Tải bản đầy đủ (.pdf) (20 trang)

Grippers in Motion - the Fascination of Automated Handling Tasks - Wolf Part 1 ppt

Bạn đang xem bản rút gọn của tài liệu. Xem và tải ngay bản đầy đủ của tài liệu tại đây (276.75 KB, 20 trang )

/iÊ>ÃV>ÌÊvÊ
ÕÌ>Ìi`Ê>`}Ê/>ÃÃ
À««iÀÃÊÊÌ
`Ài>ÃÊ7vÊ ,>vÊ-Ìi>Ê iÀÊ-VÕ
`Ài>ÃÊ7vÊ ,>vÊ-Ìi>Ê iÀÊ-VÕ
/iÊ>ÃV>ÌÊvÊ
ÕÌ>Ìi`Ê>`}Ê/>ÃÃ
À««iÀÃÊÊÌ


,IBRARYOF#ONGRESS#ONTROL.UMBER
)3".
4HISWORKISSUBJECTTOCOPYRIGHT!LLRIGHTSARERESERVEDWHETHERTHEWHOLEORPART
OFTHEMATERIALISCONCERNEDSPECIlCALLYTHERIGHTSOFTRANSLATIONREPRINTINGREUSEOF
ILLUSTRATIONSRECITATIONBROADCASTINGREPRODUCTIONONMICROlLMORINANYOTHERWAY
ANDSTORAGEINDATABANKS$UPLICATIONOFTHISPUBLICATIONORPARTSTHEREOFISPERMIT
TEDONLYUNDERTHEPROVISIONSOFTHE'ERMAN#OPYRIGHT,AWOF3EPTEMBERIN
ITSCURRENTVERSIONANDPERMISSIONFORUSEMUSTALWAYSBEOBTAINEDFROM3PRINGER
6IOLATIONSARELIABLEFORPROSECUTIONUNDERTHE'ERMAN#OPYRIGHT,AW
3PRINGERISAPARTOF3PRINGER3CIENCE"USINESS-EDIA
SPRINGERONLINECOM
¥3PRINGER6ERLAG"ERLIN(EIDELBERG
0RINTEDIN)TALY
4HEUSEOFGENERALDESCRIPTIVENAMESREGISTEREDNAMESTRADEMARKSETCINTHIS
PUBLICATIONDOESNOTIMPLYEVENINTHEABSENCEOFASPECIlCSTATEMENTTHATSUCH
NAMESAREEXEMPTFROMTHERELEVANTPROTECTIVELAWSANDREGULATIONSANDTHEREFORE
FREEFORGENERALUSE
#OVERDESIGNREFORMDESIGN3TUTTGART
4YPESETTINGBYTHEAUTHOR
0RINTEDONACIDFREEPAPERn
2ALF3TEINMANN


3CHUNK'MB(#O+'
3PANNUND'REIFTECHNIK
"AHNHOFSSTRAE
,AUFFEN.ECKAR
'ERMANY
(ENRIK3CHUNK
3CHUNK)NC
+ITTY(AWK$RIVE
-ORRISVILLE.#
53!
$R!NDREAS7OLF
ROBOMOTION'MB(
)NDUSTRIESTRAE
3TUTTGART
'ERMANY
ÀiÜÀ`Ê
ÀiÜÀ`
ÀiÜÀ`ÊLÞÊ*Àv°ÊÃi«Ê°Ê}iLiÀ}iÀÊ
ÊiÀV>ÊÞÕÊV>ÊvÌiÊi>ÀÊvÊ«i«iÊÜʺViÊÌÊ}À«Ã»ÊÜÌÊ
>Ê«ÀLi°Ê/>ÌÊÃ]ÊÌiÞÊ>ÀiʺÌ>}Ê`»ÊvÊÌiÊÃÌÕ>Ì°
`]ÊÌÊÃʺ}À««}»ÊÜVÊÃÊÃÊVÀÌV>ÊÌÊÞÊ`ÃV«i]ÊÀLÌVð
*Ài«À}À>i`Ê>ÕÌ>ÌÃÊ>ÛiÊLiiÊ>ÀÕ`ÊÃViÊÌiÊvÕÀ
ÌiiÌÊViÌÕÀÞ°Ê/iÞÊ>ÀiÊViÛiÀÊ>`ÊiÌiÀÌ>}]ÊLÕÌÊÌiÞÊV>
ÌÊÌiÀ>VÌÊÜÌÊÌiÊÜÀ>`>ÞÊÜÀ`°ÊÀÊiÝ>«i]Ê>ÌÊÌiÊ£ÎnÊ
iÜÊ9ÀÊ7À`¼ÃÊ>ÀÊiÊvÊÌiÊ>ÕÌ>ÌÊÌÃÊÜ>ÃʺiVÌÀ»Ê
>`ÊÃÊ`}]ʺ-«>ÀÞ»°ÊiVÌÀÊÃÌÕLi`Ê>ÀÕ`]ÊÜ>Ûi`ÊÃÊ>ÀÃÊ
>`ÊÀi«i>Ìi`ÊÀiVÀ`i`ÊiÃÃ>}iÃÊÜiÊ-«>ÀÞÊ««i`Ê>ÀÕ`Ê>`Ê
L>Ài`°
ÌiÊÌ>ÌÊiÌiÀÊÌiÀ>VÌi`ÊÜÌÊÌiÊÀi>ÊÜÀ`°Ê/>ÌÊÀi>i`ÊvÀÊ
«ÃÌÊ7À`Ê7>ÀÊÊÌiV}ÞÊ>`ÊÌiÊ>`ÛiÌÊvÊÌiÊ`ÕÃÌÀ>ÊÀLÌ°

/iÊ«ÌÊvÊÌiÊÀLÌÊÜ>ÃÊÌ>ÌÊ>ÊÕÌ>ÝÃÊ>«Õ>ÌÀÊVÕ`ÊLiÊ
«À}À>i`ÊÌÊ`Ê>ÊÛ>ÀiÌÞÊvÊ>Õv>VÌÕÀ}ÊÌ>Ãð
9iÃ]ÊÌiÊÀLÌÊ>À¼ÃÊVÌiÀÊVÕ`ÊiÀâiÊ>ÊÕLiÀÊvÊÊ
V«iÝÊ>«Õ>ÌðÊ-Ì]ÊÌÊ>`ÊÌÊ}À>ëÊÜÀÊ«iViÃ]ÊÌÊÕÃÌÊ
Ü>ÛiÊÌÃÊ>À°
ÌiÀÊÌiÊi`ÊivviVÌÀtÊ`]ÊiÌiÀÊÀ««iÀÃÊÊÌ°Ê/ÃÊLÊ
ÃÊ>}wViÌÞÊÕÃÌÀ>Ìi`°Ê/iÀiÊÞÕÊw`Ê}À««iÀÃÊÌ>ÌÊV>ÊV«iÊ
ÜÌÊ>ÊÀ>}iÊvÊÜÀÊ«iViÃ]ÊÃ>ÞÊÊ>Ê>ÃÃiLÞÊÌ>Ã°Ê/iÀiÊÃÊiÛiÊ
ÀiV}ÌÊvÊÌiÊÕ>Ê>`Ê>ÃÊ>ÊÕÌ>ÌiÊÃÌ>`>À`°ÊÕÌ«iÊ
w}iÀi`Êi`ivviVÌÀÃÊÜÌÊÌ>VÌiÊÃiÃ}ÊV>ÊVÕV>ÌiÊÜÌÊÊ
>ÊÀL̼ÃÊVÌiÀÊÌÊ>`iÊ`ÃÀiÌi`ÊÜÀÊ«iVið
ÊÊ>Ê>Ê>ÕÌ>ÌÊ`iÃ}iÀÊÃÊ«ÀL>LÞÊ}}ÊÌÊw`Ê«ÀiVÃiÞÊ
ÌiÊ}À««iÀÊÌÊiiÌÊÃÊ«À«Ãi`Ê>««V>Ì°Ê-Õ`ÊiÊÌÊ>ÌÊi>ÃÌÊ
LiÊëÀi`ÊLÞÊÌiÊÃi>ÀVÊÌÀÕ}ÊÀ««iÀÃÊÊÌ]ÊÌiÊiÊÃÊ
À>ÌiÀÊ>Ê`ÕÊi}iiÀ°Ê
Ãi«Ê}iLiÀ}iÀÊ
iÜÌÜÊiVÌVÕÌ]Ê1-]ÊÊ>Õ>ÀÞÊÓääx
ÀiÜÀ`Ê Ê
ÀiÜÀ`ÊLÞÊiâiÌiÀÊ-VÕÊ
ÌÊÃÊv>ÃV>Ì}ÊÜÊi>ÃÞÊ>`ÊÃiÃÌÛiÞÊÌiÊÕ>Ê>`Ê>ÃÊÌiÊ
ºÌÊvÊÌûÊÀÃÌÌi®ÊÛÀÌÕ>ÞÊ}iÌÃÊÌÊ}À«ÃÊÜÌÊÌÃÊiÛÀiÌÊ
>ÃÊÌiʺiÝÌiÃÊvÊÌiÊÕ>ÊLÀ>»Ê>Ì®°Ê
ÊÌiÊ£xÌÊViÌÕÀÞÊiÌâÊÛÊiÀV}i]ÊÌiʺ}ÌÊÜÌÊÌiÊ
ÀÊ>`»]ÊÃÌÀÕVÌi`ÊVÀi>ÌÛiÊVÀ>vÌÃiÊÌÊÌi}À>ÌiÊÌiÊV
«V>Ìi`ÊÌiVµÕiÊvÊw}iÀÊÛiiÌÃÊLÞÊÛiÌ}Ê>ÊV>LiÊ«ÕÊ
iV>Ã°ÊiëÌiÊÌiÃiÊi>ÀÞÊivvÀÌÃÊÌiÊÜÀ`Ü`iÊ`iÛi«
iÌÊvÊ}À««iÀÃÊ>ÃÊ>Ê`ÊvÊ>ÀÌwV>ÊÀÊ`ÕÃÌÀ>Ê>`ÊÜÊ«ÀL
>LÞÊiÛiÀÊLiÊ>LiÊÌÊÀi>VÊÌiÊ«iÀviVÌÊ>`ÊÛiÀ>ÊvÕVÌ>ÌÞÊ
vÊÌiʺÕ>Ê>`»°Ê
/iÊ>ÌÌiÀÊÀi>ÃÊÌiÊ«iÀviVÌÊ`iÊvÀÊ>ÊÌiV}ÞÊÜVÊ>ÃÊ>Ê

i`ivviVÌÀÊÊ>ÕÌ>ÌÊÌ`>ÞÊÃÊÃÌÊ>ÊVÃÌ>ÌÊV>i}iÊÊ
ÌÊi}iiÀ}°ÊÊÌiÀÊi>ÀÞÊÃÌ>}iÃ]Ê}À««iÀÃÊ>`ÊÌÊLiÊ>`>«Ìi`ÊÌÊ
ÀLÌÊV>«>VÌiÃÊÊÌiÀÃÊvÊ«ÌÕÊÜi}ÌÊÜiÊÜÊÜiÊ>ÀiÊÊ
>ÌÊ>Ê«ÌÊÜiÀiÊÃÌ>`>À`âi`ÊV«iÌÃÊ>ÀiÊÃiÌÊÊÌÊ>ÃÊÊ
Ài>Liʺ>`ûÊÊ>ÕÌ>Ìi`Ê«À`ÕVÌ°
/`>Þ¼ÃÊ}À««iÀÃÊ>ÛiÊ`iÛi«i`Ê>ÊÃiÃiÊvÊÌÕVÊÜÌÊÌiÊi«Ê
vÊÃiÃÀÊÌiV}ÞÊ>`Ê>ÀiÊiÛiÊ>LiÊÌÊÃiiÊÜÌÊÌiÊÃÕ««ÀÌÊ
vÊ>}iÊ«ÀViÃÃ}ÊÃÞÃÌiðÊ/iÊ`ÕÃÌÀ>Ê>`ÊÌ}iÌiÀÊÜÌÊ
Ài>Ìi`ÊÌiV}V>Ê`iÛi«iÌÃÊÃÊ}À>`Õ>ÞÊÊÌiÊÛiÊ
ÌÜ>À`ÃÊV«Þ}ÊÌiÊ«iÀviVÌÞÊÕÌvÕVÌ>ÊÕ>Ê`i°Ê
/iÊ«ÕLV>ÌʺÀ««iÀÃÊÊÌ»ÊV>ÊÞÊLiÊ>ÊÃ>«ÃÌÊvÊ
ÃÌ>ÌivÌi>ÀÌÊÌiV}ÞÊ>`ÊÕÃÌÀ>ÌiÃÊÌiÊ`iÛi«iÌÊvÊ
}À««}ÊÌiV}ÞÊÌÊÌiÊÌiÀiÃÌi`ÊÀi>`iÀ°ÊÌÊÌiÊÃ>iÊÌi]Ê
ÌÊÃÜÃÊÜÊ}Ài>ÌÊÌiÊÛ>ÀiÌÞÊ>`Ê««ÀÌÕÌiÃÊvÊ}À««iÀÊÊ
>««V>ÌÃÊ>ÀiÊÌ`>Þ°
ÊÜÕ`ÊiÊÌÊiÝÌi`ÊÞÊÌ>ÃÊÌÊ>ÊÜÊ>ÛiÊVÌÀLÕÌi`ÊÌÊÊ
ÌÃÊLÊ>`ÊÜÃÊÌiÊÀi>`iÀÊ>ÞÊÌiÀiÃÌ}ÊVÌ>ÌðÊ
iâiÌiÀÊ-VÕÊ
>ÕvviÊ>Ê iV>À]ÊiÀ>Þ]ÊÊ>ÞÊÓää{
ÀiÜÀ`Ê Ê
*Àiv>Vi
>ÃV>Ì}Ê>ÕÌ>ÌÊÌiV}ÞÊÜ>ÃÊÌiÊÌÛ>ÌÊvÀÊÜÀÌ}Ê
ÌÃÊL°ÊÛiÀÞÊ`>ÞÊÜiÊ>ÀiÊv>Vi`ÊÜÌÊiÜÊ`iÛi«iÌÃÊÊ
>ÕÌ>ÌÊ>`Ê}Ài>ÌÊ««ÀÌÕÌiÃÊvÀÊÌÃÊ>««V>ÌðÊÌi}iÌÊ
}À««}ÊÃÞÃÌiÃÊ>`ÊÃiÀÛViÊÀLÌÃÊ>ÀiÊÌiÊi>ÀÞÊÃ}ÃÊvÊ>ÊiÜ]Ê
ÀiÊyiÝLiÊ>ÕÌ>ÌÊÌiV}Þ]ÊÜVÊÃÊV>«>LiÊÌÊ>ÕÌ
>`>«ÌÊÌÊV>}}ÊiÛÀiÌðÊ/ÃÊ«ÕLV>ÌÊ>ÃÊÌÊ>ÜÊ>Ê
VÃiÊÊ>ÌÊÌiÊ>LiÌÊV`ÌÃÊÕ`iÀÊÜVÊÌÃÊÌiV}ÞÊ
ÃÊÕÃi`°Ê/iÊ}Ài>ÌÊÛ>ÀiÌÞÊvÊ}À««iÀÃÊ>`ÊÀLÌÊV«iÌÃÊ>LÕÌÊ
ÎäÊÞi>ÀÃÊ>vÌiÀÊÌiÊwÀÃÌÊ`ÕÃÌÀ>Ê>««V>ÌÃÊëi>ÃÊvÀÊÌÃiv°Ê

««V>ÌÃÊÊÌiÊ«>À>ViÕÌV>]Êv`Ê«ÀViÃÃ}Ê`ÕÃÌÀÞ]Ê>`ÊÊ
>}ÀVÕÌÕÀ>Ê«À`ÕVÌ]Ê>ÀiÊÌÊÞiÌÊÃÌ>`>À`ÊLÕÌÊ`ÊvviÀÊ>Ê}ÀÜ}Ê
>ÀiÌÊvÀÊ>ÕÌ>Ìi`ÊÃÕÌÃÊÊÌiÊi>ÀÊvÕÌÕÀi°
/ÃÊ«ÕLV>ÌÊV>ÊÞÊVÛiÀÊ>ÊÃiVÌÊvÊÜÀ`Ü`iÊ}À««iÀÊ>`Ê
ÀLÌÊÌiV}Þ°Ê7ÌÊÕÃÌÀ>Ì}Ê}À>«VÃÊ>`ÊÌ>LiÃÊiÝ«>}Ê
ÌiÊ`iÌ>ÃÊÜiÊÌi`ÊÌÊV>ÌVÊÌiÊÀi>`iÀÃÊÌiÀiÃÌ°ÊÕÀÌiÀÊÌiÀ>

ÌÕÀiÊ>`ÊÀiviÀiViÃÊÌÊÌÊ>ÀiÊVÕ`i`ÊvÀÊÀiÊ`iÌ>i`ÊvÀ>Ì°Ê
/iÊ>Ài>ÊvÊVyVÌÊLiÌÜiiÊÌiÊÛiiÌÃÊvÊ}À««iÀÃÊ>`ÊÌÃiÊ
vÊÌiÊÕ>Ê>ÀÊÃÊÕÃi`ÊÊÀ`iÀÊÌÊiÝ«>ÊÌiÊÃÕLiVÌÊÌÊÌiÊ
Ài>`iÀÊÜÌÊÌiÊi«ÊvÊ>>}ÊiÝ>«iÃÊvÀÊ`>ÞÊvi°ÊÌÊÌiÊÃ>iÊ
Ìi]ÊÌiÊV«iÝÌÞÊvÊÃÕ««Ãi`ÞÊÃ«iÊ>`}Ê«ÀViÃÃiÃÊÃÊ
Vi>ÀÞÊ`iÃÌÀ>Ìi`]ÊvVÕÃ}ÊÊÃÌÀÕVÌÕÀ}ÊÌiÊvi>ÌÕÀiÃÊvÊÌiÊ
}À««}Ê>`ÊÌiÊÛ}ÊÌ>Ã°Ê/ÃÊÃÌÀÕVÌÕÀiÊÃÊÃÕ««ÀÌi`ÊLÞÊ`i
}À>ÃÊÊi>VÊ«>}iÊvÀÊi>ÃÞÊ}Õ`>Vi°
7iÊÜÕ`ÊiÊÌÊÌ>Ê>ÊÜÊVÌÀLÕÌi`ÊÌÊÌÃÊ«ÕLV>Ì°Ê"ÕÀÊ
ÛiÀÞÊëiV>ÊÌ>ÃÊ}ÊÌÊÀ°ÊiâiÌiÀÊ-VÕÊvÀÊiVÕÀ>}}Ê
ÕÃÊÌÊÜÀÌiÊÌÃÊL°Ê7iÊ>ÀiÊÛiÀÞÊ}À>ÌivÕÊÌÊÀ°Ê,VÊ>`Ê
À°ÊÌ>]ÊÜÊÜiÀiÊvÊ}Ài>ÌÊi«Ê`iëÌiÊÌiÀÊÌ}ÌÊÃVi`ÕiðÊ
7iÊÌ>ÊÀ°ÊØiÀÊvÀÊ«ÀÛ`}Ê>`Ê}iiÀ>Ì}Ê}À>«VÊ>ÌiÀ>°Ê
*Àv°ÊÀ°}°Ê,vÊiÌiÀÊ-VÀ>vÌÊÃÕ««ÀÌi`ÊÕÃÊÌ}iÌiÀÊÜÌÊÌiÊ
À>ÕviÀÊ*ÊLÀ>ÀÞ°
Ê
ÀÊÌiÊ}ÃÊÌÀ>Ã>ÌÊÀðÊ/>>Ê-VVÊÌÊV>ÀiÊÌ}iÌiÀÊ
ÜÌÊÀðÊ>ÌiÀiÊ>ÞiÀÊ>`ÊÀ°ÊÌÊÕiÀÀÞÊvÀÊÌiÊ-1 Ê
ÌiVÊ1-°ÊÕÀÌiÀÀiÊÜiÊÜ>ÌÊÌÊÌ>ÊiÛiÀÞL`ÞÊÜÊ}>ÛiÊÃÊ
«ÕÌÊÌÊÌiÊVÀÀiVÌÊÜÀÊiëiV>ÞÊÜiÊÜ>ÌÊÌÊ>iÊ
À°ÊÀ>Ê>ÃiÀÊvÀÊ-1 °
6iÀÞÊëiV>ÊÌ>ÃÊ}ÊÌÊÀ°Ê-ÌivviÊ>ÞiÀÊ>`ÊÀ°Ê>Ê`iÀÊ
vÊÀLÌÊL]Ê>`ÊÕÀÊv>iÃÊÜÊVÀi>Ìi`ÊÌiÊë>ViÊvÀÊ

ÌÃÊ«ÀiVÌ]ÊÜVÊÌiÀÜÃiÊÜÕ`ÊÌÊ>ÛiÊLiiÊV«iÌi`ÊÊ
`ÕiÊVÕÀÃi°Ê>ÃÌÊLÕÌÊÌÊi>ÃÌÊÜiÊÌ>ÊÌiÊÜiÊÌi>ÊvʺÀivÀÊ
`iÃ}Ê-ÌÕÌÌ}>ÀÌÊL,»]ÊiëiV>ÞÊðÊÀÃÌ>iÊ-VÕâÊ>ÃÊ«ÀiVÌÊ
i>`iÀÊ>`ÊÀ°ÊÀÃÌ>ÊiiÀ]ÊÜÊLÌÊ>ÛiÊLiiÊÀiëÃLiÊ
vÀÊ>ÊÀ>ViÊÊÌiÊ>ÃÌÊviÜÊÜiiÃÊvÊÌiÊ«ÀiVÌ°
ÀÊ>ÊÌÃÊÜÀÊÜiÊ>ÀiÊÛiÀÞÊ}À>ÌivÕÊ>`Ê«iÊÌ>ÌÊÕÀÊiÌÕÃ>ÃÊ
vÀÊ}À««iÀÃÊÜÊÌ>iÊ>ÃÊÃÌÀ}Ê>Ê}À«ÊÊÌiÊÀi>`iÀðÊ
ÀÊ>ÞÊÃÕ}}iÃÌÃÊÀÊ«ÀÛiiÌÃÊ«i>ÃiÊi>ÊÕÃÊÌÊÌiÊ
vÜ}Ê>``ÀiÃÃ\
Ê LJÀLÌ°`i
/iÊ>LÛiÊ>``ÀiÃÃÊ>ÞÊ>ÃÊLiÊÕÃi`ÊvÀÊViVÌ}ÊvÕÀÌiÀÊ>««V>
ÌðÊ7iÊÜÕ`ÊiÊÕÀÊLÊÌÊ}iiÀ>ÌiÊiÜÊ`i>ÃÊvÀÊ>`}Ê
ÌiV}Þ°
À°Ê`Ài>ÃÊ7v]Ê,>vÊ-Ìi>Ê>`ÊiÀÊ-VÕÊ
-ÌÕÌÌ}>ÀÌ]ÊiÀ>Þ]ÊÊ>ÀVÊÓääx
>ÌÃ>}>LiÊ
/>LiÊvÊÌiÌÃÊ
/>LiÊvÊÌiÌÃ
£Ê >`}\Ê/iÊ1`iÀÀ>Ìi`Ê*ÀViÃÃÊ £È
£°£Ê /iÊ>`}Ê*ÀViÃÃÊÊ°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°Ó£
£°ÓÊ >`}Ê/iÀ}ÞÊ°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°Ó{
£°ÎÊ 7>ÌÊÀiÊ/iÊ>Ê*ÌÃÊvÊ/ÃÊ¶Ê°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°Îä
ÓÊ ÛÕÌÊÀÊ,iÛÕÌ¶Ê Î{
Ó°£Ê >}iÃÊÊÌiÊi`ÊvÊÕÌ>ÌÊ°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°Îx
Ó°ÓÊ iÛi«iÌ>Ê-Ì>}iÃÊvÊÀ««iÀÃÊ°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°În
Ó°ÎÊ ,LÌÊÃÌÀÞÊ°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°{x
Ó°{Ê ,LÌÊ-Ì>ÌÃÌVÃÊ°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°Èä
ÎÊ iÌÌ}Ê/ÊÀ«ÃÊ7ÌÊ>`}Ê/>ÃÃÊ Çä
ΰ£Ê /iÊ7À«iViÊÃÊÌiÊ-Ì>ÀÌ}Ê*ÌÊ°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°Ç{
ΰÓÊ À««iÀÊ}iÀÃÊÃÊ"«iÀ>Ì}ÊiiÌÃÊÊ°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°n{

ΰÎÊ -iVÕÀ}Ê/iÊ7À«iViÊ°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°£ä
ΰ{Ê À««}Ê-ÌÕ>ÌÃÊÊ°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°£Î{
ΰxÊ ->viÊÀ««}Ê°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°£xÓ
ΰÈÊ À««iÀÃÊÃÊÊ-ÕÀViÊvÊvÀ>ÌÊ°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°£xn
{Ê ÛiiÌÊ``ÃÊ6>ÕiÊ £Çä
{°£Ê iÌVÊvviVÌÃÊÊ7À«iViÃÊÊ°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°£ÇÓ
{°ÓÊ ,i>â>ÌÊvÊiÌVÊ*ÀViÃÃiÃÊ°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°£n
xÊ *À>VÌV>Ê««V>ÌÃÊ ÓÓ{
ÈÊ ÌiÀ>ÌÕÀiÊ Ó{È
£
*ÀViÃÃÊiÃVÀ«Ì
/iÀ}Þ
ivÌÊvÊ-ÕLiVÌ
>`}\Ê/iÊ1`iÀÀ>Ìi`Ê*ÀViÃÃ
£
£Ê >`}\Ê/iÊ1`iÀÀ>Ìi`Ê*ÀViÃÃ
£°£Ê /iÊ>`}Ê*ÀViÃÃÊÊ°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°° Ó£
£°ÓÊ >`}Ê/iÀ}ÞÊ°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°°° Ó{
£°ÎÊ 7>ÌÊÀiÊ/iÊ>Ê*ÌÃÊvÊ/ÃÊ¶Ê°°°°°°°°°°°°°°°°°°°°°°°°°°°° Îä
£Ê >`}\Ê/iÊ1`iÀÀ>Ìi`Ê*ÀViÃÃ
Õ>ÊLi}ÃÊV>Ê>À`ÞÊLiÊ>}i`ÊÜÌÕÌÊ}À««}ÊÀÊÛ}Ê
Ì}ÃÊÊÌiÀÊiÛÀiÌ°ÊÞÊ>`}ÊLiVÌÃÊÜiÊi>ÀÊ>LÕÌÊÊ
ÕÀÊÜÀ`Ê>`ÊÕ`}iÊÌiÊLiVÌÃÊLÞÊÌiÀÊÛÕiÊ>`ÊÜi}Ì°Ê
ÕÀ}Ê>ÊviÌiÊÌÃÊiÝ«iÀiViÊi>`ÃÊÌÊÀiÊ>`ÊÀiÊÀiwi`Ê
>`ÊivwViÌÊ>`}°ÊiÌ`ÃÊvÊ}À««}Ê>`ÊÛ}Ê>ÛiÊ
VÌÕÕÃÞÊ«ÀÛi`Ê>`ÊViÊÃÊ>ÌÕÀ>ÊÌÊÕÃÊÌ>ÌÊÜiÊÌ>iÊ
>`}ÊvÀÊ}À>Ìi`°
ÃÌÊ«i«iÊ>ÛiÊLiiÊ>LiÊÌÊ}>ÊÛ>ÃÌÊ«À>VÌV>ÊiÝ«iÀiViÊ>`Ê
>ÀiÊÜiÊÛiÀÃi`ÊÊ}À««}Ê>`ÊÛ}ÊLiVÌðÊ-«iV>ÊÃÃÊvÀÊ
«>ÀÌVÕ>ÀÊÛiiÌÃÊV>ÊLiÊÌÀ>i`Ê>`Ê«Ìâi`°Ê*ÀviÃÃ>Ê

º>Õ>ÊÜÀiÀûÊ>ÀiÊÕÃÕ>ÞÊÀiµÕÀi`ÊÌÊ>ÛiÊÃÕVÊëiV>ÊÃÃÊ
`ÃÌ}ÕÃ}ÊÌiÊvÀÊÕÌÀ>i`Ê>>ÌiÕÀÃÊLÞÊ}Ê«ÀiVÃ]Ê
v>ÃÌÊ«ÀViÃÃ}Ê>`Ê}`ÊVÀ`>Ì°ÊÊÌÃÊÀiëiVÌÊÌiÊ>`}Ê
«ÀViÃÃÊÊViVÌÊÜÌÊÌiÊ>««À«À>ÌiÊÌÃÊV>ÊLiÊVÃ`iÀi`Ê
>Ê>ÀÌ°Ê/iÊ«ÀViÃÃÊvÊÕ>ÊLi}ÃÊ`iÛi«}Ê}ÀÃÃÊ>`ÊwiÊ
ÌÀÊÃÃÊÃÊÃÌÊiÛ`iÌÊÊV`Ài°ÊÝÌÀiiÊLÃÌÃÊvÊiÌVÊ
>LÌÞÊV>ÊLiÊi>ÃÕÀi`ÊÊÌiÀÃÊvʵÕ>ÌÞÊ>ÃÊÜiÊ>ÃÊÊÌiÀÃÊÊ
vʵÕ>ÌÌÞ°
ÕÀ}ÊÌiÊwÀÃÌÊÌÃÊÕ«ÊÌÊÌiÊ>}iÊvÊvÕÀÊ>Ê}Ài>ÌÊÛ>ÀiÌÞÊvÊ
ÛiiÌÊ«>ÌÌiÀÃÊ>ÀiÊÌÀ>i`ÊvÀÊ>`«Ì]ÊÜiÊÌiÊÌÀÊÃÃÊ
`iÛi«iÌÊLiÌÜiiÊÌiÊ>}iÊvÊvÕÀÊ>`ÊÃiÛiÊvVÕÃÃiÃÊÊ
«iÀviVÌ}ÊÌiÊÛiiÌðÊ/iʵÕ>ÌÌ>ÌÛiÊVÀi>ÃiÊÊivwViVÞÊ
V>ÊLiÊ`iÌiÀi`ÊLÞÊÌ}Ê>Ê{äÊÀÕ]ÊÜVÊ>ÊvÕÀÞi>À`ÊLÞÊ
VÛiÀÃÊÜÌÊ>Ê>ÛiÀ>}iʣȰÈÊÃiV`ðÊÊÃiÛiÞi>À`ÊÌ>iÃÊ>Ê
>ÛiÀ>}iÊ°nÊÃiV`ÃÊvÀÊÌiÊÃ>iÊ`ÃÌ>Vi]ÊÜVÊiµÕ>ÃÊ>Ê
ivwViVÞÊVÀi>ÃiÊvÊ£ÈÊ«iÀViÌ°ÊvviÀiViÃÊÜÌÊÌiÊÃ>iÊ>}iÊ
}ÀÕ«ÃÊÊÌiÀÃÊvÊÛiiÌʵÕ>ÌÞÊ>ÀiÊLÛÕÃ\ÊÊvÕÀÞi>À`Ê
LÞÊÃÊ>LiÊÌÊV>ÌVÊ>ÊL>Ê>ÃÊ}Ê>ÃÊÌiÊL>ÊÃÊ«>Þi`ÊViÃÌ}Ê
ÌÊÃÊ>`Ã]ÊÜiÊ>ÊÃiÛiÞi>À`ÊÃÊV>«>LiÊvÊV>ÌV}ÊÌiÊL>Ê
«>Þi`ÊÜ>ÃÌ}ÊÀÊi>`}Ê>`Ê>LiÊÌÊVLiÊÌiÊÛiiÌÃÊ
vÊV>ÌV}Ê>`ÊÌÀÜ}ÊÌiÊL>°Ê-ÕÀVi\ÊÕÀÌÊii®
>`}\Ê/iÊ1`iÀÀ>Ìi`Ê*ÀViÃÃ
£
£È
Characterization Class (age) Phase of
Newborn 0.1 - 0.2 non-directional mass movements
Baby 0.4 - 1.0 adopting first coordinated movements
Toddler 1.1 - 3.0 adopting manifold movement patterns
Early childhood 3.1 - 6/7 perfectioning of manifold movement
patterns and adoption of first combined

movements
Medium childhood 7.1 - 9/10 fast progress in motor learning aptitude
Late childhood 10/11 - 11/12 10/11 - 12/13 best motor learning aptitude
Early youth (pubescence) 11/12 - 13/14 12/13 - 14.5 restructuring kinetic skills and proficien-
cies
Late youth (adolescence) 13/14 - 17/18 14.6-18/19 developing gender-specific differentia-
tion, progressive individualization and
increasing stabilization
Early adulthood 18/20 - 30 relative maintenance of learning aptitude
and kinetic performance
Medium adulthood 30 - 45/50 gradually declining kinetic performance
Later adulthood 45/50 - 60/70 considerably declining kinetic perfor-
mance
Later adulthood from 60/70 distinctly declining kinetic performance

Table 1.1 details human motor skills changing throughout a lifetime.
For the technical recording of kinetic processes, a distance-time
diagram is used which depicts illustration of various movement
features. This method can also be used for determining the fine
motor skills necessary for gripping workpieces.

Table 1.1 Phases of human motor skills
17




>`}\Ê/iÊ1`iÀÀ>Ìi`Ê*ÀViÃÃ
£
1«ÊÌÊÜÊÌiVV>ÊÃÞÃÌiÃÊÃÕVÊ>ÃÊ>ViÃÊ>ÛiÊLiiÊV

ÃÌÀÕVÌi`]ÊLÕÌÊ>`ÊvÕÀÌiÀÊ`iÛi«i`ÊvÀÊ>Ê«>ÀÌVÕ>ÀÊÛiiÌÊ
«>ÌÌiÀ°Ê/ÃÊëiV>â>ÌÊ>Ü>ÞÃÊi`ÊÌÊÌiÊ«ÀLiÊvÊÌi`Ê
«iÀ>Ì}ÊyiÝLÌÞ°Ê/iÀivÀi]Ê>Õv>VÌÕÀiÀÃÊ>ÊÌÊÌi}À>ÌiÊ
iiVÌÀVÊVÌÀÃ]ÊiÜÊ>ÌiÀ>ÃÊ>`ÊÃiÃÀÃÊÌÊVÀi>ÃiÊ>V
iÀÞÊyiÝLÌÞÊ>ÌÕ}ÊÌiÞÊ>ÀiÊv>Vi`ÊÜÌÊÌiÊ«ÀLiÊvÊiiÌ}Ê
ÌiÊÀiµÕÀiiÌÃÊvÀÊ>Ê>««V>ÌðÊÃÊ>ÊÀiÃÕÌ]ÊV«iÝÊÃÕÌÃÊ
V«ÀÃiÊÛ>ÀÕÃÊV«iÌÃ]ÊÜVÊ>}>Ê>ÀiÊëiV>Ê}ÌiVÊ
iiiÌÃ]ÊÊÀ`iÀÊÌÊiiÌÊÌiÊÀiµÕÀiiÌÃÊvÊi>VÊ>««V>ÌÊ>ÃÊ
LiÃÌÊ>ÃÊ«ÃÃLi°
`ÕÃÌÀ>Ê>Õv>VÌÕÀ}ÊÀiµÕÀiÃÊ>ÊivwViÌÊ«iÀvÀ>ViÊV«>
À>LiÊÌÊÌ>ÌÊvÊvÊÌ«À>}Ê>ÌiÌiðÊÊÌiÀÃÊvÊ}Ê«À`ÕVÌÛÌÞ]Ê
ÀLÌÃÊ>ÀiÊVÃÌ>ÌÞÊ«ÀÛi`ÊvÀÊ«ÀViÃÃÊÀi>LÌÞÊ>ÌÊÀi>Ã>LiÊ
«ÀVið
Ê
}ÕÀiÊ£°£ÊÌÊÃiµÕiViÊÕ>ÉÀLÌ
«>ÀÃ\
ÃÌ>ViÌiÊ`>}À>
ºÕ>»Ê>LÛi®Ê>`
ºÀLÌ»ÊLiÜ®
£n
















>`}\Ê/iÊ1`iÀÀ>Ìi`Ê*ÀViÃÃ
£
ÛiiÌÊ>««V>ÌÃÊ>`ÊV«iÌÃÊ>ÀiÊvÀiµÕiÌÞÊiÝ«iVÌi`Ê
ÌÊ«iÀvÀÊ>ÀÕ`ÊÌiÊVVÊÜVÊiÝVii`ÃÊ>Ê«ÀviÃÃ>Ê>ÌiÌi¼ÃÊ
ÃiÌÊÌ>ÃÊLÞÊv>À°ÊÊ}À««iÀÊÀiµÕÀi`ÊÌÊÛiÊÜÀ«iViÃÊ>ÌÊ>ÊVÞViÊ
ÌiÊvÊ£xÊ«iViÃÊ«iÀÊÕÌiÊ«iÀvÀÃÊÀiÊÌ>Ê£ÓÊÊ«i
}Ê>`ÊVÃ}ÊÃÌÀiÃÊ«iÀÊÞi>ÀÊÕ`iÀÊVÃÌ>ÌÊ«iÀ>Ì°ÊÊ
,LÌÃÊ«iÀvÀ}ÊÛiÀÊ£ääÊ>`ÊÀiÊ>`}ÊÌ>ÃÃÊ«iÀÊÕÌiÊ
>ÀiʵÕÌiÊVÊÌ`>Þ°
ÊÌiÊÈäÃÊÜÀ«iViÊ>`}Ê>ÃÊ>ʺ>ÊVÃÌ>ÌÊÃÕÀViÊvÊÜ>ÃÌi»Ê
Ü>ÃÊ>Ài>`ÞÊ«ÕÌÊ>ÌÊÌiÊViÌiÀÊvÊÀiÃi>ÀVÊLÞÊ*Àv°Êiâ>iÊÊ
-ÌÕÌÌ}>ÀÌ]ÊiÀ>Þ°ÊÊÌiÀÃÊvÊÀ>Ì>â>ÌÊÌiÊvVÕÃÊÜ>ÃÊÃiÌÊÊ
>Û`}Ê«ÀiÊ>`Ê«ÃÌ«iÀ>Ì}ÊÌiÃÊ`ÕÀ}Ê>ViÊÌÊÊ
«iÀ>ÌðÊ>ViÊ«iÀ>Ì}ÊÃÌ>vvÊÜ>ÃÊÌÊLiÊ`iVÕ«i`ÊvÀÊ
>ViÊÌiÊLÞÊiV>V>ÊÀÊ>ÕÌ>Ìi`ÊÃÞÃÌiÃÊÜiÊ>`}Ê
ÌiÊÜ>ÃÊÌÊLiÊÀi`ÕVi`ÊÌÊ>ÊÕ°
}ÕÀiÊ£°ÓÊ>ViÊÌiÊÉÊ>`}ÊÌi
Óä
1.1 The Handling Process
The process of handling component parts or workpieces in produc-
tion is often underrated as technically simple or even trivial.
From the production point of view it is obvious that the workpiece
itself does not increase in value during the handling process.
As far as technical solutions are concerned, handling is secondary

to the manufacturing process. The time necessary for production
is separated into machine time and handling time (see figure 1.2).
Machine time is the period of time during which a machine is
operating, i. e. making changes to the workpiece itself. Machine
time can be further separated into pre-operating time, operating
time, and post-operating time. Pre- and post-operating time include
all necessary operations before and after operating time, such as
supplying a tool or coolant. These intervals have been reduced to a
minimum by high traverse rates and appropriate control technology
over the past few years.
Handling time or auxiliary process time can be separated into single
steps from setting up a workpiece to testing it. Production plan-
ning aims at synchronizing handling time and machine time in order
to prevent time-consuming handling processes from taking up
valuable machine time; or at least to keep handling time at a mini-
mum and to move as many workpieces as possible per time unit.
Machine time and handling time have to be coordinated: Machinery
idling during workpiece handling is generally not acceptable, just
as fast robots waiting for machinery do not make sense.
21

×