Overview

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.

Full Product Details

Author:   Gareth J. Monkman ,  Stefan Hesse ,  Ralf Steinmann ,  Henrik Schunk
Publisher:   Wiley-VCH Verlag GmbH
Imprint:   Wiley-VCH Verlag GmbH
Dimensions:   Width: 17.80cm , Height: 2.90cm , Length: 24.20cm
Weight:   1.020kg
ISBN:  

9783527406197

ISBN 10:   3527406190
Pages:   463
Publication Date:   10 November 2006
Audience:   Professional and scholarly ,  Professional & Vocational
Format:   Hardback
Publisher's Status:   Out of Print
Availability:   Awaiting stock  

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 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 10.3 Separation of Rigid Sheet Materials 292 10.3.1 Gripping of Thin Blanks from a Magazine 292 10.3.2 Air Flow Grippers 295 10.4 Separation of Non-Rigid Sheet Materials 298 10.4.1 Roller Grippers 301 11 Instrumentation and Control 309 11.1 Gripper Sensor Technology 309 11.2 Perception Types 309 11.2.1 Tactile Sensors 310 11.2.2 Proximity Sensors 313 11.2.3 Measurement sensors 317 11.2.4 Finger Position Measurement 323 11.2.5 Measuring Procedures in the Gripper 324 11.3 Sensory Integration 326 11.3.1 Discrete and Continuous Sensing 327 11.3.2 Software and Hardware Interrupts 328 11.3.3 Sensor FusionSensor Fusion 328 11.4 Gripper Control 328 11.4.1 Control of Pneumatically Driven Grippers 329 11.4.2 Control of Electrically Driven Grippers 331 12 Tool Exchange and Reconfigurability 333 12.1 Multiple Grippers 333 12.1.1 Double and Multiple Grippers 333 12.1.2 Multiple Gripper Transfer Rails 336 12.1.3 Turrets 338 12.2 Specialized Grippers 342 12.2.1 Composite Grippers 342 12.2.2 Reconfigurable Grippers 344 12.2.3 Modular Gripper Systems 345 12.3 Gripper Exchange Systems 348 12.3.1 Tool Exchange 348 12.3.2 Task, Functions and Coupling Elements 350 12.3.3 Joining Techniques and Process Media Connection 353 12.3.4 Manual Exchange Systems 354 12.3.5 Automatic Exchange Systems 358 12.3.6 Finger Exchange Systems 362 12.4 Integrated Processing 363 13 Compliance 367 13.1 Remote Centre Compliance (RCC) 368 13.2 Instrumented Remote Centre Compliance (IRCC) 372 13.3 Near Collet Compliance (NCC) 374 13.4 Parts Feeding 375 13.5 Mechanical Compliance 377 13.6 Pneumatic Compliance 383 13.6.1 Internal Prehension Through Membrane Expansion 384 13.6.2 External Prehension Through Membrane Expansion 387 13.7 Shape Adaptive Grippers 391 13.7.1 Partially Ccompliant Shape Adaptive Grippers 391 13.7.2 Totally Compliant Shape Adaptive Grippers 393 13.8 Collision Protection and Safety 396 13.8.1 Safety Requirements 396 13.8.2 Collision Protection Systems 396 13.8.3 Failure Safety 397 14 Selected Case Studies 401 14.1 Simple Telemanipulation 401 14.2 Grippers for Sheet and Plate Components 405 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

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Author Information

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).

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