By Gareth J. Monkman, Stefan Hesse, Ralf Steinmann, Henrik Schunk
When you consider that robot prehension is time-honored in all sectors of producing undefined, this booklet fills the necessity for a entire, updated remedy of the subject. As such, this can be the 1st textual content to deal with either builders and clients, dealing because it does with the functionality, layout and use of business robotic grippers. The publication contains either conventional tools and plenty of more moderen advancements akin to micro grippers for the optolectronics undefined. Written by means of authors from academia, and consulting, it starts off through masking the 4 easy different types of robot prehension ahead of increasing into sections facing endeffector layout and keep an eye on, robot manipulation and kinematics. Later chapters cross directly to describe how those quite a few gripping options can be utilized for a standard commercial goal, with information of similar issues reminiscent of: kinematics, half separation, sensors, instrument excahnge and compliance. the full is rounded off with particular examples and case stories. With greater than 570 figures, this sensible ebook is ready to turn into the normal for complicated scholars, researchers and production engineers, in addition to designers and venture managers looking sensible descriptions of robotic endeffectors and their purposes.
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Example of a prehension strategy Sheet metal plates stored in shelves are to be removed using a vacuum suction head attached to a hand guided manipulator. The shelf depth and the weight of the plates make access difficult. 18: I. With the tray (3) pulled out, the vacuum crossbar (1) is inserted over the stack of plates. II. The first plate is slid out and tilted onto the tray. III. Suction is released and the vacuum crossbar placed over the entire plate surface. IV. With renewed vacuum suction the plate is lifted from the stack.
4. The prime mover behind such grippers is a piezoelectric oscillator, normally operating at frequencies above 20 kHz. AC voltages applied to the piezoelectric disk causes mechanical distortion in an oscillatory manner which leads to the generation of acoustic (standing) waves. The acoustic wave pressure compensates gravitational forces on the object (air 1 2 3 4 workpiece gripper jaw parallel gripper air flow gripper p compressed air Fig. 3: Gripping of a disk with sensitive upper surface a) surface prehension b) edge contact c) contactless holding 21 22 2 Automatic Prehension Fig.
Prehension zones are located as closely as possible to the objects centre of gravity. ț The minimum active gripper jaw width amounts to at least 5 mm. ț Double jaw grippers, counteracting large gyration radii, are used for workpieces longer than 200 mm. 2 Strategy and Procedures Fig. 10: Handling zones of a workpiece 1 safety margin in front of the clamping tool, 2 chuck, 3 gripper jaw, 4 centre of gravity, 5 workpiece, 6 gripper, 7 magazine, A support zone, G prehension (grip) zone, S reserved zone The above zones may experience geometrical changes in the process of machining and may need to be redefined during prehension planning.
Robot Grippers by Gareth J. Monkman, Stefan Hesse, Ralf Steinmann, Henrik Schunk