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
... ΰÎL®Ê`Ã]ÊÀÌ>ÀÞÊÃÞiÌÀÞÊ>ÀÕ`ÊÜÜÀ«iViÊÀiÌ>ÌÊÜÀ«iViÊÊÃÌ>ÌÕÃ>ÌÀÝwi`£°ÊLÕÊ}`ÃÊÊÓ°Êv«>i]Ê>ÌÊ«>À>iÊÀÌ>ÌÊ>ÀÕ`ÊÕÊÀÊÛÊvÀÊ«ÀiviÀÀi`ÊÀiÌ>Ì®ÊΰÊi>ÀÊ{°ÊÃ>Ìi`ä°äÊ£°£ÊÊÊÊÊÓ°£Êΰ£ÊÜÀ«iViÊ«ÃÌä°ä£°£Ó°£Î°£761761iÌÌ}Ê/ÊÀ«ÃÊ7ÌÊ>`}Ê/>ÃÃÎVVÀ`}ÊÌÊÜÀ«iViÊ}iiÌÀÞ]Ê>ÊÀ`iÀÊÃÌ>ÌÕÃÊÃÊÀiÊÀÊiÃÃÊ`vwVÕÌÊÌÊiÃÌ>LÃÊÀÊÌÊ>Ì>°Ê/>LiÊΰnÊÃÜÃÊÌiÊ`vviÀiViÃÊLiÌÜiiÊVÕLiÊ>`Ê`ÃÊvÀðÊÊÀ`iÀÊÃÌ>ÌÕÃÊÎÉ£ÊvÀÊ`ÃÊvÀÃÊ>Ài>`ÞÊ`iÃVÀLiÃÊÌiÊ«ÃÌÊvÊÌiÊÜÀ«iViÊÊvÕÊLiV>ÕÃiÊvÊÌÃÊÀÌ>ÀÞÊÃÞiÌÀÞÊ>ÀÕ`ÊÌiÊÜÊ>ÝðiiÀ>ÞÊÌÊÕÃÌÊLiÊLÃiÀÛi`ÊÊÜÊv>ÀÊÜÀ«iViÊÃÞiÌÀÞÊÃÊ`i«i`iÌÊÊÀiÊÌ>ÊÌÃÊ}iiÌÀÞ°ÊvÊÜÀ«iViÃÊ`vviÀÊÊÃÕÀv>ViÊvi>ÌÕÀiÃÊ>ÃÊ>ÊÀiÃÕÌÊvÊV>}}ÊÌiÀÊ«ÃÌÊÌiÞÊ>ÀiÊÌÊLiÊÌÀi>Ìi`ÊiÊ>ÃÃÞiÌÀV>Ê«>ÀÌð/>LiÊΰnÊvviVÌÊvÊÜÀ«iViÊÃÞiÌÀiÃÊÊÌiÊÀ`iÀÊÃÌ>ÌÕÃÊ617nÓÊV>ÃiÊÌiÀiÊÃÊÕÃÌÊiÊVÌ>VÌÊ«ÌÊLiÌÜiiÊÌiÊÜÀ«iViÊ>`ÊÌiÊ}À««iÀÊ>ÜÃ]ÊÌiÊ«ÃÌÊÀ`Ê>ÞÊÃÜ}Ê`ÕÀ}Ê>VViiÀ>ÌÊÀÊÃÜ`Ü]ÊÜVÊÕÃÌÊLiÊiÝVÕ`i`ÊÌÊ>ViÛiÊ>VVÕÀ>ÌiÊ«ÃÌ}°Ê*ÀiVÃiÊV>VÕ>ÌÊvÊÌiÊL>ÃÊÊÌiÊ}À««iÀÊw}iÀÃÊi«ÃÊÌÊ>Û`Ê«ÌÊVÌ>VÌ°Ê/iÊL>ÃÊiÃÕÀiÃÊÌ>ÌÊ}À««iÀÊw}iÀÃÊV>ÌÊVÃiÊÊ«>À>iÊ«ÃÌÊÜÌÕÌÊ>`°ÊvÊÌiÊw}iÀÃÊVÃiÊ>ÀÕ`ÊÌiÊÜÀ«iVi]Ê}À««iÀÊ>`ÊÜÀ«iViÊ>ÛiÊÌiÊ`iÃÀi`ÊÃÕÀv>ViÊVÌ>VÌÊÜVÊ«ÀiÛiÌÃÊÌiÊÜÀ«iViÊvÀÊÃÜ}}Ê>ÌÊÀ>`°Ì>VÌÊÃÕÀv>ViÊ`iÃ}ÊvviÀÃÊÌÜÊV«iÌiÞÊ`vviÀiÌÊ«ÌÃ°Ê - >Ì>ÀÞÊVÌ>VÌÊÃÕÀv>ViÊÌÞ«iÃÊvÀÊ}À««iÀÊw}iÀÃÊÃÊiÊvÊÌi°ÊÊ>ÌiÀ>ÌÛiÊvÀÊ}ÞÊyiÝLiÊ}À««iÀÃÊ>ÀiÊyiÝLiÊVÌ>VÌÊÃÕÀv>ViÊÌÞ«iðÊÊÌ>LiÊΰ£{ÊLÌÊ«ÌÃÊvÀÊVÌ>VÌÊÃÕÀv>ViÊ`iÃ}Ê>ÀiÊ`iÌ>i`° - >Ì>ÀÞÊVÌ>VÌÊÃÕÀv>ViÊÌÞ«iÃÊÕÃÌÊ>ÛiÊiÊ«Ài`iwi`ÊvÀViÊÌÀ>ÃÃÃÊ«Ì°Ê-i«>À>ÌiÊÃÕÀv>ViÊÌÞ«iÃÊÜÌÊÌiÊÃ>iÊ}À««iÀÊw}iÀÊ«iÀÌÊiÊ}À««iÀÊÌÊ«VÊÕ«ÊÛ>ÀÕÃÊÜÀ«iViÊ`>iÌiÀðÊÊÌÃÊV>Ãi]ÊÜiÛiÀ]ÊÌiÊ}ÊLi`}ÊivviVÌÊV>ÕÃi`ÊLÞÊÌiÊ}iÀÊ}À««iÀÊw}iÀÃÊii`ÃÊÌÊLiÊÌ>iÊÌÊ>VVÕÌ°Ê/iÊLiÌÌiÀÊ«ÌÊÃÊÌÀÞ}ÊÌÊ«VÊÕ«Ê`vviÀiÌÊ`>iÌiÀÃÊÜÌÊÕÃi«>À>Ìi`ÊVÌ>VÌÊÃÕÀv>ViÊÌÞ«iÃÊÌÊii«ÊÌiÊ}À««iÀÊw}iÀÃÊ>ÃÊÃÀÌÊ>ÃÊ«ÃÃLi°Ê/iÊÕLiÀÊvÊ`vviÀ}ÊÜÀ«iViÃÊÃÊÌi`ÊvÀÊÌÃÊ«Ì° - iÊiÝ>«iÃÊvÊ}À««iÀÊw}iÀÃÊ>ÀiÊVÕ`i`ÊÌÊÕÃÌÀ>ÌiÊÌiÊÛ>ÀiÌÞÊvÊw}iÀÊÌÞ«iÃÊ>`ÊÌiÀÊ>`>«Ì>LÌÞÊÌÊ`Û`Õ>ÊÜÀ«iViÊvÀðÊVÌÕ«iÊ}À««iÀÊÃ}iÊViVÌ}ÊÀ`Ãi«>À>ÌiÊVÌ>VÌÊÃÕÀv>ViÃÊÜÌÊiÊ}À««iÀÎÊiÝ>«iÊvÊÌÃÊVÕ`iÃÊVÃÊÜVÊ>ÀiÊ«ÕÌÊÌÊ>ÊViVÌÀÃÊLiÌ°Ê/iÊÃâiÊvÊÌiÊVÊÃÊÕÃÌÊ>ÃÊ«ÀÌ>ÌÊ>ÃÊÌiÊ`vviÀiViÊLiÌÜiiÊvÀÌÊ>ÛiÀÃi®Ê>`ÊL>VÊÀiÛiÀÃi®ÊvÊÌiÊV°Ê/iÊVÃÊÌÊÞÊii`ÊÌÊLiÊÃiÀÌi`ÊvÀÌÕ«ÊLÕÌÊ>}i`Ê>VVÀ`}ÞÊÌÊ>ViÛiÊ>ÊÀi«ÀiÃiÌ>ÌÛiÊÊ>ÃÊiÝ«>i`ÊÊÌiÊ«VÌÕÀi°ÊÀÊi>VÊÌ>ÃÊÀÊ>`}ÊÃÌÕ>ÌÊÌÊÃÊ«ÀÌ>ÌÊÌÊ`iÃVÀLiÊÌiÊÀ`iÀÊÃÌ>ÌÕÃÊvÊÌiÊÜÀ«iViÊLivÀiÊ>`Ê>vÌiÀÊ>`}°ÊÀÊÌÃÊ`iÃVÀ«ÌÊÜiÊV>ÊÃiiÊÜÊ>ÞÊ>ÝiÃÊÀÊ`i}ÀiiÃÊvÊvÀii`ÊÌiÊ>`}ÊÕÌÊÕÃÌÊ«ÀÛ`iÊÊÀ`iÀÊÌÊV«iÌiÞÊÃÛiÊÌiÊÌ>ð/iÊÕÌi`ÊÛ>ÀiÌÞÊvÊÜÀ«iViÊvi>ÌÕÀiÃÊ`i>`ÃÊ}Ê}À««}ÊyiÝLÌÞ°Ê/iÊÕLiÀÊvÊÜÀ«iViÊvi>ÌÕÀiÃÊ>Ê}À««iÀÊV«iÃÊÜÌÊVÀÀië`ÃÊÌÊÌiÊÕLiÀÊ>`ÊÌÞ«iÊvÊvÀViÊ`ÕVÌÊ«ÌðÊ/iÊÀiÊ«ÌÃÊÌÊ>««ÞÊvÀViÊÌÊ>ÊÜÀ«iViÊ>Ê}À««iÀÊvviÀÃ]ÊÌiÊÀiÊÜÀ«iViÊ}iiÌÀiÃÊV>ÊLiÊ}À««i`°Ê/iÊ«iÀ>Ì}ÊiiiÌÃÊÀÊ}À««iÀÊw}iÀÃÊvÊ>Ê}À««iÀÊV>ÊLiÊ`iÃ}i`ÊÀÊ>`>«Ìi`Ê>VVÀ`}Þ°nÎGetting To Grips With Handling Tasks 33.2 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....
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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 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 1 ppt
... relative maintenance of learning aptitude and kinetic performanceMedium adulthood 30 - 45/ 50 gradually declining kinetic performanceLater adulthood 45/ 50 - 60/70 considerably declining kinetic ... 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 ... iÀÊ-VÕ>`}\Ê/iÊ1`iÀÀ>Ìi`Ê*ÀViÃãÛiiÌÊ>««V>ÌÃÊ>`ÊV«iÌÃÊ>ÀiÊvÀiµÕiÌÞÊiÝ«iVÌi`ÊÌÊ«iÀvÀÊ>ÀÕ`ÊÌiÊVVÊÜVÊiÝVii`ÃÊ>Ê«ÀviÃÃ>Ê>ÌiÌi¼ÃÊÃiÌÊÌ>ÃÊLÞÊv>À°ÊÊ}À««iÀÊÀiµÕÀi`ÊÌÊÛiÊÜÀ«iViÃÊ>ÌÊ>ÊVÞViÊÌiÊvÊ£xÊ«iViÃÊ«iÀÊÕÌiÊ«iÀvÀÃÊÀiÊÌ>Ê£ÓÊÊ«i}Ê>`ÊVÃ}ÊÃÌÀiÃÊ«iÀÊÞi>ÀÊÕ`iÀÊVÃÌ>ÌÊ«iÀ>Ì°ÊÊ,LÌÃÊ«iÀvÀ}ÊÛiÀÊ£ääÊ>`ÊÀiÊ>`}ÊÌ>ÃÃÊ«iÀÊÕÌiÊ>ÀiʵÕÌiÊVÊÌ`>Þ°ÊÌiÊÈäÃÊÜÀ«iViÊ>`}Ê>ÃÊ>ʺ>ÊVÃÌ>ÌÊÃÕÀViÊvÊÜ>ÃÌi»ÊÜ>ÃÊ>Ài>`ÞÊ«ÕÌÊ>ÌÊÌiÊViÌiÀÊvÊÀiÃi>ÀVÊLÞÊ*Àv°Êiâ>iÊÊ - ÕÌÌ}>ÀÌ]ÊiÀ>Þ°ÊÊÌiÀÃÊvÊÀ>Ì>â>ÌÊÌiÊvVÕÃÊÜ>ÃÊÃiÌÊÊ>Û`}Ê«ÀiÊ>`Ê«ÃÌ«iÀ>Ì}ÊÌiÃÊ`ÕÀ}Ê>ViÊÌÊÊ«iÀ>ÌðÊ>ViÊ«iÀ>Ì}ÊÃÌ>vvÊÜ>ÃÊÌÊLiÊ`iVÕ«i`ÊvÀÊ>ViÊÌiÊLÞÊiV>V>ÊÀÊ>ÕÌ>Ìi`ÊÃÞÃÌiÃÊÜiÊ>`}ÊÌiÊÜ>ÃÊÌÊLiÊÀi`ÕVi`ÊÌÊ>ÊÕ°}ÕÀiÊ£°ÓÊ>ViÊÌiÊÉÊ>`}ÊÌiÓä,IBRARY OF #ONGRESS#ONTROL.UMBER)3".4HISWORKISSUBJECTTOCOPYRIGHT!LLRIGHTSARERESERVEDWHETHER THE WHOLEOR PART OF THE MATERIALISCONCERNEDSPECIlCALLY THE RIGHTS OF TRANSLATIONREPRINTINGREUSE OF ILLUSTRATIONSRECITATIONBROADCASTINGREPRODUCTIONONMICROlLMOR IN ANYOTHERWAYANDSTORAGE IN DATABANKS$UPLICATION OF THISPUBLICATIONORPARTSTHEREOFISPERMITTEDONLYUNDER THE PROVISIONS OF THE 'ERMAN#OPYRIGHT,AW OF 3EPTEMBER IN ITSCURRENTVERSIONANDPERMISSIONFORUSEMUSTALWAYSBEOBTAINEDFROM3PRINGER6IOLATIONSARELIABLEFORPROSECUTIONUNDER THE 'ERMAN#OPYRIGHT,AW3PRINGERISA PART OF 3PRINGER3CIENCE"USINESS-EDIASPRINGERONLINECOM¥3PRINGER6ERLAG"ERLIN(EIDELBERG0RINTED IN )TALY4HEUSE OF GENERALDESCRIPTIVENAMESREGISTEREDNAMESTRADEMARKSETC IN THISPUBLICATIONDOESNOTIMPLYEVEN IN THE ABSENCE OF ASPECIlCSTATEMENTTHATSUCHNAMESAREEXEMPTFROM THE RELEVANTPROTECTIVELAWSANDREGULATIONSANDTHEREFOREFREEFORGENERALUSE#OVERDESIGNREFORMDESIGN3TUTTGART4YPESETTINGBY THE AUTHOR0RINTEDONACIDFREEPAPERn2ALF3TEINMANN3CHUNK'MB(#O+'3PANNUND'REIFTECHNIK"AHNHOFSSTRAE,AUFFEN.ECKAR'ERMANY(ENRIK3CHUNK3CHUNK)NC+ITTY(AWK$RIVE-ORRISVILLE.# 53 !$R!NDREAS7OLFROBOMOTION'MB()NDUSTRIESTRAE3TUTTGART'ERMANY£Ê...
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Grippers in Motion - the Fascination of Automated Handling Tasks - Wolf Part 3 doc
... to sell their products.At the same time the ROBOT 6 25 by Reis Obernburg had the same kinematic principle as the MBB-VFW. The ROBOT 6 25 only weighed 750 kg at a regular payload of 25kg, a clear ... 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, ... Werkzeugmaschinenbaus, Karl-Marx-Stadt) and nearly parallel in the Federal Republic of Germany (1984 edition by the Fraunhofer Institute for Manufacturing Engineering and Automation IPA in Stuttgart, Germany)...
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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, ... 8.0006.969 5. 2722.9622.9778848237709007 25 787 51 8 53 3 256 1991491307.0006.00 05. 000 The German Federation of the Engineering Industries VDMA gives the following outlook in its yearly ... soon as they had reached a certain level.62industrial robotterminalrobot controloffline programmingcomputerrobot kinematicsmulti-sensor systemFigure 2.13 Of ine programming in the early...
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Grippers in Motion - the Fascination of Automated Handling Tasks - Wolf Part 7 doc
... jawsdual gripper24 - 102 - oo2 - oo2 - oo2 - oo2 - 31 - 31 - 4 1 - 5 1 - 6flexible gripper jawsswivel grippers multiple grippers << degree of flexibility 0 1 2 3 4 5 6 7 8 9 10 11 ... spring2001400120010008006004002000 50 100 150 200DWG 100Mx = 55 NmFa = 1200NMy = 10NmMz = 35 NmMz= 45NmMy=45NmMx=95NmFa = 800Nfinger length L in mm0 25 50 75 100 1 25 gripping force in N02004006008001000120014001600gripping ... L in mmgripping force in N 250 02000 150 01000 50 00gripping force diagram gripping force in relation to the finger length L at 6 bar PGN 100 - 1PGN 100 - 2PGN 100 - 1 / AS/ISPGN 100 -...
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Grippers in Motion - the Fascination of Automated Handling Tasks - Wolf Part 8 pdf
... positioning of workpieces may cause premature wear or damage of gripper or handling system in the long run. The same applies to faulty positioning of the gripper in relation to the workpiece. Integrating ... applied in case of workpiece tolerances leading to bracings. 143Getting To Grips With Handling Tasks 3 In addition to placing them in stacks the workpieces can be placed in rows if the gripper ... PPMPARTSPERMINUTE4ABLE0ICKANDPLACEWORKPIECES70SONEBYONEPERFORMANCEINCREASECOMPAREDTOSINGLEGRIP4ABLE0ICKWORKPIECES70SONEBYONEANDPLACETHEM IN ONESTACKPERFORMANCEINCREASECOMPAREDTOSINGLEGRIP0ICKWITHSINGLEGRIPANDPLACE IN STACKS4ABLE0ICKANDPLACEONEWORKPIECE70WITHSINGLEGRIPSOURCEROBOMOTION4ABLE0ICKANDPLACEWORKPIECES70SONEBYONEPERFORMANCEINCREASECOMPAREDTOSINGLEGRIP4ABLE0ICKWORKPIECES70SONEBYONEANDPLACETHEM IN ONESTACKPERFORMANCEINCREASECOMPAREDTOSINGLEGRIP4HEWORKPIECES IN THE EXAMPLEMUSTBEROTATEDDEGREEBEFORETHEYCANBEPICKEDUPBY THE MULTIPLEGRIPPER3UCHSUPPOSEDLYEASYCHANGES OF WORKPIECEORIENTATIONCANNOTBEPERFORMEDEFlCIENTLYBYMULTIPLE GRIPPERS IN PRACTICE4HEEXPENDITUREFORPROCESSRELIABILITYANDPERIPHERALADJUSTMENTISSUBSTANTIALCOMPAREDTO THE SINGLEGRIPPERWHICHOFTENPAYSBETTERDESPITEHIGHERCOSTFOR THE HANDLING DEVICE4HEPRINCIPLE OF MULTIPLEGRIPPINGDESCRIBEDSOFARISBASEDON THE ASSUMPTIONTHATALLWORKPIECESAREPICKEDUPBY THE GRIPPERAT THE SAMETIMEANDSUBSEQUENTLYPLACEDAT THE SAMETIME4HEPRINCIPLE OF STACK GRIPPERS WHICHHASlRSTBEENINTRODUCEDAT THE !54 /-! 4)#! IN -UNICH'ERMANYFUNCTIONSACCORDINGTO THE SINGLEGRIPPERCONCEPTBUTISABLETOSTORESEVERALWORKPIECESWITHIN THE GRIPPER$EPENDINGONWORKPIECEDIMENSION THE GRIPPEROFFERSASAVINGCAPACITY OF MINIMUMTWOWORKPIECESANDEXTREMELYSHORTOPENINGANDCLOSINGTIMES&OREFlCIENCYREASONS THE TIMEFORPICKINGAWORKPIECEUPANDSTORINGITWITHIN THE STACKGRIPPERMUSTBESHORTERTHAN THE TIMEFOR THE HANDLING MOVEMENTTRANSPORTPERFORMEDBY THE ROBOTORAXISSYSTEM3EVERALSUCCESSIVEPICKANDPLACEOPERATIONSPERFORMEDBY THE STACKGRIPPERMAKECYCLETIMESHORTERTHANSINGLEPICKANDPLACEOPERATIONSACCORDINGTO THE CLASSICPRINCIPLE OF SINGLEGRIPPING4HESTACKGRIPPERCOMBINESATLEAST PART OF THE BENElTS OF THE SINGLEGRIPPERWITHTHOSE OF THE MULTIPLEGRIPPER-OREOVERTHISGRIPPERHASASOCALLEDDUALSTROKEOPTION4HELATTERREDUCESCYCLETIMEISREDUCEDBECAUSE THE GRIPPERISABLETOPICKWORKPIECESONEAFTER THE OTHER IN SEQUENCEANDRELEASETHEMALLAT THE SAMETIMEPARALLELAT THE PLACESTATION!LIGNMENTPATTERNFORPLACEOPERATIONSREQUIRESROTATINGWORKPIECESDEGREE4ASKINCLUDESPICKOPERATIONFROMACONVEYOROPTIMIZEDFORBLENDANDPLACEOPERATIONFORPACKAGING0LACING IN STACKSDEGREEROTATION OF STACK3ELFSUPPORTINGSYSTEMSORINDIRECTLINKAGESAREDECOUPLEDFROMMATERIALSmOWBYBUFFERSORMAGAZINES4HEWORKPIECESARETAKENFROMSTORAGETOAPROCESSINGSTATIONWHERETHEYAREMANIPULATEDORREORIENTEDANDSUBSEQUENTLYPLACEDFORSTORAGEAGAIN4HEMATERIALSmOWMUSTBEDISTINGUISHED IN ASFARASCYCLETIMESARESELECTEDWITH THE RESULTTHAT THE HANDLING OPERATIONMUSTWAITFOR THE PROCESSINGMACHINE3WIVELUNITSAREFREQUENTLYEMPLOYEDTOAVOIDIDLINGDURINGWORKPIECECHANGE IN THE PROCESSINGMACHINE+INETICDEVICESWHICHCARRY THE GRIPPERS AREUSUALLYHIGHTECHCOMPONENTSWHICHAREMUCHMOREEXPENSIVETHAN THE GRIPPERS !SIXAXISROBOTFOREXAMPLECOSTSFARMORETHAN THE GRIPPERPERFORMING THE PICKOPERATION&ORMOSTINVESTMENTS IN AUTOMATIONPROlTABILITYCALCULATIONINCLUDES HANDLING OUTPUTPERMINUTEIEAROBOTWILLONLYPAYIFITISABLETOMOVEAMINIMUMNUMBER OF WORKPIECESPERMINUTE4HESEECONOMICCONCERNSLEADSFROM THE PRINCIPLE OF SINGLEGRIPPINGTO THE PRINCIPLE OF MULTIPLEGRIPPINGTOREDUCECYCLETIMEPERWORKPIECE/NEBENElT OF SINGLEGRIPPINGISTHATGRIPPERDESIGNDOESNOTNEEDTOBEVERYSOPHISTICATED!TWOlNGERORTHREElNGERGRIPPERWILLBESUFlCIENT#OMBINEDWITHAMULTIAXISROBOT THE GRIPPERCANmEXIBLYENCLOSEWORKPIECESBECAUSEGRIPPERPOSITIONINGCANBECOMBINEDWITHMOSTDIVERSEWORKPIECEORIENTATIONS)NTERMS OF WORKPIECEPOSITIONING IN THE WORKSPACE THE ROBOTCANMAKEFULLUSE OF ITSmEXIBILITY7ORKPIECEORIENTATIONISNOTIMPORTANTFORRELIABLEPICKOPERATIONS IN THISCASE&IGURE-ATERIALSmOWFORSELFSUPPORTINGSYSTEMWITHOUTSWIVELUNITsliding...
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Grippers in Motion - the Fascination of Automated Handling Tasks - Wolf Part 9 pot
... £n'ETTING4O'RIPS7ITH(ANDLING4ASKS4HElNGER GRIPPERS ALREADYMENTIONEDREQUIREEVENMORESENSITIVESENSORS4HElNGERS OF THE "ARRET(ANDAREBASEDON $-3 STRAINGAUGETECHNOLOGYWHICHPERMITSTHEMTOHAVEASENSE OF TOUCH4HEEVALUATIONUNITWHICHCONVERTSSENSORDATAINTOPOSITIONINGORDERSFOR THE DRIVESISALSOINTEGRATEDINTO THE HAND IN ACCORDANCEWITH THE MODULARCONCEPT4HElGURESSHOW THE SENSORS IN THE lNGERSAND THE EVALUATIONUNITWITH THE CIRCUITBOARD IN THE mANGE OF THE HAND!VERYSPECIALKIND OF SENSORTECHNOLOGYHASBEENDEVELOPEDFOR THE FOLLOWINGGRIPPER4HISSMALLPARTSGRIPPERHASANELECTRICDRIVEANDCANBEEQUIPPEDWITHUPTOSENSORS4HECONSTRUCTIONINTEGRATES THE ENTIRECONTROLELECTRONICSINTO THE GRIPPERASWELL4HESENSORSCANMEASURETEMPERATUREFORCEPOSITIONANDEVENWORKPIECECONDUCTIVITY#URRENTEFFORTS IN SENSORINTEGRATIONSIGNALAFUTURETRENDFOR THE FOLLOWINGGRIPPERATTRIBUTESWHICHWILLBEAVAILABLEWITHIN THE NEXTFEWYEARSsADAPTABILITYsSENSE OF TOUCHsVISUALACUITYhEYESIGHTvsINTERACTIVITYhACTINGANDREACTINGv#!$IMAGESENSORS IN THE lNGER OF THE "ARRET(AND%VALUATIONUNITWITHCIRCUITBOARDÃÌ>>ÌÊ«ÌÃÊ ... 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 ... competent decision on the gripper con-struction. The following overview includes the necessary steps for analyzing workpiece kinetics and calculating the corresponding gripping force. Table...
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Grippers in Motion - the Fascination of Automated Handling Tasks - Wolf Part 10 doc
... 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 functionFT sensor in operation ... 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 ... into the pick position.Auxiliary process time for feeding the processing machine is reduced to a minimum as the swivel movement can be performed without any or with minimum effort by the handling...
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