Get 5 great eBooks on Industrial Robotics such as, How to use Flexible Robot Grippers for your Applications and Welding Robot Comparative. Editorial Reviews. Review. "Industrial Automation and Robotics provides a basic but technical Kindle Store · Kindle eBooks · Engineering & Transportation. Title, Industrial Robotics. Author, Groover. Publisher, McGraw-Hill Education ( India) Pvt Limited. ISBN, , Export Citation, BiBTeX .
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MIKELL P. GROOVER is Professor of Industrial and Manufacturing Systems Engineering at Lehigh University, where he also serves as Director of the. List of ebooks of Robotics. Download free Robotics Ebooks. ROBOTICS - Designing the Industrial Robotics Theory Modelling and Control by Sam Cubero. The purpose of this book is to present an introduction to the multidisciplinary field of automation and robotics for industrial applications. The companion files.
Well, this explains in a nutshell how to control the 2-Finger Adaptive Robot Gripper. If you need more information, you can take a look at the control section of the user manual or, of course, you can contact us at info robotiq. If the size of the object you want to pick up is known, the fingers can be partially closed before the robot has reached the pick-up location. This, in turn, will reduce the time required to pick up the object and therefore the cycle time will be reduced.
As we all know, reducing the cycle time is highly desirable as it allows us to increase the production rate of a robot. In this section, we will present how the cycle time can be reduced by programming the partial opening of the 2-Finger Robot Gripper.
If we consider a pick and place application, the cycle time can be split into two components: the time required by the robot to move during the whole cycle Trobot and the time required by the Gripper to pick up the object and release it the Gripper cycle time, Tgripper.
Let's focus on the Gripper cycle time as the robot component will vary too much depending on the application. The Gripper cycle time can in turn be split into three components: the time required to grip the object Tgrip , the time required to release it Trelease and the idle time, which comprises all the time required for the Gripper to update its status to the master and for the master to send new commands to the Gripper, plus the time lost during the acceleration and deceleration of the fingers Tidle.
The idle time is tricky as it depends on the communication protocol and on the master and will vary slightly from one cycle to the next. Therefore, the Gripper cycle time can be split into a fixed delay Tidle and two delays which vary according to the grip margin Tgrip, Trelease.
The grip margin is the opening of the fingers minus the object size and is required to avoid interference between the Gripper and the object during the approach trajectory. We ran the tests for both gearbox options and of the Gripper, using the full speed setting.
We found that the cycle time varies proportionally to the grip margin, as shown on the graph below: On the graph, it can clearly be seen that minimizing the Grip margin will have an enormous effect on the robot gripper cycle time, and as a consequence on the total cycle time.
The cycle time can more than double if no attention is paid to the partial opening position! For these tests, Tidle was found to be 0. Again, these values will vary depending on the master and the communication protocol of the Gripper.
Tgrip and Trelease can be approximated by dividing the grip margin by the finger speed. How to Choose the Grip Margin?
In the last section, I showed the effect of the grip margin finger opening before the grip minus the object size on the Gripper cycle time. Clearly, this distance has to be minimized in order to get the best production speed out of your robot.
How small of a margin can we use? Well, it depends. On one hand, the Gripper repeatability is good enough to lower the margin to a very small value under 1 mm. However, a small grip margin will require the robot to be very precise in its approach trajectory to avoid hitting the object.
This may require the reduction of the robot speed, which will in turn increase the cycle time. Therefore, a trade-off has to be achieved which will depend on the application robot, object shape variability, object positioning, etc.
Generally, it is better to use a slightly larger grip margin to avoid hitting the object in all possible situations reliability is often more important than cycle time! As a result, the choice of the grip margin is not always easy to optimize. To conclude, lets just say that being able to set the partial opening position is a key feature in the optimization of the cycle time.
This is a clear advantage of servo-electric grippers such as the 2-finger Adaptive Robot Gripper! Here are few types of feedback given by our robot Gripper and how they could be used. This feature has two input parameters: opening limit and closing limit. In order to optimize cycle time, this feature can be set to the object's dimensions through the encoder value, which is ranged from 0 to By doing so, the Gripper will respect these opening and closing limits, thus reducing cycle time by not having to fully open or close.
Speed and force must still be set accordingly to your application. The encoder value can also be used as a qualitative way to measure the same object or to verify whether the Robot Gripper has picked a part in the desired way. Motor Current The motor current can be used to monitor the energy consumed in a complete cycle.
This might be useful for integrators in the design of a robot cell. By knowing the motor current, power supplies and their related protection devices can be appropriately dimensioned.
The motor current value, range is from 0 to , can be used in a qualitative way to know what final force will be applied by the fingers to the object. The 2-Finger Robot Gripper also has an auto-locking mechanism.
This means that the motor doesn't need to apply force continuously on the object to maintain the designated final force. Care must be taken when using the motor current in this way.
Author: Nicolas Mollet Published by: InTech, Read the book to read the works about controlling distant robotics entities i. Author: Hanafiah Yussof Published by: InTech, The book is a great help to those looking for theories and applications related to localization, positioning and map building in mobile robot and autonomous vehicle platforms.
It explains the progress of devices, systems, models and architectures in supporting the navigational behavior of mobile robots.
Covers subjects like sensory perception; Robot localization; Path planning; Obstacle avoidance; and more. This book is a result of inspirations and contributions from many researchers worldwide.
It presents a collection of a wide range of research results in robotics scientific community. Author: Yoshihiko Takahashi Published by: InTech, This book provides new ideas, original results and practical experiences regarding service robotics.
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