328 mm 8 mm 120 mm 42 mm

160 mm

Handling

▼
Handling
Machining
Assembly
Organisation

47,3 mm
Pneumatics

▼
Pneumatics
Electronics
Mechanics
Sensorics
Software

88,5 mm
Hesse Grippers and their applications
Hesse
Grippers and
their applications
including vacuum devices

158,5 mm
English
Chinese

▼
English
French
German
Russian

195 mm
Spanish
Blue Digest

Blue Digest
on Automation
053 435

225 mm
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TIVGPSWIWXLITPEXIWEVITVIWWIHEKEMRWXXLI[SVOTMIGIJSVQMRKERMQ
TVIWWMSRSJMXoWGSRXSYV8LIIRXMVIPEQIPPEVEWWIQFP]MWXLIRGPEQTIH
MRXSTPEGI8LIMQTVIWWMSRMWVIZIVWMFPIMIXLIPEQIPPEIGERFIVIWIX
+VMTTIVNE[WGEREPWSFITVSZMHIH[MXLWIVVEXIHEHNYWXIVWEPPS[MRKXLI
KVMTTMRK[MHXLFYXRSXXLIWXVSOIXSFIQEXGLIHXSXLI[SVOTMIGIHM
QIRWMSRW8LINE[WGEREPWSFIYWIHXYVRIHXLVSYKL‹-RSVHIVXSKVMT

  'SRWXVYGXMSRSJKVMTTMRKIJJIGXSVW
 WIZIVEP[SVOTMIGIWWMQYPXERMSYWP]GSQFMREXMSRKVMTTIVWNE[WQYWXFI
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WLS[WERI\EQTPI%WXLIKVMTTIVJMRKIVWGPSWIXLI]GSRXEGXXLI[SVO
TMIGIERHPMJXXLMWSYXSJXLI:WLETIHVIGIWW8LIVIMWRSRIIHXSTVSZMHI
XLILERHPMRKHIZMGI[MXLEPMJXMRKQSXMSR8LMWHSIWLS[IZIVVIUYMVINE[W
ERH[SVOTMIGIW[MXLEWYMXEFP]WQSSXLWYVJEGI8LIGSRXEGXTSMRXQYWXFI
FIPS[XLIGIRXVISJXLI[SVOTMIGI8LITYVTSWISJXLMWHIWMKRMWXLYWXS
WEZIXLIRIIHJSVEQSXMSRE\MW

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[SVOTMIGISYXSJXLI:
WLETIHVIGIWWMRXLI
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 *MRKIV
 1SFMPINE[
 6SXEV]E\MW
 7YTTSVXWYVJEGI
 8SVWMSRWTVMRK
 ;SVOTMIGI

 'SRWXVYGXMSRSJKVMTTMRKIJJIGXSVW 

8EOMRKXLINE[WXVSOI
MRXSEGGSYRX
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IRGIXLIVIUYMVIHWXVSOI8LIETTVSEGLQE]FIE\MEPSVVEHMEPXIGLRMGEP
GSRHMXMSRW[MPPKIRIVEPP]HMGXEXI[LMGL*MKWLS[WGEWIWXEOMRKXLI
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6EHMEPETTVSEGL %\MEPETTVSEGL
b b
a a
c c
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,ERSZIV
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8IGLRMO&IVPMRERH1YRMGL
?A ,IWWI7,VWK-RHYWXVMIVSFSXIVTIVMTLIVMI-RHYWXVMEP6SFSXMGW
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?A ,IWWI70I\MOSR,ERHLEFYRKWIMRVMGLXYRKIRYRH-RHYWXVMIVSFSXMO
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I\TIVX:IVPEK6IRRMRKIR

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 8LIQEMRTYVTSWISJEKVMTTIVMWXSLSPHSFNIGXWWIGYVIP]JSVEGIVXEMR
 TIVMSH+VMTTIVWYWMRKXLIJSVGIPSGOMRKTVMRGMTPISR[LMGL[I[MPPGSR
*SVGIWEGXMRKSR GIRXVEXIMRXLMWEVXMGPIEVIVIUYMVIHXSKIRIVEXILSPHMRKJSVGIWXSFEPERGI
KVMTTIVW SYXEPPXLIWXIEH]WXEXIERHH]REQMGJSVGIWERHXSVUYIZEPYIW[LMGLSGGYV
HYVMRKEQSXMSRWIUYIRGI8LIVIUYMVIHKVMTTMRKJSVGIMWXLYWEQENSV
GVMXIVMSRJSVXLIWIPIGXMSRSJXLIVMKLXX]TIERHWM^ISJKVMTTIV

8LIVIUYMVIHKVMTTMRKJSVGIGERFIGEPGYPEXIHETTVS\MQEXIP]8LMWGEPGY
PEXMSRWLSYPHRSXFIRIKPIGXIHFYXQE]RSXTVSZMHIEJMREPERW[IV-R
HSYFXJYPGEWIW]SYWLSYPHEPWSGEVV]SYXXIWXWSVVIGSQQIRHYWIVWXSHS
WSWMRGIWSQISJXLIGEPGYPEXMSRZEVMEFPIWEVIWYFNIGXIHXSJPYGXYEXMSRWSV
EVISRP]IWXMQEXIW-J]SYKSXSSJEVSZIVXSXLIWEJIWMHIXLMWQE]FI
HMWEHZERXEKISYWJSVXLIYWIVELIEZ]KVMTTIVQE]RIGIWWMXEXIELER
HPMRKHIZMGI[LMGLMWSRIWM^IPEVKIVMRXIVQWSJLERHPMRKGETEGMX]SVQE]
VIHYGIXLI[SVOMRKPSEHSJWYGLEHIZMGI

8LMWPE[JSVQYPEXIHF]-WEEG2I[XSRMRWXEXIWXLIJSPPS[MRK
2I[XSR
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STTSWMXIMIVIEGXMSRMWEP[E]WIUYEPERHSTTSWMXIXSEGXMSR

8LMWQIERWXLEXJSVGIERHGSYRXIVJSVGIEVIMRIUYMPMFVMYQ%WMQTPII\
TIVMQIRXXSHIQSRWXVEXIXLMWMWWLS[RMR*MKE%VSHMWWYFNIGXIHXSE
XIRWMPIPSEH-RXLIJMVWXGEWISRIIRHSJXLIVSHMWGPEQTIH[LMPIMRXLI
WIGSRHGEWIETIVWSRTYPPWSRIEGLIRH8LIXIRWMPIJSVGIMRXLIVSHMR
IEGLGEWIMWRSX2EW]SYQMKLXXLMROFYXSRP]2-J[IETTP]XLMW
XSXLITEVEPPIPKVMTTIVWLS[RMR*MKFXLMWMWWYFNIGXXSXLIWEQITVMR
GMTPI-XQEOIWRSHMJJIVIRGI[LIXLIVSRP]SRIJMRKIVQSZIWERHETTPMIWE
KVMTTMRKJSVGISJ2SV[LIXLIVX[SSTTSWIHJMRKIVWIEGLKIRIVEXI
28LIX[SKVMTTIVWWLS[REVIIUYMZEPIRXMRXIVQWSJJSVGI

 *SVGIWEGXMRKSRKVMTTIVW 
*MK
8LIPE[SJMRXIVEGXMRKJSVGIW
200 N 200 N 200 N
E 8LIXIRWMPIJSVGIMRXLI
VSHMW2MRFSXL
GEWIW
F (YIXSXLITVMRGMTPISJ
EGXMSR!VIEGXMSRMX
a)
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SRIJMRKIVSVX[S

FG FG FG

b) 200 N 200 N 200 N

2I[XSRW8LMVH0E[SJ1SXMSREPWSETTPMIWXSXLVIITSMRXKVMTTIVWMR
WSQI[LEXQSHMJMIHJSVQEW[IWLEPPWII-RXLMWGEWIJSVGIWEGXMRXLVII
HMVIGXMSRW

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ELSPHMRKIJJIGX
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QIGLERMGEPKVMTTIVW[IWIIXLEXXLIKVMTTMRKJSVGIMWSRP]EQIERWXSER
IRH*VSQXLITSMRXSJZMI[SJJVMGXMSRXLIKVMTTMRKJSVGIEGXWPMOIERSV
QEPJSVGI8LIEGXYEPLSPHMRKJYRGXMSRMWTVSHYGIHF]JVMGXMSRJSVGIW*6
[LMGLEVIGVIEXIHMREGGSVHERGI[MXL'SYPSQF
HMVIGXMSRSTTSWMXIXSXLIHMVIGXMSRSJQSXMSRERHSTTSWIXLI[IMKLXJSVGI
+SJXLIKVMTTIHSFNIGX8LIWMQTPIWXGEWIMWWLS[RMR*MK

*MK
*SVGIWEGXMRKSRKVMTTIH FR FR
SFNIGXWXEXISJVIWX
1
 *MRKIV
 +VMTTIVNE[
 ;SVOTMIGI
FG FG
 'SIJJMGMIRXSJJVMGXMSR
2

µ µ
G
3

8LMWWMXYEXMSRETTPMIW[LIRXLILERHPMRKHIZMGIMWMREWXEXISJVIWXSV
QSZMRKZIV]WPS[P]8LIJSPPS[MRKIUYEXMSRMWSFXEMRIH

+ = *+ ⋅ µ ⋅ R

  *SVGIWEGXMRKSRKVMTTIVW
 SVI\TVIWWIHERSXLIV[E]
Q⋅ K
*+ =
µ ⋅R
:EVMEFPIWMRJSVQYPE
*+ ! 1MRMQYQVIUYMVIHKVMTTMRKJSVGIMR2
+ ! ;IMKLXJSVGISJKVMTTIHSFNIGXMR2
K ! +VEZMXEXMSREPEGGIPIVEXMSRMRQW
Q ! ;SVOTMIGIQEWWMROK
R ! 2YQFIVSJJMRKIVWSVKVMTTIVNE[W
 ! 'SIJJMGMIRXSJJVMGXMSRFIX[IIRKVMTTIVNE[ERHSFNIGX

%W[IGERWIIEPPS[ERGIMWQEHIMRXLIJSVQYPEJSVXLIRYQFIVSJJMRKIVW
WMRGISJGSYVWIEJVMGXMSRJSVGI*6MWGVIEXIHEXIEGLKVMTTIVNE[;MXL
GSRXEGXTSMRXWR!8LIVIEVIWIZIVEPTSWWMFPIZEVMERXWJSVXLITSMRX
WSPYXMSR*MKWLS[WEXVYIXLVIIJMRKIVKVMTTIVERHEWSPYXMSRFEWIH
SREX[SJMRKIVKVMTTIV-RXLMWPEXXIVGEWIXLIKVMTTMRKJSVGIMWWTPMXEXXLI
:NE[MRXSXLIGSRXEGXJSVGIW*/M

*MK
4PERZMI[SJKVMTTIV
WMXYEXMSRW FG

E 8[SJMRKIVKVMTTIV[MXL FK2
:NE[
F 8LVIIJMRKIVKVMTTIV FG
α
FG β FG = FK1
α

FG
FK3

G = Σ FKi . µ G = FG . µ . 3

-JMRXLIGEWISJXLIX[SJMRKIVKVMTTIVE:NE[ERKPISJ‹MWWIPIGXIH
XLIWEQIEWXLIJMRKIVTSWMXMSRMRKSJEXLVIIJMRKIVKVMTTIVXLIX[SKVMT
TIVW[MPPFIXLIWEQIJVSQXLITSMRXSJZMI[SJLSPHMRKJSVGIW8LIVI[MPP
FIHMJJIVIRGIW[MXLSXLIV:NE[ERKPIW-RXLIWIGEWIW[IQYWXVIJIVXS
XLIGSRXEGXERKPIW[LMGLGERFIHIXIVQMRIHF]XLIJSPPS[MRKJSVQYPEMJ
VERHSQ:NE[ERKPIWEVITIVQMWWMFPI
+ ⋅ WMR α
*/M =
µ ⋅ WMR α + WMR α  + WMR α  
MR[LMGL
M ! 
ERH
α ! ‹α
α ! ‹α
α ! ‹α

 *SVGIWEGXMRKSRKVMTTIVW 
 8LIXSXEPSJXLIJVMGXMSRJSVGIW*6XS*6*MKQYWXFIEXPIEWXPEVKI
IRSYKLXSGSQTIRWEXIJSVXLI[IMKLXJSVGI+TVSHYGIHF]KVEZMX]/RS[P
IHKISJGSRXEGXJSVGIWMWEPWSVIUYMVIHMJ[I[MWLXSGLIGOXLIKVMTTMRK
TVIWWYVITIVYRMXEVIEMRXLIGEWISJWIRWMXMZI[SVOTMIGIW

*MK
'EPGYPEXMSRSJGSRXEGXJSVGIW
JSVEKVMTTIV[MXLE:NE[SR
SRIWMHI
FR1 α13
FG = FK1
FR3

FR2
FK3

α12 α23

FK2

*MKWLS[WXLIQEXLIQEXMGEPVIPEXMSRWLMTWKSZIVRMRKKVMTTMRKJSVGI
HYVMRKERYT[EVHQSXMSRMRXLIGEWISJXLIGSQQSRP]YWIH:NE[KVMT
TIVW[MXLSVTSMRXSFNIGXGSRXEGX%HMWXMRGXMSRGERFIQEHIFIX[IIR
ZEVMERXWSJKVMTTMRK

• 4YVITSWMXMZIPSGOMRKKVMTTMRK
• 4SWMXMZIPSGOMRKMRGSQFMREXMSR[MXLJVMGXMSRPSGOMRK
• 4YVIJVMGXMSRPSGOMRKKVMTTMRK

  *SVGIWEGXMRKSRKVMTTIVW
*MK 7OIXGL 'SRXEGXJSVGIW +VMTTIVJSVGIYT[EVH
*SVGIWEXXLITEVEPPIPNE[
KVMTTIV[MXL:NE[JSV 4YVITSWMXMZIPSGOMRK
[SVOTMIGIW KVMTTMRK

E 0MRIEVEGGIPIVEXMSR FG
K +VEZMXEXMSREPEGGIPIVE
a Q K + E WMRα 
*/ =
XMSR WMR α  + α  
Q 1EWW *+ = Q K + E  ⋅ 7
7 7EJIX]JEGXSV m .g Q K + E WMRα 
 'SIJJMGMIRXSJJVMGXMSR */ =
WMR α  + α  
FK1

α1 α2 FK2
FG

4SWMXMZIPSGOMRK[MXL
JVMGXMSRPSGOMRK

FR1 a FR2 Q K + E 
*/ =
 GSWα  Q K + E 
*+ = XERα ⋅ 7
Q K + E  
FG FG */ =
 GSWα 
FK1 FK2
α1 α2
m .g

FR
a FR
*/ = Q K + E XERα 
FG= *+ = */ ⋅ 7
FK1 FG Q K + E 
*/ =
 GSWα 
FK2
90° α
m .g

4YVIJVMGXMSRPSGOMRK

a
FG Q K + E  Q K + E 
*/ = *+ = WMRα ⋅ 7
µ µ
FR FK

2α
FG
m .g

 *SVGIWEGXMRKSRKVMTTIVW 
 )JJIGXMZIKVMTTMRKHITIRHWWXVSRKP]SRXLIGSIJJMGMIRXSJJVMGXMSR8LIJSP
PS[MRKGERFIXEOIREWKYMHIZEPYIW

• ;SVOTMIGIW[MXLWQSSXLWYVJEGIWPMKLXP]SMPIH!
• 1IXEPXSQIXEPGSRXEGX!XS
• +VMTTIVNE[W[MXLTSMRXIHXSSXLWYVJEGI!XS
• .E[W[MXLRSRWPMTGSZIVMRKSVQIXEPVYFFIVGSRXEGX!XS

8LIIUYEXMSRWKMZIRMR*MKMRGSVTSVEXIEPPS[ERGIWJSVGIVXEMRJEGXSVW
[LMGL[ILEZIRSX]IXQIRXMSRIH

• 8LIGSIJJMGMIRXSJJVMGXMSRJPYGXYEXIWUYMXI[MHIP]PMOIETIVWSRoWFPSSH
TVIWWYVI%WEJIX]JEGXSV7QYWXXLIVIJSVIFIMRGPYHIH-RTVEGXMGIXLI
JEGXSVYWIHMWFIX[IIRERH
• 8LI[IMKLXJSVGI+VITVIWIRXWSRP]TEVXSJXLIPSEH%PPS[ERGIQYWXEPWS
FIQEHIJSVSXLIVJSVGIWTEVXMGYPEVP]XLIMRIVXMEJSVGIWVIWYPXMRKJVSQ
XLIEGGIPIVEXMSRpEqSJXLIVSFSXEVQ4VSGIWWJSVGIWQE]EPWSFI
MRZSPZIHJSVI\EQTPIHYVMRKEWWIQFP]F]MRWIVXMRKGSQTSRIRXW

-XQE]FIMRXLIGEWISJEQYPXME\MWLERHPMRKQEGLMRIXLEXXLIJSVGI
'LIGOXLIQSXMSR WMXYEXMSRGLERKIWJVSQXMQIXSXMQIHYVMRKEQSXMSRG]GPI-XQE]FITSW
G]GPI WMFPIXSGSYRXIVEGXGIVXEMRJSVGIW[LMGLSGGYVF]YWMRKTSWMXMZIPSGOMRK
KVMTTMRKPEXIVEPQSXMSRW[LMPISXLIVJSVGIWQE]GEPPJSVELMKLIVGSIJJM
GMIRXSJJVMGXMSR-XMWXLIVIJSVIEUYIWXMSRSJMHIRXMJ]MRKXLIQSXMSRTLEWI
VIUYMVMRKXLILMKLIWXLSPHMRKJSVGIERHWIPIGXMRKEKVMTTIVSRXLMWFEWMW
*MKWLS[WERYQFIVSJX]TMGEPQSXMSRWERHXLIJSVGIWSTIVEXMZIHYV
MRKXLIWI

*MK
*SVGIWMXYEXMSRWHYVMRK v v
KVMTTIVQSXMSR FR FR FR FR FR FR

E 6IWXWXEXI v=0
F 9T[EVHQSXMSR
G (S[R[EVHQSXMSR
FB FB
H 0EXIVEPQSXMSR
I -RGPMRIHYT[EVHQSXMSR FG FG FG FG FG FG

a) G b) G c) G

v v
FR FR FR FR

FB FB
FG FG FG FG

d) G e) G

  *SVGIWEGXMRKSRKVMTTIVW
-RXLIGEWISJERYT[EVHQSXMSRXLI[IMKLXJSVGI+ERHXLIMRIVXMEJSVGI
*&GERFIGSQTIRWEXIHF]XLIJVMGXMSRJSVGIW*6(YVMRKXLIHS[R[EVH
QSXMSRXLIMRIVXMEJSVGIEGXWMRSTTSWMXMSRXSXLI[IMKLXJSVGIERHQEOIW
XLISFNIGXIJJIGXMZIP]PMKLXIV(YVMRKXLIFVEOMRKTLEWILS[IZIVEHI
GIPIVEXMSRJSVGIXLIRFIGSQIWSTIVEXMZI-RXLIGEWISJPEXIVEPQSXMSRW
MRIVXMEJSVGIMWEFWSVFIHF]TSWMXMZIPSGOMRKKVMTTMRKVIUYMVMRKRSEHHM
XMSREPJVMGXMSRJSVGIW8LIMRIVXMEJSVGIEXXIQTXWLS[IZIVXSJSVGISTIR
XLIKVMTTIVNE[;MXLMRGPMRIHQSXMSRWGSRWMHIVEXMSRQYWXFIKMZIRXSXLI
LSVM^SRXEPP]ERHZIVXMGEPP]EGXMRKGSQTSRIRXWSJXLIMRIVXMEJSVGI8LI
TSWMXMSRMWSJGSYVWIWSQI[LEXHMJJIVIRX[MXL:NE[WERHSXLIVX]TIWSJ
LERHPMRKHIZMGIW-XMWRIGIWWEV]XSWXYH]XLIGSQTPIXILERHPMRKSTIVE
XMSR

8LIMRIVXMEJSVGIWGERFIGEPGYPEXIHEWEKIRIVEPTVMRGMTPIEWJSPPS[W

*& = Q ⋅ E

SVMRXLIGEWISJEVSXEV]QSXMSR

*& = Q ⋅ V ⋅ ε

8IVQWYWIHMRXLIEFSZI

E ! 0MRIEVEGGIPIVEXMSRMRQW
Q ! 1EWWSJKVMTTIHSFNIGXMROK
V ! (MWXERGIJVSQTMZSXTSMRXMRQ
ε ! %RKYPEVEGGIPIVEXMSRMRVEHW

-X[SYPHFITSWWMFPIXSYWIXLIEGGIPIVEXMSRZEPYIWWTIGMJMIHF]FVSGLYVIW
EWFIMRKEGLMIZIHF]VSFSXWYRHIVRSVQEPSTIVEXMRKGSRHMXMSRW8LMW
[SYPHRSXLS[IZIVFIUYMXIGSVVIGX8LIGVMXMGEPZEPYIWEVIRSXXLSWISJ
RSVQEPGSRHMXMSRWFYXSJI\GITXMSREPWMXYEXMSRWTEVXMGYPEVP]XLSWIJSPPS[
MRKER)1)6+)2'=7834SJXLIVSFSX;IGERJSVI\EQTPIXEOIXLIJSP
PS[MRKWXERHEVHZEPYIWJSVEGGIPIVEXMSR

%GGIPIVEXMSRMRRSVQEPSTIVEXMSRPMRIEV E!QW
)1)6+)2'=7834EGGIPIVEXMSRPMRIEV E2!QW
%GGIPIVEXMSRMRRSVQEPSTIVEXMSRVSXEV] ε!VEHWERH
)1)6+)2'=7834EGGIPIVEXMSRVSXEV] ε2!VEHW

-JQSVITVIGMWIHEXEMWEZEMPEFPIJVSQXIGLRMGEPHSGYQIRXEXMSRXLMW
WLSYPHFIYWIH

 *SVGIWEGXMRKSRKVMTTIVW 
 )\EQTPI%RMRHYWXVMEPVSFSXMWXSTMGOYTERSFNIGXEX4XVERWTSVXXLMW
ZME4XS4ERHWIXMXHS[REX4*MK;LEXKVMTTMRKJSVGIWQYWXXLI
X[SNE[KVMTTIVTVSZMHI#
0IXYWEWWYQI!7EJIX]JEGXSV7!

*MK
P2
)\EQTPISJLERHPMRKXEWO

P3

P1

P4

1EWW!OK

+VMTTMRKJSVGIHYVMRKPMJXMRK

Q ⋅ (K + E) ⋅ 7  ⋅ ( + ) ⋅ 
*+ = = = 2
µ ⋅R  ⋅ 
+VMTTMRKJSVGIHYVMRKPEXIVEPWXVSOI
Q⋅ K ⋅ 7  ⋅  ⋅ 
*+ = + Q⋅ E = +  ⋅  = 2
µ ⋅R  ⋅ 
+VMTTMRKJSVGIHYVMRK)1)6+)2'=7834HS[R[EVHW
EJXIVEGGIPIVEXMSRTLEWI

Q ⋅ (K + E2 ) ⋅ 7  ⋅ ( + ) ⋅ 
*+ = = = 2
µ ⋅R  ⋅ 

+VMTTIVWWLSYPHMRKIRIVEPFIWIPIGXIHSRXLIFEWMWSJ)1)6+)2'=7834
WMXYEXMSRWWMRGIXLIVIUYMVIQIRXMRXLIWIWMXYEXMSRWMWXLEXXLI[SVOTMIGI
WLSYPHGSRXMRYIXSFILIPHF]XLIKVMTTIVERHRSXINIGXIH8LILMKLIWXEG
GIPIVEXMSRZEPYIWMRJEGXHIGIPIVEXMSRZEPYIWSGGYVHYVMRKER)1)6
+)2'=7834

  *SVGIWEGXMRKSRKVMTTIVW
 -RXLIGEWIWHMWGYWWIHYTXSRS[MXLEWFIIREWWYQIHXLEXXLIGIRXVISJ
4VSFPIQW[MXLXSVUYI KVEZMX]SJXLI[SVOTMIGIMWTSWMXMSRIHTVIGMWIP]FIX[IIRXLIKVMTTIVNE[W
-XGERSJGSYVWIEPWSPMIIPWI[LIVIFYXXLMWWLSYPHFIEZSMHIHWMRGIXLMW
QE]VIWYPXMR[SVOTMIGIWX[MWXMRKYRHIVLIEZ]EGGIPIVEXMSR

*MK
)\EQTPIWSJXSVUYIGVIEXIH 1 2 3
EWEVIWYPXSJKVMTTIH
[SVOTMIGIW

a b l l
c c
FK1 FK2 FK2
G
FK2 FK1 FK1
G G

8LIJSPPS[MRKETTPMIWMRGEWI
+⋅F +⋅ E
*/ = ERH */ =
E+F E+F

*SVGEWIWERHXLIJSPPS[MRKETTPMIW

+(P + G) −+ ⋅ G
*/ = ERH */ =
P P

%REWWSGMEXIHTVSFPIQMWXLIEFMPMX]SJKVMTTIVWXSLERHPISJJGIRXVIPSEHW
+VMTTIVQERYJEGXYVIVWKIRIVEPP]WXEXIMRKVETLWSJPSEHGETEGMX]XLI
JSVGIWHYIXSJMRKIVPIRKXLVIWYPXMRKMREXSVUYI[LMGLXIRHWXSSTIRXLI
KVMTTIVNE[WSVXSVSXEXIXLI[SVOTMIGIMRGEWIW[LIVIXLIKVMTTIVHSIW
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GSQTSRIRXW-REGGSVHERGI[MXLXLIEWWIQFP]WIUYIRGIWLS[RMR
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HIZMGIMWVIUYMVIH

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E %TTVSEGLXS
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RHTMGOYTTSWMXMSR a) b) c) d)
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GSQTPIXIHQSHYPI

e) f) g) h)

 %TTPMGEXMSREVIEWERHKVMTTIVX]TIW 
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 SFNIGXWXSFIKVMTTIH8LIKISQIXV]SJXLIWISFNIGXWGERZEV]KVIEXP]
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*MK
Configuration
1YXYEPP]MRJPYIRXMEPJEGXSVW Direction of motion of Shape and number of
of robot gripper towards object
ERHFEWMGZEVMEFPIWVIPEXMRK and machine gripper components,
XSXLIWIPIGXMSRSJKVMTTIVW choice of gripper and
JVSQXLIXIGLRMGEPTSMRXSJ Position and
kinematics of
ZMI[ components
Gripping zone and gripper components
surface at gripping point
at pick-up point

Position and Position of objects

components in in gripper
transfer device

Shape of size
of object Calculation of forces Calculation of contact
to be gripped and moments pressure at
which occur during gripping point
Mass and 3D motion of object
properties
of objects
Definition of drive
Material and parameters for
surface of gripper drive
gripping object

Axis motion Determination

sequence of gripper gearing
Calculation of forces
acting on gripper
during robot motion
Speed and
Check calculation
acceleration of
and optimisation
robot per axis
of gripper design

Gripper flange
and type of Selection of type Design of
power source of gripper drive gripper connection

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 'LIGOPMWXJSVKVMTTIVW 
*MK
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gripping zone
XLIKVMTTIVPSGEXMSR

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surface on the object
Calculation of:
- Force
Provisional
- Moment
location of gripper
- Moment of inertia

Checking of Study of
Surface properties gripper variants and
gripper data
suitability of these

Estimation of Relocation of
workpiece dimensions gripper plane

Documentation
of results

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SJJIVEREHZERXEKI

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TVSHYGXMSRXMQITIVFEXGLMWYTXSLSYVW

8LIJPS[GLEVXWLS[RMR*MKGERFIYWIHXSWIPIGXERMRHMZMHYEPKVMT
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EZSMHIHEXEPPGSWXW

 'LIGOPMWXJSVKVMTTIVW 
*MK
Start Typical
8LIQEMRWXITWMRXLI
WIPIGXMSRSJKVMTTIVW questions

Determination of all conditions (mass, size, shape)

applying to the gripped object, the motion sequence and any 1 bis 5
limiting factors originating in the process or its environment

Definition of gripper principle: Single, multiple or special grippers, 6 bis 12

holding system, kinematics or force fields

Determination of necessary forces, forces occurring 13 bis 16

and loads to which workpiece is subject

no Can the loads be successfully handled in every 17 bis 21

direction of motion?

yes

List of other important requirements, such as accuracy,

connection conditions, overload protection, 22 bis 26
deviation of gripping points and monitoring devices

Design of gripper jaws, sensor equipment, 27 bis 32

media throughfeeds and mountings

no Does the concept conform to the requirements 33 bis 35

as expressed in the problem description?

yes
Evaluation and selection of gripper model
36 bis 39
(financial and non-financial factors)

Outsourcing, special external manufacture or in-house 40

Stop

0IXYWRS[GSRWMHIVXLIUYIWXMSRW

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 -WXLIVIKSSHEGGIWWXSXLIKVMTTIHSFNIGXKVMTTIVJVIIHSQJIIH
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 GPI#
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 %VIWIZIVEPWIXWSJKVMTTIVNE[W[MXLJEGMPMX]JSVUYMGOGLERKMRKXSFI
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WXEGOZMEWYGXMSRGYTW[LMGLEVIEHZERGIHMRXSXLIMV[SVOMRKTSWMXMSR
WTIGMJMGEPP]JSVXLMWSTIVEXMSR-RXLMW[E]MXMWTSWWMFPIXSSTIVEXI[MXLSYX
EKVMTTIVGLERKMRKW]WXIQ'SQFMREXMSRWSJXLMWOMRHGERFITVSHYGIH
VIPEXMZIP]IEWMP]F]YWMRKTRIYQEXMGG]PMRHIVW[MXLLSPPS[TMWXSRVSHW

*MK
1YPXMPE]IVWXEGOMRKSJ 1
XI\XMPIXLVIEHWTSSPWYWMRK
EGSQFMREXMSRKVMTTIV

 +VMTTIVGSRRIGXMSR
2
 0MJXMRKG]PMRHIV
 ,SPPS[TMWXSRVSH
 7ITEVEXSV
 1ERHVIPKVMTTIV 5 3
 +VMTTIVXLVIEHWTSSP
 *MVWXWXEGOPE]IV 4
 8VERWTSVXTEPPIX 6
7

 7YGXMSRGYTWMRLERHPMRKXIGLRSPSK] 
 *MKWLS[WEKPEWWFYPFJIIHIVW]WXIQ8LIFYPFWIRXIVXLIJIIH
GSRZI]SVF]KVEZMX]ERHEVIXVERWJIVVIHXSETMGOYTTSWMXMSR8LIWI
[SVOTMIGIW[LMGLEVIJVEKMPIERHGYVZIHSREPPWMHIWGERFIVIPMEFP]
TMGOIHYTZMEWYGXMSRKVMTTIVERHJIHMRXSXLIQEGLMRIMREWIGSRHG]
GPI-JMXMWRSXTSWWMFPIXSEPMKRPMKLX[SVOTMIGIWWYJJMGMIRXP][IPPF]KVEZ
MX]MXQE]FIRIGIWWEV]XSTVSZMHIEREMH8LMWGERXEOIXLIJSVQSJQI
GLERMGEPP]STIVEXIH:WLETIHNE[WEXXLITMGOYTWXEXMSR%QIGLERMGEP
VEHMEPKVMTTIVGERTVSZMHIEWYMXEFPIFEWMGQSHYPIJSVEHIZMGISJXLMW
OMRH

*MK
*IIHMRKWXEXMSRJSVKPEWW 5
FYPFW 1
 7[MZIPQEKE^MRI
 ,ERHPMRKHIZMGI[MXL 6
WYGXMSRGYT
 *SVOIHGEVVMIVMRJIIH
GLEMR 2
 +PEWWFYPFW
 *MPPMRKEVIE
 1EKE^MRIVEMP 8
3 7

?A ,IWWI7%XPEWHIVQSHIVRIR,ERHLEFYRKWXIGLRMO%XPEW3J

4YFPMGEXMSRW 1SHIVR,ERHPMRK8IGLRSPSK]TYFPMWLIHMR+IVQERF]:MI[IK
:IVPEK;MIWFEHIR

  7YGXMSRGYTWMRLERHPMRKXIGLRSPSK]
 *MK (MZMWMSRSJE[SVOTMIGIMRXSKVMTTMRK^SRI+
 GPEQTMRK^SRI7ERHWIXHS[R^SRI%  
0MWXSJMPPYWXVEXMSRW *MK ,S[GERE[SVOTMIGIFITMGOIHYT#  
*MK 8LIVMKLXGLSMGISJKVMTTMRKTSMRXGEREJJIGXXLI
TSWMXMSRMRKIVVSVHYVMRKEWWIQFP]  
*MK *IIHMRKEGPEQTMRKHIZMGI  
*MK 8]TIWSJTSMRXPSEHMRKVIWYPXMRKJVSQKVMTTMRK  
*MK 9REQFMKYSYWTMGOYTTSMRXWIRWYVIVIPMEFPIKVMTTMRK  
*MK +VMTTIVHIZMGIW[LMGLGPSWIMREREVGQE]GEYWIEWLMJXSJ
XLIKVMTTMRKGIRXVI 
*MK 'IRXVIHIZMEXMSRVIWYPXMRKJVSQ[SVOTMIGIJSVQIVVSVW 

*MK 9WMRKETSMRXKVMTTIV  

*MK 1YPXMTSMRXKVMTTIVJSVPSRK[SVOTMIGIW 
*MK 1YPXM[SVOTMIGIKVMTTIVJSVXVERWJIVSJGSQTPIXIVS[WSJ
[SVOTMIGIW 
*MK 1YPXM[SVOTMIGIKVMTTIVJSVEWWIQFP]STIVEXMSRW  
*MK 1YPXMTPIWYGXMSRGYTKVMTTIVWJSVEWWIQFP]STIVEXMSRW  
*MK 1IXLSHWSJLSPHMRKE[SVOTMIGII\EQTPIFEPPFIEVMRK  
*MK +VMTTMRKTVMRGMTPI  
*MK +EXIJIIHIVYWMRKETEVEPPIPNE[KVMTTIV  

*MK 4SMRXKVMTTIVGSQFMRIH[MXLW[MZIPPMRIEVYRMX  

*MK 8LILYQERLERHGERI\IGYXIQSXMSRW[MXLHIKVIIWSJ
JVIIHSQEGGSVHMRKXS&ING^] 
*MK (SYFPIKVMTTIVHIWMKRIHEWGVS[RXYVVIX 
*MK 7LEJXKVMTTIV  
*MK ,ERHPMRKQSHYPIJSVEWWIQFP]SJWQEPP[SVOTMIGIW  
*MK ,ERHPMRKYRMX[MXLWYGXMSRGYTERHWIQMVSXEV]EGXYEXSV 
*MK -RZIVXMRK[SVOTMIGIW 
*MK 8VMTTPIKVMTTIVMRWXEPPIHSREWTIGMEPQEGLMRI[MXLHSYFPI
WXEXMSRW  
*MK 4MGOMRKYTJIVVSQEKRIXMGWLIIXWJVSQEWXEGOYWMRKE
WYGXMSRGYTPMJXMRKQSHYPI 
*MK 7MQTPIWTIGMQIRWLEOIVQEHIJVSQWXERHEVH
GSQTSRIRXW  

 0MWXSJMPPYWXVEXMSRW 
 *MK 7SQISJXLIWYFW]WXIQWSJEQIGLERMGEPKVMTTIV 
*MK 8LIGSRXSYVEXXLIKVMTTMRKTSMRXSJXLI[SVOTMIGI
HIXIVQMRIWXLINE[WLETIYWIHSV  
*MK +VMTTIVNE[W[MXLGSQTPMERXWYVJEGIW  
*MK .E[WLETI[MXLGIRXVMRKIJJIGXJSVWGMWWSVXSRKKVMTTIVW  
*MK +VMTTMRKWIZIVEP[SVOTMIGIWWMQYPXERISYWP]YWMRKE
TVIWWYVIHMWXVMFYXSVXSGSQTIRWEXIJSVXSPIVERGIW  
*MK .E[WSJETEVEPPIPKVMTTIVJSVHMEQIXIVVERKIW 
*MK +VMTTIVNE[W[MXLWTIGMEPP]WLETIHQYPXMTPIKVMTTMRK
WYVJEGIW  
*MK :EVMERXWSJNE[WJSVTEVEPPIPKVMTTIVW  
*MK 1SFMPIKVMTTIVNE[WPMJXXLI[SVOTMIGISYXSJXLI:WLETIH
VIGIWWMRXLIQEKE^MRI 
*MK 8LIX]TISJETTVSEGLEJJIGXWXLIVIUYMVIHSTIRMRK  

*MK 8LIPE[SJMRXIVEGXMRKJSVGIW  

*MK *SVGIWEGXMRKSRKVMTTIHSFNIGXWWXEXISJVIWX  
*MK 4PERZMI[SJKVMTTIVWMXYEXMSRW 
*MK 'EPGYPEXMSRSJGSRXEGXJSVGIWJSVEKVMTTIV[MXLE:NE[SR
SRIWMHI  
*MK *SVGIWEXXLITEVEPPIPNE[KVMTTIV[MXL:NE[JSV
[SVOTMIGIW 
*MK *SVGIWMXYEXMSRWHYVMRKKVMTTIVQSXMSR  
*MK )\EQTPISJELERHPMRKXEWO  
*MK )\EQTPIWSJXSVUYIGVIEXIHEWEVIWYPXSJEKVMTTIH
[SVOTMIGI  
*MK )GGIRXVMGJSVGIWEGXMRKSREKVMTTIVJMRKIV  
*MK +VMTTMRKJSVGI*+EWEJYRGXMSRSJKVMTTIVWXVSOIL  

*MK 'LEVEGXIVMWXMGHEXEJSVKVMTTIVW 
*MK +IRIVEPQSHIPSJELERHPMRKSTIVEXMSR 
*MK %NSMRMRKQIGLERMWQ[MXLGSQFMRIHPEXIVEPERHERKYPEV
GSQTIRWEXMSR  
*MK 7MXYEXMSRMR[LMGLERSZIVPSEHSJXLIKVMTTIVERH
LERHPMRKHIZMGIGERSGGYVMJRSGSQTIRWEXMSRMWTVSZMHIH  
*MK 4MGOMRKYTE[SVOTMIGIJVSQEQEKE^MRITEPPIX  
*MK +VMTTIVGSQFMRIH[MXLETVIWWMRKIPIQIRX 
*MK 7MQTPINSMRMRKQIGLERMWQJSVZIVXMGEPEWWIQFP]  
*MK 'SPPMWMSRTVSXIGXMSR[MXLEHNYWXEFPITEVEQIXIVWJSVE
KVMTTIVWLS[MRKVIEGXMSRGETEFMPMX] 
*MK ;LIR[SVOMRK[MXLXLVIIHMQIRWMSREPSFNIGX
GSRJMKYVEXMSRWGSRWMHIVEXMSRQYWXFIKMZIRXSXLI
GPIEVERGIGSRXSYVSJXLIKVMTTIV  
*MK 7TIGMJMGEXMSRWSJPSEHGETEGMX]JSVMRHYWXVMEPVSFSXW  

  0MWXSJMPPYWXVEXMSRW
*MK %TTVS\MQEXIGSVVIPEXMSRFIX[IIRKVMTTIHSFNIGXWERH
KVMTTIVX]TIW 
*MK 6EHMEPKVMTTIVLSPHMRKEWLIIXQIXEP[SVOTMIGI  
*MK -'o7LEZIWTPE]IHTMRW[LMGLEVIEPMKRIHXSXLIHIWMVIH
WTEGMRKHYVMRKXLIKVMTTIVQSXMSR 
*MK )\EQTPISJX[MR[SVOTMIGIKVMTTIVEWEWTIGMEPYWISJE
TEVEPPIPNE[KVMTTIV  
*MK ,ERHPMRKEPIRKXLSJFEVQEXIVMEP[MXLETSMRXKVMTTIV  
*MK +VMTTMRKEVIGXERKYPEV[SVOTMIGI  
*MK %TSMRXKVMTTIVGVIEXIHF]GSQFMRMRKTSMRXKVMTTIVW 
*MK +VMTTIVQSHYPIJSVJPI\MFPIEWWIQFP]  
*MK %WWIQFP]KVMTTIV  
*MK 7IUYIRGIJSVEWWIQFP][MXLMREKVMTTIV  

*MK 1YXYEPP]MRJPYIRXMEPJEGXSVWERHFEWMGZEVMEFPIWVIPEXMRKXS
XLIWIPIGXMSRSJKVMTTIVWJVSQXLIXIGLRMGEPTSMRXSJZMI[  
*MK +IRIVEXMSRSJGLEVEGXIVMWXMGKVMTTIVHEXEWXEVXMRK[MXLXLI
KVMTTIVPSGEXMSR 
*MK 8LIQEMRWXITWMRXLIWIPIGXMSRSJKVMTTIVW  

*MK 8LIQSWXMQTSVXERXJYRGXMSRWERHTVSTIVXMIWMRVIPEXMSRXS
WYGXMSRKVMTTIVW  
*MK *SVGIGSRHMXMSRW[MXLZIVXMGEPP]QSZMRKWYGXMSRGYT  
*MK 8]TMGEPJSVGIWMXYEXMSRWEXWYGXMSRGYT 
*MK 1IXLSHWSJTVSHYGMRKEZEGYYQ 
*MK 'SQTEVMWSRSJTIVJSVQERGISJX]TMGEPZEGYYQKIRIVEXSVW 
*MK 1SHISJSTIVEXMSRSJ:IRXYVMRS^^PI[MXLWLYXSJJZEPZIXS
TVSHYGIINIGXSVIJJIGX  
*MK :EGYYQKIRIVEXSVWMREWIVMIWGMVGYMX  
*MK 7SPIRSMHEGXYEXIHWYGXMSRGYT 
*MK )\EQTPISJEZEGYYQGMVGYMXFEWIHSRERINIGXSV 
*MK 'SVVIGXGLSMGISJXYFMRKHMEQIXIVMWMQTSVXERXMRXLI
HMWXVMFYXMSRSJWYGXMSREMV 

 0MWXSJMPPYWXVEXMSRW 
 *MK %WQEPPWIPIGXMSRSJXLIQENSVX]TIWSJWYGXMSRGYTW  
*MK )ZEPYEXMSRSJZEVMSYWX]TIWSJWYGXMSRGYTW  
*MK *VIIHSQSJQSZIQIRXSJWYGXMSRGYTW  
*MK 7YGXMSRGYTEVVE]JMXXIHXSVSHWEPPS[MRKPSRKMXYHMREP
QSZIQIRXERHYWIHXSTMGOYT[SVOTMIGIWSJGSRWXERXP]
ZEV]MRKGSRXSYVW  
*MK (IITWYGXMSRGYTWGEREHETX[IPPXSGYVZIHWYVJEGIW 
*MK :EGYYQKVMTTIV[MXLZIV]PEVKIJVIIHSQSJQSZIQIRXSJ
WYGXMSRGSQTSRIRXW 
*MK 7XERHEVHWYGXMSRGYTWEVIRSXZIV]WYMXEFPIJSVYWI[MXL
XLMRJSMPQEXIVMEP 
*MK 0S[TVIWWYVIKVMTTIVIUYMTTIH[MXLTSVSYWTPEWXMGSV
TIVJSVEXIHTPEXIW  
*MK 4SWMXMSRMRKEMHWERHWXSTWJSVYWI[MXLZEGYYQKVMTTIVW  
*MK %YXSQEXMGHIEGXMZEXMSRSJYRGSZIVIHWYGXMSRGYTW  
*MK 'MVGYMXHMEKVEQJSVEWYGXMSRLIEHJMXXIH[MXLZEGYYQ
IJJMGMIRG]ZEPZIW 
*MK %GXMZEXMRKEZEGYYQ 
*MK 'MVGYMXHMEKVEQJSVEZEGYYQKIRIVEXSV[MXLERINIGXSV
TYPWIW]WXIQ 
*MK :EGYYQLIEH[MXLpWLSVXGMVGYMXqLSPIXSEXQSWTLIVI  
*MK 'MVGYMXHMEKVEQJSVEWYGXMSRKVMTTIV[MXLEZEGYYQ
KIRIVEXSVERHGSQTVIWWIHEMVINIGXSVW]WXIQ  

*MK 7SQIX]TMGEPETTPMGEXMSRWSJFIPPS[WWYGXMSRGYTW 
*MK 4MGOMRKYTXLMRTERIPW[MXLEWYGXMSRGYT  
*MK 'SQFMREXMSRKVMTTIVJSVLERHPMRKXLMRJIVVMXMGWLIIXQIXEP
[SVOTMIGIW 
*MK :EGYYQMRKWIGSRH[SVOTMIGIWE[E][MXLEVSXEXMRK
WYGXMSRGYT  
*MK ;SVOTMIGIWVIQSZIHJVSQWXEGOYWMRKEWYGXMSRGYTERH
WTVIEHIVQEKRIXW  
*MK *SVGIHFS[MRKSJXLMROFPEROWEXQEKE^MRISYXPIX
TVIZIRXWHSYFPITMGOYTW  
*MK *IIHMRKWXEXMSRJSVXLMRWLIIXQIXEP  
*MK *IIHW]WXIQSRETEGOMRKQEGLMRI 
*MK *IIHMRKSJJSSHGSRXEMRIVW 
*MK 1YPXMPE]IVWXEGOMRKSJXI\XMPIXLVIEHWTSSPWYWMRKE
GSQFMREXMSRKVMTTIV 
*MK *IIHMRKWXEXMSRJSVKPEWWFYPFW  

  0MWXSJMPPYWXVEXMSRW
 TSMRXKVMTTIV 
 HMQIRWMSREPE\IW 
0MWXSJWTIGMEPXIVQW TSMRXKVMTTIV 
TSMRXKVMTTIV 

% EGGYVEG]SJKVMTTMRK 
EHETXIVVEMP  
EHLIWMZIWYGXMSRGYT  
EPMKRQIRXIJJIGX 
ERKPIKVMTTIV  
ERKYPEVGSQTIRWEXMSR  
ETTPMGEXMSREVIE  
EWWIQFP]KVMTTIV  
EWWIQFP]QIGLERMWQ 
E\MEPEPMKRQIRXIVVSV 
E\MWKVMTTIV  

& FEPPERHWSGOIXLIEH  

FIPPS[WWYGXMSRGYT  

' GIRXVIHIZMEXMSR  

GIRXVMRKEMH 
GLERKMRKW]WXIQ  
GLEVEGXIVMWXMGGYVZIJSVKVMTTMRKJSVGI  
GLEVEGXIVMWXMGHEXEJSVKVMTTIVW 
GLIGOPMWXJSVKVMTTIVW  
GPEQTMRKJSVGI  
GPEQTMRKQEVOW  
GPEQTMRKWEJIX]QEVKMR 
GPEQTMRK^SRI 
GPIEVERGIGSRXSYV  
GSIJJMGMIRXSJJVMGXMSR  
GSPPMWMSRTVSXIGXMSR 
GSQFMREXMSRKVMTTIV  
GSQTIRWEXIJSVXSPIVERGIW  
GSQTPMERGIHIZMGI  
GSRXEGXJSVGI  
GSRXEGXWIRWSV  
GVS[RXYVVIX  
GYWLMSRIHWXST  

( HIGIPIVEXMSRJSVGI 
HIITWYGXMSRGYT  
HIKVIIWSJJVIIHSQ 
HIKVIIWSJXVERWQMWWMSR  
HMEQIXIVSJXLIMRXIVJIVIRGIGMVGPI  
HMWXVMFYXMSR[MXLWYGXMSRGYT  
HSYFPIKVMTTIV  
HSYFPIPMTWYGXMSRGYT  
HYTPI\QEGLMRI  

) IGGIRXVMGJSVGI  
INIGXSV 
INIGXSVW]WXIQ  
I\XIVREPKVMTTMRK 

 0MWXSJWTIGMEPXIVQW 
* JIIHGLERRIP  
*IIHKVMTTIV 
JIIHMRK 
JIIHMRKWXEXMSR 
JMREPIJJIGXSV 
JSVGIGSRHMXMSRW[MXLWYGXMSRGYT  
JSVGIPSGOMRKGSRRIGXMSR 
JVMGXMSRJSVGI 
JVMGXMSRPSGOMRK  

+ KISQIXVMGEPIVVSV  
KVMTTIHSFNIGX 
KVMTTIVJMRKIV  
KVMTTIVJMRKIVW  
KVMTTIVNE[W  
KVMTTIVQSHYPI  
KVMTTIVTMR  
KVMTTIVWIPIGXMSR 
KVMTTIVWIPIGXMSRXSSP 
KVMTTIVW]WXIQ  
KVMTTIVX]TIW 
KVMTTIV[SVOMRKEVIE 
KVMTTMRKGIRXVI 
KVMTTMRKJSVGI 
KVMTTMRKTSMRX  
KVMTTMRKWXVSOI  
KVMTTMRKWYVJEGITEMVW  
KVMTTMRK^SRI  
KYMHI[IHKI  

, LERHE\IW  

LERHNSMRXWIRWSV 
LERHPMRKQSHYPI 
LERHPMRKSJWLIIXQIXEP  
LERHPMRKSTIVEXMSR  
LMKLTSMRXPSEHMRK 

- MRIVXMEJSVGI  
MRXIVJIVIRGIGMVGPI  
MRXIVREPKVMTTMRK  
-6''  

. NE[WLETI 
NE[X]TIKVMTTIV 

/0 ORIIPIZIVKVMTTIV 
PEXIVEPGSQTIRWEXMSR  
PMJXMRKWYGXMSRGYT  
0SEHFIEVMRKGETEGMX] 
PS[TVIWWYVIKVMTTIV 

1 QEKE^MRITEPPIX  
QE\MQYQPSEH  
QSYPHMRKNE[  
QYPXMTPIWYGXMSRGYTKVMTTIV 

  0MWXSJWTIGMEPXIVQW
1 QYPXMTSMRXKVMTTIV 
QYPXMWXEKIINIGXSV 
QYPXM[SVOTMIGIKVMTTIV 

2 RSQMREPPSEH  
RSRWPMTGSZIVMRK  
RSVQEPJSVGI 

3 STIRMRKWEJIX]QEVKMR  
SZEPWYGXMSRGYT 
SZIVPSEHSJKVMTTIV  

4 TEVEPPIPNE[KVMTTIV 
TIEOXSZEPPI]LIMKLX  
TIRHYPYQNE[  
TMGOERHTPEGIHIZMGI  
TMWXSRWYGXMSRW]WXIQ  
TPEGMRKIVVSV  
TPERRIHKVMTTIVETTPMGEXMSR 
TPEWXMGGSZIVMRK 
TPYKKVMTTIV  
TSMRXPSEHMRK 
TSWMXMSRGSQTIRWEXMSR  
TSWMXMSRMRKEMH  
TSWMXMSRMRKIVVSV  
TSWMXMZIPSGOMRKGSRRIGXMSR  
TSWMXMZIPSGOMRKKVMTTMRK  
TVIWWYVIHIZMGI  
TVIWWYVIHMWXVMFYXSV  
TVIWWYVITIVYRMXEVIE 
TVIWWYVITPEXI 
TYPWIIJJIGX  

56 UYMGOI\LEYWX 
VEHMEPKVMTTIV  
6''  
VITIXMXMSREGGYVEG]  
VMFFIHWYGXMSRGYT  
VYFFIVGSZIVMRK 
VYRRMRKJVIIHSQ  

7 WEJIX]JEGXSV 
WGMWWSVWX]TIKVMTTIV  
WIGYVMRKJYRGXMSR  
WIPJEHLIVMRKWYGXMSRGYT  
WIRWSVMRHYGXMZI  
WITEVEXSV  
WIUYIRGIKVMTTIV  
WIVZMGIPMJI 
WIXHS[R^SRI  
WLEJXKVMTTIV  
WLSVXWXVSOIE\MW  
WLYXSJJHIZMGI  
WMRKPIWXEKIINIGXSV  
WTIGMQIRWLEOIV 

 0MWXSJWTIGMEPXIVQW 
7 WTVIEHIVQEKRIX 
WTVMRKPSEHIHKVMTTIV  
WXERHEVHKVMTTIV  
WXITTIHXVEGO 
WYGXMSRGYT  
7YGXMSRGYTEVVE] 
WYGXMSRGYTWLETI  
WYGXMSRGYTPMJXMRKQSHYPI  
W[MZIPPMRIEVYRMX 

8 8'4 
XLMVHPE[SJQSXMSR 
XLVIIJMRKIVKVMTTIV 
XLVIITSMRXKVMTTIV  
XLVYWXIVHIZMGI 
XSSPGIRXVITSMRX  
XVMTPIXYVVIXKVMTTIV  
XYVRMRK[SVOTMIGIWSZIV  
XYVVIXKVMTTIV  
X[MR[SVOTMIGIKVMTTIV  
X[SJMRKIVKVMTTIV  
X]TISJETTVSEGL 

9 YRMZIVWEPNE[W  
YWIWSJKVMTTIVW  

: ZEGYYQFPS[IV  
ZEGYYQGMVGYMX  
ZEGYYQIJJMGMIRG]ZEPZI  
ZEGYYQKIRIVEXSV 
ZEGYYQQEREKIQIRX  
ZEGYYQW[MXGL  
ZEGYYQXIGLRSPSK] 
ZGYYQTYQT  
ZIRXYVIX]TIZEGYYQKIRIVEXSV 
ZIRXYVMRS^^PI  
ZIVXMGEPQEKE^MRI 
ZMGIX]TIKVMTTIV 
ZNE[KVMTTIV 

; [MHIVERKIKVMTTIV  

  0MWXSJWTIGMEPXIVQW