grippers in motion - the fascination of automated handling tasks - wolf

From the production point of view it is obvious that the workpiece itself does not increase in value during the handling process.. The time necessary for production is separated into mac

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Characterization Class (age) Phase of

patterns and adoption of first combined movements

Late childhood 10/11 - 11/12 10/11 - 12/13 best motor learning aptitude

Early youth (pubescence) 11/12 - 13/14 12/13 - 14.5 restructuring kinetic skills and

proficien-cies Late youth (adolescence) 13/14 - 17/18 14.6-18/19 developing gender-specific differentia-

tion, progressive individualization and increasing stabilization

and kinetic performance

perfor-mance

Table 1.1 details human motor skills changing throughout a lifetime

For the technical recording of kinetic processes, a distance-time

diagram is used which depicts illustration of various movement

features This method can also be used for determining the fine

motor skills necessary for gripping workpieces

Table 1.1 Phases of human motor skills

17

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1.1 The Handling Process

The process of handling component parts or workpieces in

produc-tion is often underrated as technically simple or even trivial

From the production point of view it is obvious that the workpiece

itself does not increase in value during the handling process

As far as technical solutions are concerned, handling is secondary

to the manufacturing process The time necessary for production

is separated into machine time and handling time (see figure 1.2)

Machine time is the period of time during which a machine is

operating, i e making changes to the workpiece itself Machine

time can be further separated into pre-operating time, operating

time, and post-operating time Pre- and post-operating time include

all necessary operations before and after operating time, such as

supplying a tool or coolant These intervals have been reduced to a

minimum by high traverse rates and appropriate control technology

over the past few years

Handling time or auxiliary process time can be separated into single

steps from setting up a workpiece to testing it Production

plan-ning aims at synchronizing handling time and machine time in order

to prevent time-consuming handling processes from taking up

valuable machine time; or at least to keep handling time at a

mini-mum and to move as many workpieces as possible per time unit

Machine time and handling time have to be coordinated: Machinery

idling during workpiece handling is generally not acceptable, just

as fast robots waiting for machinery do not make sense

21

• ambient conditions: type, temperature

• workpieces: orientation, quantity, position, size, type

a desired cycle time Complex workpieces and multiple ambient conditions can create different handling tasks to such an extent that a simple task of moving a workpiece from point A to B can become an extremely complex process Human beings are naturally equipped with an enormously flexible “gripping technique”,

efficient “sensors” and highly complex “data processing” and, therefore, tend to underrate such tasks

From practical experience in automation projects we know that unexpected technical and economic problems tend to occur especially when the handling process and all its parameters are not sufficiently analyzed and evaluated at an early stage

22

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handling VDI 2860

conveying

effecting materials flow

The term is used in connection with the availability of workpieces

A workpiece is made ready when it is able to be gripped

Handling

Handling means creating, defined changing or temporarily ing a pre-set alignment of geometrically defined bodies in a system of coordinates Further parameters such as time, quantity, and path can be pre-set (source: VDI Verein Deutscher Ingenieure Guideline 2860)

maintain-Handling is a subfunction of the materials flow and categorized on the same level as conveying or storing

Handling is divided into the following single steps:

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1.3 What Are The Main Points of This Book?

The following chapters focus on the realization of handling ogy tasks Keynote is the process of integrating a workpiece into a moving device and put it into a new position or orientation

technol-In order to illustrate the subject in a sensible selection we draw the analogy to human object handling In line with this analogy we concentrate on gripping techniques which follow mechanical principles (force-lock and/or form-lock) Vacuum grippers and other gripper types are included but not covered in detail However, work-piece movement with moving axes and robot technology from the gripper finger to the six-axis robot arm are thoroughly described

Chapter 1 explains terms and fundamentals of the subject.

Chapter 2 gives an insight into the history of automation

technol-ogy and robot development over the past 30 years, highlighting the milestones without any claim for completeness An outlook on future developments awaiting us over the next few years, sup-ported by statistics and statements by the German federation of the engineering industries VDMA (Verband Deutscher Maschinen und Anlagenbauer) is included

1

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1.3 What Are The Main Points of This Book?

The following chapters focus on the realization of handling ogy tasks Keynote is the process of integrating... 2860)

maintain -Handling is a subfunction of the materials flow and categorized on the same level as conveying or storing

Handling is divided into the following single steps: