Robot Grippers. Gareth J. Monkman, Stefan Hesse, RalfSteinmann, Henrik Schunk. WILEY-VCH Verlag GmbH & Co. KGaA : 2007 ~ ~1807n - >
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1 Gareth J. Monkman, Stefan Hesse, RalfSteinmann, Henrik Schunk Robot Grippers. 8ICENTI<NN'AL " ~1807n : 2007 ~ - > BICI<NTI[NNIAl-c WILEY-VCH Verlag GmbH & Co. KGaA
2 Contents Preface V 1 Introduction to Prehension Technology Grippers for Mechanization and Automation Definitions and Conceptual Basics Grasping in Natural Systems Historical Overview oftechnical Hands 14 2 Automatic Prehension Active Pair MatingPair Mating Strategy and Procedures Prehension Strategy 27 Example ofa prehension strategy Gripping Procedure, Conditions and Force Gripper Flexibility Gripper Classification Requirements and Gripper Characteristics Planning and Selection of Grippers Impactive Mechanical Grippers 75 Gripper DrivesDrives 75 Electromechanical Drives 78 Pneumatic Drives 84 Electrostrictive and Piezoelectric Actuation 92 Design of Impactive Grippers 94 Systematics and Kinematics 94 Parallel Impactive Grippers 101 Angular Impactive Grippers 122 Radial Impactive Grippers (Centring Grippers) 131 Internal Grippers 132 Gripper with Self-blocking Capability 135 Rotatable jaw Grippers 137 Gripper Finger and Jaw Design 138 Rohot Grippers. G.]. Monkman, S. Hesse, R. Steinmann, H. Schunk Copyright 'fj 2007 WILEy-vCl-l Verlag GmbH & Co. KGaA, Weinheim ISBN:
3 VIII I Contents Self Securing Grippers 142 Securing Through Spring Forces 142 Securing Through Object Mass 146 Three-finger Grippers 153 Four-finger Grippers and Four-point Prehension Ingressive Grippers Flexible Materials Pinch Mechanisms Intrusive Mechanisms Non-Intrusive Mechanisms Astrictive Prehension 169 Vacuum Suction 169 Vacuum Production 170 Vacuum Suckers 176 Passive Suction Caps 199 Air Jet Grippers 202 Magnetoadhesion 204 Permanent Magnet Grippers 204 Electromagnetic Grippers 207 Hybrid Electromagnetic Grippers 215 Electroadhesion 216 Electroadhesive Prehension of Electrical Conductors Electroadhesive Prehension of Electrical Insulators Contigutive Prehension Chemoadhesion Thermoadhesion Miniature Grippers and Microgrippers Impactive Microgrippers Electromechanically Driven Impactive Microgrippers Thermally Driven Impactive Microgrippers Electrostatically Driven Impactive Microgrippers Astrictive Microgrippers Vacuum Microgrippers Electroadhesive Microgrippers Contigutive Microgrippers Special Designs Clasping (Embracing) Grippers Anthropomorphic Grippers Jointed finger Grippers Jointless Finger Grippers Dextrous Hands 268
4 Contents IIX 9 Hand Axes and Kinematics Kinematic Necessities and Design Rotary and Pivot Units Separation 291 Separation of Randomly Mixed Materials 291 Separation of Rigid Three Dimensional Objects 292 Separation ofrigid Sheet Materials 292 Gripping ofthin Blanks from a Magazine 292 Air Flow Grippers 295 Separation of Non-Rigid Sheet Materials 298 Roller Grippers 301 Instrumentation and Control Gripper Sensor Technology Perception Types 309 Tactile Sensors 310 Proximity Sensors 313 Measurement sensors 317 Finger Position Measurement 323 Measuring Procedures in the Gripper 324 Sensory Integration 326 Discrete and Continuous Sensing Software and Hardware Interrupts Sensor FusionSensor Fusion 328 Gripper Control Control of Pneumatically Driven Grippers 329 Control of Electrically Driven Grippers 331 Tool Exchange and Reconfigurability 333 Multiple Grippers 333 Double and Multiple Grippers 333 Multiple Gripper Transfer Rails 336 Turrets 338 Specialized Grippers 342 Composite Grippers 342 Reconfigurable Grippers 344 Modular Gripper Systems 345 Gripper Exchange Systems 348 Tool Exchange 348 Task, Functions and Coupling Elements 350 Joining Techniques and Process Media Connection 353 Manual Exchange Systems 354 Automatic Exchange Systems 358 Finger Exchange Systems 362 Integrated Processing 363
5 xi Contents Compliance 367 Remote Centre Compliance (RCC) 368 Instrumented Remote Centre Compliance (IRCC) 372 Near Collet Compliance (NCC) 374 Parts Feeding 375 Mechanical Compliance 377 Pneumatic Compliance 383 Internal Prehension Through Membrane Expansion 384 External Prehension Through Membrane Expansion 387 Shape Adaptive Grippers 391 Partially Ccompliant Shape Adaptive Grippers 391 Totally Compliant Shape Adaptive Grippers 393 Collision Protection and Safety 396 Safety Requirements 396 Collision Protection Systems 396 Failure Safety 397 Selected Case Studies 401 Simple Telemanipulation 401 Grippers for Sheet and Plate Components 405 Impactive Grippers for Sheet Metal Handling 406 Astrictive Grippers for Sheet Metal 409 Astrictive Grippers for Glass Sheet 412 Astrictive Grippers for Composite Material Handling 412 Prehension of Cuboid Objects 413 Prehension of Cylindrical Objects 417 Serial Prehension oftubes 418 Prehension ofwound Coils 419 Prehension of Slit Coils 420 Prehension of Objects with Irregular Topology 420 Handling of Castings 420 Mounting of Dashboards for Automobiles 421 Prehension ofwater Pumps 422 Astrictive Prehension of Irregular Surfaces 422 Multiple Object Prehension 423 Packaging of Candies 424 Bottle Palletization 425 Multiple Irregular Shaped Objects 425 Prehension offlexible Objects 426 Bag and Sack Grippers 426 Gripping and Mounting ofoutside O-rings 428 Medical Applications 430 References 433 Subject Index 443
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