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14948552 |
| 003 - CONTROL NUMBER IDENTIFIER |
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| control field |
CITU |
| 005 - DATE AND TIME OF LATEST TRANSACTION |
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20230216170034.0 |
| 007 - PHYSICAL DESCRIPTION FIXED FIELD--GENERAL INFORMATION |
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| fixed length control field |
cr an aaaaa |
| 008 - FIXED-LENGTH DATA ELEMENTS--GENERAL INFORMATION |
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| fixed length control field |
210324b ||||| |||| 00| 0 eng d |
| 020 ## - INTERNATIONAL STANDARD BOOK NUMBER |
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| International Standard Book Number |
9783527610280 |
| 035 ## - SYSTEM CONTROL NUMBER |
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| System control number |
(CStRLIN)PAUGV4097601-B |
| 040 ## - CATALOGING SOURCE |
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| Transcribing agency |
CITU LRAC |
| 041 ## - LANGUAGE CODE |
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| Language code of text/sound track or separate title |
eng. |
| 042 ## - AUTHENTICATION CODE |
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| Authentication code |
ukblsr |
| -- |
lccopycat |
| 050 00 - LIBRARY OF CONGRESS CALL NUMBER |
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| Classification number |
TJ211 |
| Item number |
.R535513 2007 |
| 082 04 - DEWEY DECIMAL CLASSIFICATION NUMBER |
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| Classification number |
629.8933 |
| Edition number |
22 |
| 240 10 - UNIFORM TITLE |
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| Uniform title |
Robotgreifer. |
| Language of a work |
English. |
| 245 00 - TITLE STATEMENT |
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| Title |
Robot grippers / |
| Statement of responsibility, etc |
Gareth J. Monkman ... [et al.]. |
| 264 ## - PUBLICATION, DISTRIBUTION, ETC. (IMPRINT) |
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| Place of publication, distribution, etc |
Weinheim : |
| Name of publisher, distributor, etc |
Wiley-VCH : |
| Date of publication, distribution, etc |
2007 |
| 300 ## - PHYSICAL DESCRIPTION |
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| Extent |
1 online resource : |
| Other physical details |
illustrations |
| 336 ## - CONTENT TYPE |
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| Content type term |
text |
| Content type code |
txy |
| Source |
rdacontent |
| 337 ## - MEDIA TYPE |
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| Media type term |
computer |
| Media type code |
nc |
| Source |
rdamedia |
| 338 ## - CARRIER TYPE |
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| Source |
rdacarrier |
| Carrier type term |
online resource |
| Carrier type code |
cr |
| 500 ## - GENERAL NOTE |
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| General note |
ABOUT THE AUTHOR<br/>Gareth Monkman is Professor of Robotics and Automation at the Fachhochschule Regensburg in Germany. Besides authoring a large number of academic papers, he also holds numerous patents in the field of gripper technology.<br/><br/>Dr.-Ing. habil. Stefan Hesse works as technology consultant for manipulator technology, gives lectures at the Technical College Technikum Vienna, and has been working as editor and author for many years.<br/><br/>Ralf Steinmann is head of Sales and Marketing Automation at SCHUNK GmbH & Co. KG, Obersulm.<br/><br/>Dipl.-Wirtsch.-Ing. Henrik Schunk is CEO of SCHUNK Intec Inc., Raleigh-Morrisville (USA). |
| 504 ## - BIBLIOGRAPHY, ETC. NOTE |
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| Bibliography, etc |
Includes bibliographical references and index. |
| 505 ## - CONTENTS |
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| Formatted contents note |
TABLE OF CONTENTS<br/>Preface V<br/><br/>1 Introduction to Prehension Technology 1<br/><br/>1.1 Grippers for Mechanization and Automation 1<br/><br/>1.2 Definitions and Conceptual Basics 2<br/><br/>1.3 Grasping in Natural Systems 10<br/><br/>1.4 Historical Overview of Technical Hands 14<br/><br/>2 Automatic Prehension 19<br/><br/>2.1 Active Pair MatingPair Mating 19<br/><br/>2.2 Strategy and Procedures 27<br/><br/>2.2.1 Prehension Strategy 27<br/><br/>2.2.2 Gripping Procedure, Conditions and Force 36<br/><br/>2.2.3 Gripper Flexibility 59<br/><br/>2.3 Gripper Classification 61<br/><br/>2.4 Requirements and Gripper Characteristics 63<br/><br/>2.5 Planning and Selection of Grippers 67<br/><br/>3 Impactive Mechanical Grippers 75<br/><br/>3.1 Gripper DrivesDrives 75<br/><br/>3.1.1 Electromechanical Drives 78<br/><br/>3.1.2 Pneumatic Drives 84<br/><br/>3.1.3 Electrostrictive and Piezoelectric Actuation 92<br/><br/>3.2 Design of Impactive Grippers 94<br/><br/>3.2.1 Systematics and Kinematics 94<br/><br/>3.2.1.1 Parallel Impactive Grippers 101<br/><br/>3.2.2 Angular Impactive Grippers 122<br/><br/>3.2.3 Radial Impactive Grippers (Centring Grippers) 131<br/><br/>3.2.4 Internal Grippers 132<br/><br/>3.2.5 Gripper with Self-blocking Capability 135<br/><br/>3.2.6 Rotatable Jaw Grippers 137<br/><br/>3.2.7 Gripper Finger and Jaw Design 138<br/><br/>3.2.8 Self Securing Grippers 142<br/><br/>3.2.8.1 Securing Through Spring Forces 142<br/><br/>3.2.8.2 Securing Through Object Mass 146<br/><br/>3.2.9 Three-finger Grippers 153<br/><br/>3.2.10 Four-finger Grippers and Four-point Prehension 157<br/><br/>4 Ingressive Grippers 161<br/><br/>4.1 Flexible Materials 161<br/><br/>4.1.1 Pinch Mechanisms 162<br/><br/>4.1.2 Intrusive Mechanisms 163<br/><br/>4.1.3 Non-Intrusive Mechanisms 166<br/><br/>5 Astrictive Prehension 169<br/><br/>5.1 Vacuum Suction 169<br/><br/>5.1.1 Vacuum Production 170<br/><br/>5.1.2 Vacuum Suckers 176<br/><br/>5.1.3 Passive Suction Caps 199<br/><br/>5.1.4 Air Jet Grippers 202<br/><br/>5.2 Magnetoadhesion 204<br/><br/>5.2.1 Permanent Magnet Grippers 204<br/><br/>5.2.2 Electromagnetic Grippers 207<br/><br/>5.2.3 Hybrid Electromagnetic Grippers 215<br/><br/>5.4 Electroadhesion 216<br/><br/>5.4.1 Electroadhesive Prehension of Electrical Conductors 216<br/><br/>5.4.2 Electroadhesive Prehension of Electrical Insulators 220<br/><br/>6 Contigutive Prehension 227<br/><br/>6.1 Chemoadhesion 227<br/><br/>6.2 Thermoadhesion 232<br/><br/>7 Miniature Grippers and Microgrippers 237<br/><br/>7.1 Impactive Microgrippers 238<br/><br/>7.1.1 Electromechanically Driven Impactive Microgrippers 238<br/><br/>7.1.2 Thermally Driven Impactive Microgrippers 240<br/><br/>7.1.3 Electrostatically Driven Impactive Microgrippers 245<br/><br/>7.2 Astrictive Microgrippers 248<br/><br/>7.2.1 Vacuum Microgrippers 248<br/><br/>7.2.2 Electroadhesive Microgrippers 249<br/><br/>7.3 Contigutive Microgrippers 250<br/><br/>8 Special Designs 253<br/><br/>8.1 Clasping (Embracing) Grippers 253<br/><br/>8.2 Anthropomorphic Grippers 257<br/><br/>8.2.1 Jointed finger Grippers 258<br/><br/>8.2.2 Jointless Finger Grippers 264<br/><br/>8.3 Dextrous Hands 268<br/><br/>9 Hand Axes and Kinematics 279<br/><br/>9.1 Kinematic Necessities and Design 280<br/><br/>9.2 Rotary and Pivot Units 285<br/><br/>10 Separation 291<br/><br/>10.1 Separation of Randomly Mixed Materials 291<br/><br/>10.2 Separation of Rigid Three Dimensional Objects 292<br/><br/>10.3 Separation of Rigid Sheet Materials 292<br/><br/>10.3.1 Gripping of Thin Blanks from a Magazine 292<br/><br/>10.3.2 Air Flow Grippers 295<br/><br/>10.4 Separation of Non-Rigid Sheet Materials 298<br/><br/>10.4.1 Roller Grippers 301<br/><br/>11 Instrumentation and Control 309<br/><br/>11.1 Gripper Sensor Technology 309<br/><br/>11.2 Perception Types 309<br/><br/>11.2.1 Tactile Sensors 310<br/><br/>11.2.2 Proximity Sensors 313<br/><br/>11.2.3 Measurement sensors 317<br/><br/>11.2.4 Finger Position Measurement 323<br/><br/>11.2.5 Measuring Procedures in the Gripper 324<br/><br/>11.3 Sensory Integration 326<br/><br/>11.3.1 Discrete and Continuous Sensing 327<br/><br/>11.3.2 Software and Hardware Interrupts 328<br/><br/>11.3.3 Sensor FusionSensor Fusion 328<br/><br/>11.4 Gripper Control 328<br/><br/>11.4.1 Control of Pneumatically Driven Grippers 329<br/><br/>11.4.2 Control of Electrically Driven Grippers 331<br/><br/>12 Tool Exchange and Reconfigurability 333<br/><br/>12.1 Multiple Grippers 333<br/><br/>12.1.1 Double and Multiple Grippers 333<br/><br/>12.1.2 Multiple Gripper Transfer Rails 336<br/><br/>12.1.3 Turrets 338<br/><br/>12.2 Specialized Grippers 342<br/><br/>12.2.1 Composite Grippers 342<br/><br/>12.2.2 Reconfigurable Grippers 344<br/><br/>12.2.3 Modular Gripper Systems 345<br/><br/>12.3 Gripper Exchange Systems 348<br/><br/>12.3.1 Tool Exchange 348<br/><br/>12.3.2 Task, Functions and Coupling Elements 350<br/><br/>12.3.3 Joining Techniques and Process Media Connection 353<br/><br/>12.3.4 Manual Exchange Systems 354<br/><br/>12.3.5 Automatic Exchange Systems 358<br/><br/>12.3.6 Finger Exchange Systems 362<br/><br/>12.4 Integrated Processing 363<br/><br/>13 Compliance 367<br/><br/>13.1 Remote Centre Compliance (RCC) 368<br/><br/>13.2 Instrumented Remote Centre Compliance (IRCC) 372<br/><br/>13.3 Near Collet Compliance (NCC) 374<br/><br/>13.4 Parts Feeding 375<br/><br/>13.5 Mechanical Compliance 377<br/><br/>13.6 Pneumatic Compliance 383<br/><br/>13.6.1 Internal Prehension Through Membrane Expansion 384<br/><br/>13.6.2 External Prehension Through Membrane Expansion 387<br/><br/>13.7 Shape Adaptive Grippers 391<br/><br/>13.7.1 Partially Ccompliant Shape Adaptive Grippers 391<br/><br/>13.7.2 Totally Compliant Shape Adaptive Grippers 393<br/><br/>13.8 Collision Protection and Safety 396<br/><br/>13.8.1 Safety Requirements 396<br/><br/>13.8.2 Collision Protection Systems 396<br/><br/>13.8.3 Failure Safety 397<br/><br/>14 Selected Case Studies 401<br/><br/>14.1 Simple Telemanipulation 401<br/><br/>14.2 Grippers for Sheet and Plate Components 405<br/><br/>14.2.1 Impactive Grippers for Sheet Metal Handling 406<br/><br/>14.2.2 Astrictive Grippers for Sheet Metal 409<br/><br/>14.2.3 Astrictive Grippers for Glass Sheet 412<br/><br/>14.2.4 Astrictive Grippers for Composite Material Handling 412<br/><br/>14.3 Prehension of Cuboid Objects 413<br/><br/>14.4 Prehension of Cylindrical Objects 417<br/><br/>14.4.1 Serial Prehension of Tubes 418<br/><br/>14.4.2 Prehension of Wound Coils 419<br/><br/>14.4.3 Prehension of Slit Coils 420<br/><br/>14.5 Prehension of Objects with Irregular Topology 420<br/><br/>14.5.1 Handling of Castings 420<br/><br/>14.5.2 Mounting of Dashboards for Automobiles 421<br/><br/>14.5.3 Prehension of Water Pumps 422<br/><br/>14.5.4 Astrictive Prehension of Irregular Surfaces 422<br/><br/>14.6 Multiple Object Prehension 423<br/><br/>14.6.1 Packaging of Candies 424<br/><br/>14.6.2 Bottle Palletization 425<br/><br/>14.6.3 Multiple Irregular Shaped Objects 425<br/><br/>14.7 Prehension of Flexible Objects 426<br/><br/>14.7.1 Bag and Sack Grippers 426<br/><br/>14.7.2 Gripping and Mounting of Outside O-rings 428<br/><br/>14.8 Medical Applications 430<br/><br/>References 433<br/><br/>Subject Index 443 |
| 520 ## - SUMMARY, ETC. |
|---|
| Summary, etc |
Since robotic prehension is widely used in all sectors of manufacturing industry, this book fills the need for a comprehensive, up-to-date treatment of the topic. As such, this is the first text to address both developers and users, dealing as it does with the function, design and use of industrial robot grippers. The book includes both traditional methods and many more recent developments such as micro grippers for the optolectronics industry. Written by authors from academia, industry and consulting, it begins by covering the four basic categories of robotic prehension before expanding into sections dealing with endeffector design and control, robotic manipulation and kinematics. Later chapters go on to describe how these various gripping techniques can be used for a common industrial aim, with details of related topics such as: kinematics, part separation, sensors, tool excahnge and compliance. The whole is rounded off with specific examples and case studies. With more than 570 figures, this practical book is all set to become the standard for advanced students, researchers and manufacturing engineers, as well as designers and project managers seeking practical descriptions of robot endeffectors and their applications. |
| 526 ## - STUDY PROGRAM INFORMATION NOTE |
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| -- |
600-699 |
| -- |
620 |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM |
|---|
| Topical term or geographic name as entry element |
Manipulators (Mechanism) |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM |
|---|
| Topical term or geographic name as entry element |
Manipulators (Mechanism) |
| General subdivision |
Design and construction. |
| 654 #4 - SUBJECT ADDED ENTRY--FACETED TOPICAL TERM |
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| Focus term |
Electronic books |
| 655 #4 - INDEX TERM--GENRE/FORM |
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| Genre/form data or focus term |
Electronic books |
| 700 1# - ADDED ENTRY--PERSONAL NAME |
|---|
| Personal name |
Monkman, Gareth J. |
| 856 41 - ELECTRONIC LOCATION AND ACCESS |
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| Materials specified |
Table of contents |
| Uniform Resource Identifier |
http://www.loc.gov/catdir/toc/fy0716/2007464074.html |
| 856 42 - ELECTRONIC LOCATION AND ACCESS |
|---|
| Link text |
Full text available at Wiley Online Library Click here to view |
| Uniform Resource Identifier |
https://onlinelibrary.wiley.com/doi/book/10.1002/9783527610280 |
| 942 ## - ADDED ENTRY ELEMENTS |
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| Source of classification or shelving scheme |
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| Item type |
EBOOK |