Tham khảo tài liệu 'grippers in motion - the fascination of automated handling tasks - wolf part 5', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | a cube no symmetrical axis order status options for workpieces workpiece orientation workpiece status matrix-held 1. bulk goods 2. plane 3. linear 4. rotate around V 5. rotate around w 6. isolated 7. rotate around u b disk rotary symmetry around w workpiece status 1. bulk goods 2. fplane at parallel rotation around u or V for preferred orientation 3. linear 4. isolated 3d Table Effect of workpiece symmetries on the order status matrix-held According to workpiece geometry an order status is more or less difficult to establish or to maintain. Table shows the differences between cube and disk forms. An order status 3 1 for disk forms already describes the position of the workpiece in full because of its rotary symmetry around the w axis. Generally it must be observed in how far workpiece symmetry is dependent on more than its geometry. If workpieces differ in surface features as a result of changing their position they are to be treated like assymetrical parts. 82 An example of this includes coins which are put into a collector s booklet. The size of the coin is just as important as the difference between front averse and back reverse of the coin. The coins not only need to be inserted front-up but aligned accordingly to achieve a representative look as explained in the picture. For each task or handling situation it is important to describe the order status of the workpiece before and after handling. From this description we can see how many axes or degrees of freedom the handling unit must provide in order to completely solve the task. The unlimited variety of workpiece features demands high gripping flexibility. The number of workpiece features a gripper copes with corresponds to the number and type of force induction options. The more options to apply force onto a workpiece a gripper offers the more workpiece geometries can be gripped. The operating elements or gripper fingers of a gripper can be designed or adapted
