ISO 14539:2000 産業用ロボットの操作—把持型グリッパーによる物体処理—用語, 語彙と特性の提示 | ページ 7

4.6.1.1

適合する

把持対象物の形状に合わせて設計されたクランプ要素

4.1.1

tool-type end effector

end effector that actually works itself while moved or positioned by a robot arm

Note 1 to entry: Arc welding torches, spot welding guns, sanders, grinders, deburring equipment, routers, drills, spray guns, gluing guns, automatic screw drivers, laser cutting guns, and water jet cutting guns.

4.1.2

gripper

end effector designed for seizing and holding (as defined in ISO 8373)

Note 1 to entry: A gripper, or a gripper-type end effector as compared to a tool-type end effector, is an end effector that grips objects so as to move or place them.

4.1.2.1

grasp-type gripper

gripper that handles an object with finger(s)

4.1.2.2

non-grasp-type gripper

gripper that handles an object without fingers

Note 1 to entry: Non-grasp-type grippers handle objects by scooping, hooking, piercing, or sticking, or by vacuum/ magnetic/electrostatic levitation.

4.2.1.1

robot interface

interface of a gripper to the interfaces of robots

4.2.1.2

palm

solid member in the basic mechanical structure of a gripper on which the first joints of fingers are fixed

Note 1 to entry: A palm may make direct contact to objects.

4.2.1.3

finger

kinematic chain structure whose first joint is fixed on the palm

Note 1 to entry: A finger may make direct contact to objects. A finger moves primarily with respect to the palm.

4.2.1.4

actuator

power mechanism used to effect motion of fingers

4.2.1.5

power transmission mechanism

mechanism for transmitting the driving power from the actuators to the fingers

4.2.1.6

clamping element

part of finger or finger link specially designed for direct contact to objects

4.2.1.7

sensor

device for acquiring, from the gripper and/or the objects, signals to be used for controlling the gripper in object handling

4.3.1

degrees of mobility of gripper

the number of coordinate axes of translations and rotations of the moving space of the whole fingers of a gripper with respect to its palm

Note 1 to entry: The motion of a gripper can be divided into three categories: linear, planar, and spatial, depending on the degrees of mobility of grippers. The degrees of mobility of grippers shown in Figure 6 a), b), c), for instance, are 1, 3, 6, respectively.

Note 2 to entry: The first step in planning grasping tasks is to select the degrees of mobility taking the object properties into consideration.

4.3.2

degrees of freedom of gripper

the minimum number of inputs which can determine the configuration of the gripper mechanism

4.3.3

degrees of freedom of gripper with object

the degrees of freedom of a gripper with an object are obtained in the same way as the degrees of freedom of a gripper considering the object as a link and replacing the contact points, lines, or planes with equivalent joints

4.3.4

angle gripper

gripper with rotational fingers

4.3.5

parallel gripper

gripper with translational fingers that move parallel to each other

4.3.6.1

centric grasping

grasping in which the gripper adjusts its motion so that it grasps the object in the centre of the gripper

4.3.6.2

non-centric grasping

4.3.6.3

adaptive grasping

grasping in which the gripper adjusts its configuration to fit the shape of the object

4.3.6.4

symmetrical grasping

grasping in which fingers make symmetrical motions

4.3.6.5

asymmetrical grasping

grasping in which fingers do not make symmetrical motions

4.3.6.6

power grasping

grasping in which not only fingers but also the palm or the arm are used to make a form closure grasp

4.4.1

degrees of mobility of finger

dimensions of the moving space of a finger

4.4.2

degrees of freedom of finger

minimum number of inputs which can determine the configuration of a finger

4.4.3.1

rotational finger

finger that makes rotational motions

4.4.3.2

translational finger

finger that makes translational motions

4.4.3.3

multi-joint finger

finger with many joints

4.4.3.4

inflatable finger

pneumatically inflatable finger

4.4.3.5

mechanically interrelated finger

finger whose motion is mechanically interrelated with other finger motion(s)

4.4.3.6

mechanically independent finger

finger whose motion is mechanically independent of other finger motion(s)

4.5.1

two-value control

control scheme in which the command is either “open” or “close”

4.5.2

position control

control scheme in which only the position is commanded

4.5.3

velocity control

4.5.4

force control

control scheme in which only the force is commanded

4.5.5

impedance control

compliance control

control scheme in which the position commands and the force commands are integrated through real or virtual equations of motion so that the task coordinate servo control is performed

4.5.6

hybrid control

control scheme in which the position commands and force commands on the task coordinate system are transformed into those on the joint coordinate system and are integrated through a formula of conversion so that the joint coordinate servo control is performed

4.6.2

replaceability

clamping element is replaceable if it can be changed with the same type of clamping element for grasping the same type of objects

Note 1 to entry: Clamping elements should be designed to be replaceable if they are often damaged with repeated handling of objects.

4.6.3

exchangeability

clamping element is exchangeable if it can be changed with a different type of clamping element for grasping different type of objects

4.7.1

mechanical interface (plate)

[SOURCE: see ISO 9409-1]

4.7.2

mechanical interface (shaft)

[SOURCE: see ISO 9409-2]

4.8.1

fail-safe

function designed to maintain safety in case of foreseeable failure of any single component

4.8.2

self-holding

function of a mechanism in which passive elements keep the gripper from releasing the grasped object in case of power failure

4.8.3

self-lock

mechanical function to prevent the external forces from driving the gripper to release the grasped object in case of power failure

4.8.4

interlock

conditional enabling or inhibition of particular grasping or releasing motion

4.8.5

grasping safety

function to avoid insecure grasps

Note 1 to entry: Examples are automatic avoidance of gripping too heavy objects and automatic force control to avoid slippage of an object.