introduction to robotics i n cim systems chapter 4 james a. rehg introduction to robotics in cim...
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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
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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
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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
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Figure 4-1Figure 4-1
James A. RehgJames A. RehgIntroduction to Robotics in CIM Systems Introduction to Robotics in CIM Systems 55thth edition edition
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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
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Figure 4-4Figure 4-4
James A. RehgJames A. RehgIntroduction to Robotics in CIM Systems Introduction to Robotics in CIM Systems 55thth edition edition
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Figure 4-6Figure 4-6
James A. RehgJames A. RehgIntroduction to Robotics in CIM Systems Introduction to Robotics in CIM Systems 55thth edition edition
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Figure 4-7Figure 4-7
James A. RehgJames A. RehgIntroduction to Robotics in CIM Systems Introduction to Robotics in CIM Systems 55thth edition edition
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Figure 4-8Figure 4-8
James A. RehgJames A. RehgIntroduction to Robotics in CIM Systems Introduction to Robotics in CIM Systems 55thth edition edition
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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
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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
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Figure 4-14Figure 4-14
James A. RehgJames A. RehgIntroduction to Robotics in CIM Systems Introduction to Robotics in CIM Systems 55thth edition edition
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Figure 4-16Figure 4-16
James A. RehgJames A. RehgIntroduction to Robotics in CIM Systems Introduction to Robotics in CIM Systems 55thth edition edition
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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
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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
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Figure 4-20Figure 4-20
James A. RehgJames A. RehgIntroduction to Robotics in CIM Systems Introduction to Robotics in CIM Systems 55thth edition edition
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Figure 4-21Figure 4-21
James A. RehgJames A. RehgIntroduction to Robotics in CIM Systems Introduction to Robotics in CIM Systems 55thth edition edition
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Figure 4-22Figure 4-22
James A. RehgJames A. RehgIntroduction to Robotics in CIM Systems Introduction to Robotics in CIM Systems 55thth edition edition
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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
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Figure 4-24Figure 4-24
James A. RehgJames A. RehgIntroduction to Robotics in CIM Systems Introduction to Robotics in CIM Systems 55thth edition edition
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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
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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
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Figure 4-31Figure 4-31
James A. RehgJames A. RehgIntroduction to Robotics in CIM Systems Introduction to Robotics in CIM Systems 55thth edition edition
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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
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Figure 4-35Figure 4-35
James A. RehgJames A. RehgIntroduction to Robotics in CIM Systems Introduction to Robotics in CIM Systems 55thth edition edition