(BQ) Part 2 book "Robotics - Designing the mechanisms for automated machinery" has contents: Transporting devices, feeding and orientation devices, functional systems and mechanisms, manipulators. | 6 Transporting Devices General Considerations We have already touched on the problem of the general configuration of industrial automatic machines and robot systems. In Chapter 1 it was shown that there exist two main options: the linear approach, schematically presented in Figure , and the circular one as shown in Figures and . Both involve a set of functional mechanisms, tools, manipulators, and a transporting device which conveys the part or product being processed along a straight line or around a circle. In the linear arrangement the tools and manipulators are placed along the conveyor, on one side (Figure )—(this gives easier access to the blanks and instruments), or on both sides of the transporting device (this saves room and allows the whole machine to be smaller). Analogously, in the circular layout the tools are located around the rotating conveying device either on its outside (Figure ) or with some on the inside (Figure ). We also have to distinguish between periodically working transporters and continuous transportation. This chapter deals with some specific designs used for these purposes and their main features and properties. Linear Transportation First, we consider continuous transportation, for instance, as shown in Figure , which represents the layout of a rotary printing machine. This kind of manufacturing process, as was already noted, allows continuous processing through continuous transportation. Typical problems that arise in this kind of automatic machine (among others) are: TEAM LRN 206 Linear Transportation 207 • Maintaining constant tension (in the paper, fabric, wire, threads, etc., that are handled); • Maintaining constant speed of the running material; • Handling the problem of stretching of some materials during their processing (thermal treatment, humidity and drying, plastic deformation, etc.); • Maintaining a constant rate of consumption of the transported material. (This is .
