ABOUT THE AUTHOR 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.
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.
Ralf Steinmann is head of Sales and Marketing Automation at SCHUNK GmbH & Co. KG, Obersulm.
Dipl.-Wirtsch.-Ing. Henrik Schunk is CEO of SCHUNK Intec Inc., Raleigh-Morrisville (USA).
Includes bibliographical references and index.
TABLE OF CONTENTS Preface V
1 Introduction to Prehension Technology 1
1.1 Grippers for Mechanization and Automation 1
1.2 Definitions and Conceptual Basics 2
1.3 Grasping in Natural Systems 10
1.4 Historical Overview of Technical Hands 14
2 Automatic Prehension 19
2.1 Active Pair MatingPair Mating 19
2.2 Strategy and Procedures 27
2.2.1 Prehension Strategy 27
2.2.2 Gripping Procedure, Conditions and Force 36
2.2.3 Gripper Flexibility 59
2.3 Gripper Classification 61
2.4 Requirements and Gripper Characteristics 63
2.5 Planning and Selection of Grippers 67
3 Impactive Mechanical Grippers 75
3.1 Gripper DrivesDrives 75
3.1.1 Electromechanical Drives 78
3.1.2 Pneumatic Drives 84
3.1.3 Electrostrictive and Piezoelectric Actuation 92
14.2.1 Impactive Grippers for Sheet Metal Handling 406
14.2.2 Astrictive Grippers for Sheet Metal 409
14.2.3 Astrictive Grippers for Glass Sheet 412
14.2.4 Astrictive Grippers for Composite Material Handling 412
14.3 Prehension of Cuboid Objects 413
14.4 Prehension of Cylindrical Objects 417
14.4.1 Serial Prehension of Tubes 418
14.4.2 Prehension of Wound Coils 419
14.4.3 Prehension of Slit Coils 420
14.5 Prehension of Objects with Irregular Topology 420
14.5.1 Handling of Castings 420
14.5.2 Mounting of Dashboards for Automobiles 421
14.5.3 Prehension of Water Pumps 422
14.5.4 Astrictive Prehension of Irregular Surfaces 422
14.6 Multiple Object Prehension 423
14.6.1 Packaging of Candies 424
14.6.2 Bottle Palletization 425
14.6.3 Multiple Irregular Shaped Objects 425
14.7 Prehension of Flexible Objects 426
14.7.1 Bag and Sack Grippers 426
14.7.2 Gripping and Mounting of Outside O-rings 428
14.8 Medical Applications 430
References 433
Subject Index 443
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.
9783527610280
Manipulators (Mechanism) Manipulators (Mechanism)--Design and construction.