[...]... 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. .. from the hopper (with an upwards/downwards movement) to the X-Y table 3 (to the left) (On the X-Y table there are two pins 4 for fixing the circuit by means of corresponding openings 5.) After the assembling is finished, the manipulator takes the completed plate to the pile 12 where the completed circuits are stacked The X-7 table is also a two-degrees-of-freedom manipulator whose purpose is to place the. .. 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... (out of the total of 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... 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. .. brings the corresponding sector 8 to the "pick-up" manipulator 7 The manipulator 7 has three degrees of freedom: it rotates, it moves vertically, and it has a gripper which moves radially along the lever 9 The barrel and the manipulator act in the following sequence The barrel 6 rotates to the required position, and then the gripper of the device 7 picks up the item For this purpose the lever 9 faces the. .. 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... serving arms When the distance between the arms is large, the deformations become significant; for example, for a distance of 1. 5-2 m, a force of 8 kg causes a linear deformation of 5 0-6 0 mm and angular deflections of 3-8 ° An additional problem occurs as a result of the mass of the mechanical "arms." To compensate for these weights, balance masses are used (in Figure 1.10 they are fastened to the opposite... 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 bottle-labelling... 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 . TeamLRN TEAM LRN ROBOTICS Designing the Mechanisms for Automated Machinery Second Edition TEAM LRN This page intentionally left blank TEAM LRN ROBOTICS Designing the Mechanisms for Automated Machinery Second . Solomon Library of Congress Cataloging-in-Publication Data Sandier, B. Z., 193 2- Robotics : designing the mechanisms for automated machinery / Ben-Zion Sandier. — 2nd ed. p. cm. Includes. 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