introduction to robotics i n cim systems chapter 4 james a. rehg introduction to robotics in cim...

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



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




Figure 4-1Figure 4-1




Figure 4-2 & 4-3Figure 4-2 & 4-3




Figure 4-9 & 10Figure 4-9 & 10




Figure 4-12 & 13Figure 4-12 & 13




Figure 4-16 & 17Figure 4-16 & 17




Figure 4-18 & 19Figure 4-18 & 19




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.




Figure 4-25 & 26Figure 4-25 & 26




Figure 4-27 & 28Figure 4-27 & 28




Figure 4-32, 33 & 34Figure 4-32, 33 & 34


introduction to robotics i n cim systems chapter 4 james a. rehg introduction to robotics in cim...

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acceleration power lossref

partssense presence

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