Comparision Between the Performance of Pneumatical and Electrical Grippers for Industrial Robots

摘要

The implementation of industrial robots in the industry is mainly known with their composition in cyclic mode for positioning work. The cyclical nature of the work of the positional mechanisms allows their productivity to be defined as the reciprocal of the average cycle length. In this relationship the productivity of industrial works can be expressed as sum of two components (move time plus pause time). Time of movement is determined both by the technological process and by the choice of speed diagram of movement. The pause time can be represented as the sum of two components: The first component is related to the duration of the preparatory-final operations related to the operation of the mechanism. Such are, for example, the time for saving and releasing the load being carried, the time to enter a command about the upcoming move, etc. The second component is related to the duration of pauses in the operation of the mechanism imposed by a mandatory lock with the state or operation of other mechanisms. The present work aims to investigate the performance of a class of industrial robot using pneumatic and electrical end effector to evaluate the performance. The expectations are related to the study of the pause component in both types of grippers.