Grippers in Motion - the Fascination of Automated Handling Tasks - Wolf Part 4 pot

2003
2002
Automotive
Machines (incl. electric)
Synthetics/Rubber/Chemistry
Food/Food processing
Iron/Steel products
Iron/Steel
Non-prod. Industries
Wood/Furniture/Paper
Ceramics/Glass/Stone
Measuring/Lab/Control technology
Other
pieces
0 1.000 2.000 3.000 4.000 5.000 6.000 7.000 8.000 9.000 10.000
9.884
7.402
1.044
1.003
876
752
337
345
254
249
243
208
177
187
163
174

138
131
79
141
1.186
1.270
Figure 2.10 Industrial robot applications according to industries 2002 and 2003 (source: VDMA)
Evolution or Revolution
2
If you consider the fact that each robot usually needs additional
peripheral devices such as feeding technology, magazines,
grippers, sensors, and safety technology, the enormous market
volume becomes obvious. The market volume can be specifically
determined by the number of robot applications.

It is interesting that applications for industrial robots with three or
more axes account for a high proportion of robots handling work-
pieces. The great rise from 2002 to 2003 with more than 30 per-
cent in this category is remarkable. As this increase was initiated by
applications in the automotive industry it can be assumed that
an enormous rationalizing potential has been successfully opened
up by the automotive industry. Gripper technology, which is nor-
mally used for handling applications, has especially profited from
this growth. Other applications came to a standstill as soon as
they had reached a certain level.
62
Figure 2.11 One- and two-axis moving modules – applications 2002 and 2003 (source: VDMA)
2003
2002
Handling

Welding
Palletizing
Coating/Sticking
Assembly
Other
Processing
Research/Education
pieces
0 1.000 2.000 3.000 4.000 8.000
6.969
5.272
2.962
2.977
884
823
770
900
725
787
518
533
256
199
149
130
7.0006.0005.000
The German Federation of the Engineering Industries VDMA gives
the following outlook in its yearly published statistics for the year
2004:
“In 2004 a further increase in robot piece numbers is expected for

the German market as well. The automotive industry will remain
the largest customer with substantial investments in 2004.
Rubber and synthetics producers, the chemical industry, machine
(incl. electric) producers, and the metal manufacturing industry will
have to increase their investments accordingly. The potential for
using robots in the food processing and the packaging industry is
obvious as the demand for automated solutions is high.
The furniture industry is another potential customer as it it forced to
reduce costs of production, too. Higher payloads, higher dynamics,
sensor technology, network technology (of communicating robots),
and image processing systems, offer increased application options
for so-called “intelligent robots” or “multi-robots”. Robot
technology faces another quantum leap. In high-wage countries,
the unit labor costs can be effectively reduced by automated
solutions. Technical concerns of some industries, such as food
processing, are answered by user-friendly systems. The food
processing industry in Germany still offers great potential for the
use of robots and automated systems.”
63
industrial robot
terminal
robot control
offline programming
computer
robot kinematics
multi-sensor
system
Figure 2.13 Offline programming in the early 80s
First CAD-based planning tools
3D-planning environment for robot simulation (source: plusdrei GmbH)

Evolution or Revolution
2

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Robot fuel filling station, different car geometries
have to be detected (source: Reis)
Evolution or Revolution
2
A possible trend in robot and automation component technology
can be seen in the pictures of service robots venturing from factory
halls into “unstructured” environments. During refueling,
for example, a robot has to deal with a technical object, i. e. the
car, but situations and fabricates vary. Robot fueling technology is
being tested worldwide for filling up liquid hydrogen.
A system installed at the Munich airport is already under trial opera-
tion. Service robots are expected to grow in numbers, exceeding
those of industrial robots. Nevertheless, the requirements are by
far more diverse so that clear definitions cannot be found as easily
as for industrial robots.
Due to the fact that robots move towards new applications the
robot industry hopes to increase significantly the numbers of robots
which are produced today. 80% of the robots today are used in
automotive production. The next 10 years we will face a big shift
to other industries. The robot manufacturers cop the new bound-
ary conditions with specialized robots which are able to work
for example in wet environments. Components of the automa-
tion industry like for example grippers are also highly improved in
hygienic design.
66

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In the early 80s the VDI regulation 2860 gave a rather plain descrip-
tion of gripper function:
“A gripper is the subsystem of an industrial robot which maintains a
limited number of geometrically defined workpieces for a set period
of time, i. e. secures the position and orientation of the workpieces
in relation to the tool`s or the gripper`s system of co-ordinates.
This Secure function is usually built up before the moving process,
maintained during the moving process, and finally reversed by
releasing the workpiece.”
From the current point of view this definition needs to be extended
as modern gripper design and sensors offer new opportunities and
we will concentrate on this reality in the following chapters.
The object of gripping, the product, the workpiece, or component,
is put at the center of our initial analysis. The term “workpiece” will
be used, even when there is no work being performed on the piece
while it is being gripped. The workpiece can be a finished product
or a product that is still being processed.
Subsequently, technical tasks of mechanical grippers for pick- and
place operations and related aspects are presented and explained
in detail.
Figure 3.1 Workpiece/gripper system
of coordinates, X
m
– Y
m
– Z
m
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