Upload
meredith-perkins
View
244
Download
1
Tags:
Embed Size (px)
Citation preview
Introduction to RoboticsIntroduction to Roboticsiinn
CIM SystemsCIM Systems
Chapter 4Chapter 4
James A. RehgJames A. RehgIntroduction to Robotics in CIM Systems Introduction to Robotics in CIM Systems 55thth edition edition
Copyright ©2003 by Pearson Education, Inc.Upper Saddle River, New Jersey 07458
All rights reserved.
Good Tooling DesignGood Tooling Design
Important CharacteristicsImportant CharacteristicsCapable of interacting with part(s)Capable of interacting with part(s)Sense presence of part in gripper(s)Sense presence of part in gripper(s)Weight minimized to maximize payloadWeight minimized to maximize payloadMaintain control of part(s) under acceleration Maintain control of part(s) under acceleration
& power loss& power loss
Ref Ch. 4-1 in bookRef Ch. 4-1 in book
Copyright ©2003 by Pearson Education, Inc.Upper Saddle River, New Jersey 07458
All rights reserved.
Standard GrippersStandard Grippers
VariationsVariationsType of motionType of motionActuation methodActuation methodNormally open (NO) or closed (NC)Normally open (NO) or closed (NC)Surface GrippedSurface Gripped# of fingers# of fingers
Ref Ch. 4-2 in bookRef Ch. 4-2 in book
Copyright ©2003 by Pearson Education, Inc.Upper Saddle River, New Jersey 07458
All rights reserved.
Figure 4-1Figure 4-1
James A. RehgJames A. RehgIntroduction to Robotics in CIM Systems Introduction to Robotics in CIM Systems 55thth edition edition
Copyright ©2003 by Pearson Education, Inc.Upper Saddle River, New Jersey 07458
All rights reserved.
Figure 4-2 & 4-3Figure 4-2 & 4-3
James A. RehgJames A. RehgIntroduction to Robotics in CIM Systems Introduction to Robotics in CIM Systems 55thth edition edition
Copyright ©2003 by Pearson Education, Inc.Upper Saddle River, New Jersey 07458
All rights reserved.
Figure 4-4Figure 4-4
James A. RehgJames A. RehgIntroduction to Robotics in CIM Systems Introduction to Robotics in CIM Systems 55thth edition edition
Copyright ©2003 by Pearson Education, Inc.Upper Saddle River, New Jersey 07458
All rights reserved.
Figure 4-6Figure 4-6
James A. RehgJames A. RehgIntroduction to Robotics in CIM Systems Introduction to Robotics in CIM Systems 55thth edition edition
Copyright ©2003 by Pearson Education, Inc.Upper Saddle River, New Jersey 07458
All rights reserved.
Figure 4-7Figure 4-7
James A. RehgJames A. RehgIntroduction to Robotics in CIM Systems Introduction to Robotics in CIM Systems 55thth edition edition
Copyright ©2003 by Pearson Education, Inc.Upper Saddle River, New Jersey 07458
All rights reserved.
Figure 4-8Figure 4-8
James A. RehgJames A. RehgIntroduction to Robotics in CIM Systems Introduction to Robotics in CIM Systems 55thth edition edition
Copyright ©2003 by Pearson Education, Inc.Upper Saddle River, New Jersey 07458
All rights reserved.
Figure 4-9 & 10Figure 4-9 & 10
James A. RehgJames A. RehgIntroduction to Robotics in CIM Systems Introduction to Robotics in CIM Systems 55thth edition edition
Copyright ©2003 by Pearson Education, Inc.Upper Saddle River, New Jersey 07458
All rights reserved.
Figure 4-12 & 13Figure 4-12 & 13
James A. RehgJames A. RehgIntroduction to Robotics in CIM Systems Introduction to Robotics in CIM Systems 55thth edition edition
Copyright ©2003 by Pearson Education, Inc.Upper Saddle River, New Jersey 07458
All rights reserved.
Figure 4-14Figure 4-14
James A. RehgJames A. RehgIntroduction to Robotics in CIM Systems Introduction to Robotics in CIM Systems 55thth edition edition
Copyright ©2003 by Pearson Education, Inc.Upper Saddle River, New Jersey 07458
All rights reserved.
Figure 4-16Figure 4-16
James A. RehgJames A. RehgIntroduction to Robotics in CIM Systems Introduction to Robotics in CIM Systems 55thth edition edition
Copyright ©2003 by Pearson Education, Inc.Upper Saddle River, New Jersey 07458
All rights reserved.
Figure 4-16 & 17Figure 4-16 & 17
James A. RehgJames A. RehgIntroduction to Robotics in CIM Systems Introduction to Robotics in CIM Systems 55thth edition edition
Copyright ©2003 by Pearson Education, Inc.Upper Saddle River, New Jersey 07458
All rights reserved.
Figure 4-18 & 19Figure 4-18 & 19
James A. RehgJames A. RehgIntroduction to Robotics in CIM Systems Introduction to Robotics in CIM Systems 55thth edition edition
Copyright ©2003 by Pearson Education, Inc.Upper Saddle River, New Jersey 07458
All rights reserved.
Figure 4-20Figure 4-20
James A. RehgJames A. RehgIntroduction to Robotics in CIM Systems Introduction to Robotics in CIM Systems 55thth edition edition
Copyright ©2003 by Pearson Education, Inc.Upper Saddle River, New Jersey 07458
All rights reserved.
Figure 4-21Figure 4-21
James A. RehgJames A. RehgIntroduction to Robotics in CIM Systems Introduction to Robotics in CIM Systems 55thth edition edition
Copyright ©2003 by Pearson Education, Inc.Upper Saddle River, New Jersey 07458
All rights reserved.
Figure 4-22Figure 4-22
James A. RehgJames A. RehgIntroduction to Robotics in CIM Systems Introduction to Robotics in CIM Systems 55thth edition edition
Copyright ©2003 by Pearson Education, Inc.Upper Saddle River, New Jersey 07458
All rights reserved.
Special Purpose ToolsSpecial Purpose Tools
DefinitionDefinitionDevices designed or modified to fit on the Devices designed or modified to fit on the end of a manipulator.end of a manipulator.
Criteria for useCriteria for useConsider for dirty, dangerous or dull jobs.Consider for dirty, dangerous or dull jobs.
Ref Ch. 4-8 in bookRef Ch. 4-8 in book
Copyright ©2003 by Pearson Education, Inc.Upper Saddle River, New Jersey 07458
All rights reserved.
Figure 4-24Figure 4-24
James A. RehgJames A. RehgIntroduction to Robotics in CIM Systems Introduction to Robotics in CIM Systems 55thth edition edition
Copyright ©2003 by Pearson Education, Inc.Upper Saddle River, New Jersey 07458
All rights reserved.
Figure 4-25 & 26Figure 4-25 & 26
James A. RehgJames A. RehgIntroduction to Robotics in CIM Systems Introduction to Robotics in CIM Systems 55thth edition edition
Copyright ©2003 by Pearson Education, Inc.Upper Saddle River, New Jersey 07458
All rights reserved.
Figure 4-27 & 28Figure 4-27 & 28
James A. RehgJames A. RehgIntroduction to Robotics in CIM Systems Introduction to Robotics in CIM Systems 55thth edition edition
Copyright ©2003 by Pearson Education, Inc.Upper Saddle River, New Jersey 07458
All rights reserved.
Figure 4-31Figure 4-31
James A. RehgJames A. RehgIntroduction to Robotics in CIM Systems Introduction to Robotics in CIM Systems 55thth edition edition
Copyright ©2003 by Pearson Education, Inc.Upper Saddle River, New Jersey 07458
All rights reserved.
Figure 4-32, 33 & 34Figure 4-32, 33 & 34
James A. RehgJames A. RehgIntroduction to Robotics in CIM Systems Introduction to Robotics in CIM Systems 55thth edition edition
Copyright ©2003 by Pearson Education, Inc.Upper Saddle River, New Jersey 07458
All rights reserved.
Figure 4-35Figure 4-35
James A. RehgJames A. RehgIntroduction to Robotics in CIM Systems Introduction to Robotics in CIM Systems 55thth edition edition