Greifer und Manipulatoren sind entscheidende Elemente jeder Strategie zur Automatisierung von Prozessen. Drei Autoren aus Industrie, Hochschule und Consulting beschreiben in diesem Buch die Eigenschaften und Vor- und Nachteile der verschiedenen Greifertypen und geben detaillierte Tips zu ihrem Einsatz.
Autorentext
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).
Klappentext
Since robotic prehension is widely used in all sectors of the 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 optoelectronics 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 exchange 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.
From the contents:
- Introduction to Prehension Technology
- Automatic Prehension
- Impactive Mechanical Grippers
- Ingressive Grippers
- Astrictive Prehension
- Contigutive Prehension
- Miniature Grippers and Microgrippers
- Special Designs
- Hand Axes and Kinematics
- Separation
- Instrumentation and Control
- Tool Exchange and Reconfigurability
- Compliance
- Selected Case Studies
Authors:
Gareth Monkman is Professor of Robotics and Automation at the Fachhochschule Regensburg in Germany. In addition to authoring a large number of academic papers, he also holds numerous patents in the field of gripper technology.
Stefan Hesse is a manipulator technology consultant,
lectures at the Technical College Technikum Vienna, and has been working extensively as editor and author for many years.
Ralf Steinmann is head of Sales and Marketing Automation at SCHUNK GmbH & Co. KG, Lauffen, Germany.
Henrik Schunk is executive Vice President of SCHUNK GmbH & Co. KG, Lauffen, Germany.
Zusammenfassung
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.
Inhalt
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
3.2 Design of Impactive Grippers 94
3.2.1 Systematics and Kinematics 94
3.2.1.1 Parallel Impactive Grippers 101
3.2.2 Angular Impactive Grippers 122
3.2.3 Radial Impactive Grippers (Centring Grippers) 131
3.2.4 Internal Grippers 132
3.2.5 Gripper with Self-blocking Capability 135
3.2.6 Rotatable Jaw Grippers 137
3.2.7 Gripper Finger and Jaw Design 138
3.2.8 Self Securing Grippers 142
3.2.8.1 Securing Through Spring Forces 142
3.2.8.2 Securing Through Object Mass 146
3.2.9 Three-finger Grippers 153
3.2.10 Four-finger Grippers and Four-point Prehension 157
4 Ingressive Grippers 161
4.1 Flexible Materials 161
4.1.1 Pinch Mechanisms 162
4.1.2 Intrusive Mechanisms 163
4.1.3 Non-Intrusive Mechanisms 166
5 Astrictive Prehension 169
5.1 Vacuum Suction 169
5.1.1 Vacuum Production 170
5.1.2 Vacuum Suckers 176
5.1.3 Passive Suction Caps 199
5.1.4 Air Jet Grippers 202
5.2 Magnetoadhesion 204
5.2.1 Permanent Magnet Grippers 204
5.2.2 Electromagnetic Grippers 207
5.2.3 Hybrid Electromagnetic Grippers 215
5.4 Electroadhesion 216
5.4.1 Electroadhesive Prehension of Electrical Conductors 216
5.4.2 Electroadhesive Prehension of Electrical Insulators 220
6 Contigutive Prehension 227
6.1 Chemoadhesion 227
6.2 Thermoadhesion 232
7 Miniature Grippers and Microgrippers 237
7.1 Impactive Microgrippers 238
7.1.1 Electromechanically Driven Impactive Microgrippers 238
7.1.2 Thermally Driven Impactive Microgrippers 240
7.1.3 Electrostatically Driven Impactive Microgrippers 245
7.2 Astrictive Microgrippers 248
7.2.1 Vacuum Microgrippers 248
7.2.2 Electroadhesive Microgrippers 249
7.3 Contigutive Microgrippers 250
8 Special Designs 253
8.1 Clasping (Embracing) Grippers 253
8.2 Anthropomorphic Grippers 257
8.2.1 Jointed finger Grippers 258
8.2.2 Jointless Finger Grippers 264
8.3 Dextrous Hands 268
9 Hand Axes and Kinematics 279
9.1 Kinematic Necessities and Design 280
9.2 Rotary and Pivot Units 285
10 Separation 291
10.1 Separation of Randomly Mixed Materials 291
10.2 Separation of Rigid Three Dimensional Objects 292