOSINGTIMES OF GRIPPERS ALSOMATTERFORCYCLETIME&IGURE$IRECTLINKAGE OF WORKPIECEINPUTWITHWORKPIECEOUTPUT IN APLACEPOSITION4HENONTACTILESENSORSINCLUDEEXAMPLES OF VISUALANDVIDEOVISUALSENSORS4HISGROUP OF NONTACTILESENSORSWORKSWITHLIGHTASMEASURINGMEDIUM0HYSICALPRINCIPLESEMPLOYEDAREULTRASOUNDINDUCTIONCAPACITYMAGNETISMANDPIEZOELECTRICEFFECTS-ICROWAVEANDPNEUMATICSENSORSAREUSED IN AUTOMATIONASWELL/THERMETHODSAREBEINGDEVELOPEDSOTHATMOREANDMOREAPPLICATIONSCANBEREALIZED&ORMECHANICALGRIPPINGITISIMPORTANTTOKNOWTHATACCORDINGTO THE INFORMATIONREQUIRED THE SENSORSAREINTEGRATEDINTO THE GRIPPER$IRECTCONTACTWITH THE WORKPIECEISESTABLISHEDWHICHEASILYPERMITSTACTILEMEASURINGEGWHENACCURATEINFORMATIONONGRIPPINGFORCEISREQUIREDSENSORS IN AUTOMATIONTECHNOLOGYTACTILE...
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Grippers in Motion - the Fascination of Automated Handling Tasks - Wolf Part 10 doc

Grippers in Motion - the Fascination of Automated Handling Tasks - Wolf Part 10 doc

... so-called DMS. The tool is 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 ... Value 4 The AGE compensation unit enables passive compensation of position errors along the x- and y-axes up to ±4mm depending on the size of the component. Faulty angle positioning can be com-pensated ... 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...
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