This book addresses the complex issues of Gripping Systems with brief references to the natural ones and with detailed presentation of specific issues that characterize the artificial Gripping systems, considered mechatronic systems.
Conclusions..
Principles of optimum Gripping system design, comparison and location; 14.
Gripped pieces characteristics, pieces delivery and taking over; 13.
Artificial Gripping Systems control; 12.
Transducers and sensors specific to artificial Gripping systems; 11.
Artificial Gripping Systems drive; 10.
Special artificial Gripping systems; 9.
Artificial magnetic Gripping systems; 8.
Artificial vacuum Gripping systems; 7.
Artificial mechanical Gripping systems; 6.
Artificial Gripping systems; 5.
Natural Gripping systems; 4.
Gripping and the Gripping system; 3.
Preliminary considerations; 2.
The paper is structured in the following chapters: 1.
Some of these contributions resulted in patents.
In general, terms, the book is the result of the author`s personal contributions to the field of Gripping systems.
The book is illustrated in a rich and suggestive manner, it contains computing links and useful elements for Gripping Systems design and it is intended for robotics experts, with concerns in the design and use of industrial robots or other types of robots, experts in the field of human hand prostheses, and students in Robotics, Precision Mechanics, Applied Electronics, Medical Engineering and obviously Mechatronics.
At the end of the paper, general considerations on the prospects of the improvement and the use of the Gripping Systems are laid out.
Design principles are laid out, as well as the principles of comparing and choosing the optimum Gripping system, describing some methods of design and the presentation of some specific calculations apart from the use of modern CAD software.
The characteristics of pieces to grasp are described from the point of view of their influence on the constructive peculiarities of grippers and references are made to facilities for delivery and taking over pieces in connection with initial and final position of the pieces to grasp.
For the control of Gripping artificial systems, the main functions of command and solutions considered most appropriate are described.
Out of the engines for operation on artificial Gripping Systems are described the main usable types accompanied by conclusive examples of use.
For vacuum Gripping systems, magnetic Gripping Systems and some special Gripping systems, essential constructive and functional features are shown, based on suggestive examples.
In the same context, the main aspects of compliance and micromanipulation are presented from the robotic assembly perspective.
In connection with mechanical grippers an original method of creative structural synthesis is presented, for mechanical grippers with jaws that can be applied to the other categories of mechanical grippers, with some customizations.
Besides, a snapshot of virtual grasp and tentacular mechanical Gripping Systems can be added.
Furthermore, the main features of artificial Gripping mechanical Systems are highlighted, with emphasis on the kinematic and static structural synthesis and the analysis of mechanical Gripping Systems with jaws, as well as the constructive and functional peculiarities of mechanical anthropomorphic Gripping systems: prostheses for human hand and anthropomorphic grippers for robots.
After a sufficiently detailed mathematical modeling of mechanical contacts, static and dynamic mechanical conditions for grasp are stated.
Artificial Gripping Systems include Gripping Systems manufactured by humans for human hand prostheses or for robots.
After some general definitions of grasp and the Gripping system, the main structural and functional aspects of the human hand are revealed, as the most advanced Gripping system.
This book addresses the complex issues of Gripping Systems with brief references to the natural ones and with detailed presentation of specific issues that characterize the artificial Gripping systems, considered mechatronic systems
