1. Introduction to Robotics i n CIM Systems Chapter 4 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

2. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Good Tooling Design Important Characteristics Important Characteristics Capable 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 payload Weight minimized to maximize payload Maintain control of part(s) under acceleration & power loss Maintain control of part(s) under acceleration & power loss Ref Ch. 4-1 in book

3. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Standard Grippers Variations Type of motion Type of motion Actuation method Actuation method Normally open (NO) or closed (NC) Normally open (NO) or closed (NC) Surface Gripped Surface Gripped # of fingers # of fingers Ref Ch. 4-2 in book

4. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 4-1 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

5. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 4-2 & 4-3 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

6. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 4-4 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

7. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 4-5 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

8. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 4-6 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

9. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 4-7 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

10. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 4-8 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

11. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 4-9 & 10 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

12. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 4-11 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

13. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 4-12 & 13 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

14. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 4-14 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

15. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 4-16 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

16. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 4-16 & 17 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

17. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 4-18 & 19 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

18. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 4-20 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

19. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 4-21 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

20. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 4-22 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

21. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Special Purpose Tools Definition Devices designed or modified to fit on the end of a manipulator. Devices designed or modified to fit on the end of a manipulator. Criteria for use Consider for dirty, dangerous or dull jobs. Consider for dirty, dangerous or dull jobs. Ref Ch. 4-8 in book

22. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 4-23 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

23. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 4-24 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

24. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 4-25 & 26 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

25. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 4-27 & 28 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

26. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 4-29 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

27. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 4-30 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

28. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 4-31 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

29. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 4-32, 33 & 34 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

30. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 4-35 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

31. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Assignments Chapter 4 Chapter 4 Review Chapter Examples Review Chapter Examples Homework: Homework: Questions: TBA Questions: TBA Problems: N/A Problems: N/A Projects: N/A Projects: N/A

32. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Lab Wk4 MecLab: MecLab: Read materials as noted in Moodle in preperation for Week 7 Lab. A Quiz will be given at the beginning of Week 7 class! Read materials as noted in Moodle in preperation for Week 7 Lab. A Quiz will be given at the beginning of Week 7 class! Goals: Goals: Gain basic understanding of station operation. Gain basic understanding of station operation. Identify system & station components. Identify system & station components. Understand function of components within system. Understand function of components within system.