EN ISO 14539:2001

SLOVENSKI STANDARD
01-oktober-2003
Manipulirni industrijski roboti – Predmeti z grabilnimi prijemalniki in ravnanje z
njimi – Slovar in prikaz lastnosti (ISO 14539:2000)
Manipulating industrial robots - Object handling with grasp-type grippers - Vocabulary
and presentation of characteristics (ISO 14539:2000)
Industrieroboter - Werkstückhandhabung mit Fingergreifern - Wörterbuch und
Darstellung von Charakteristika (ISO 14539;2000)
Robots manipulateurs industriels - Manipulation des objets par préhenseurs a pince -
Vocabulaire et présentation des caractéristiques (ISO 14539:2000)
Ta slovenski standard je istoveten z: EN ISO 14539:2001
ICS:
01.040.25 Izdelavna tehnika (Slovarji) Manufacturing engineering
(Vocabularies)
25.040.30 Industrijski roboti. Industrial robots.
Manipulatorji Manipulators
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.

EUROPEAN STANDARD
EN ISO 14539
NORME EUROPÉENNE
EUROPÄISCHE NORM
December 2001
ICS 01.040.25; 25.040.30
English version
Manipulating industrial robots - Object handling with grasp-type
grippers - Vocabulary and presentation of characteristics (ISO
14539:2000)
Robots manipulateurs industriels - Manipulation des objets Industrieroboter - Werkstückhandhabung mit Fingergreifern
par préhenseurs à pince - Vocabulaire et présentation des - Wörterbuch und Darstellung von Charakteristika (ISO
caractéristiques (ISO 14539:2000) 14539:2000)
This European Standard was approved by CEN on 16 November 2001.
CEN members are bound to comply with the CEN/CENELEC Internal Regulations which stipulate the conditions for giving this European
Standard the status of a national standard without any alteration. Up-to-date lists and bibliographical references concerning such national
standards may be obtained on application to the Management Centre or to any CEN member.
This European Standard exists in three official versions (English, French, German). A version in any other language made by translation
under the responsibility of a CEN member into its own language and notified to the Management Centre has the same status as the official
versions.
CEN members are the national standards bodies of Austria, Belgium, Czech Republic, Denmark, Finland, France, Germany, Greece,
Iceland, Ireland, Italy, Luxembourg, Netherlands, Norway, Portugal, Spain, Sweden, Switzerland and United Kingdom.
EUROPEAN COMMITTEE FOR STANDARDIZATION
COMITÉ EUROPÉEN DE NORMALISATION
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© 2001 CEN All rights of exploitation in any form and by any means reserved Ref. No. EN ISO 14539:2001 E
worldwide for CEN national Members.

CORRECTED  2002-09-25
Foreword
The text of ISO 14539:2000 has been prepared by Technical Committee ISO/TC 184
"Industrial automation systems and integration” of the International Organization for
Standardization (ISO) and has been taken over as EN ISO 14539:2001 by Technical
Committee CEN/TC 310 "Advanced Manufacturing Technologies", the secretariat of which is
held by BSI.
This European Standard shall be given the status of a national standard, either by publication
of an identical text or by endorsement, at the latest by June 2002, and conflicting national
standards shall be withdrawn at the latest by June 2002.
According to the CEN/CENELEC Internal Regulations, the national standards organizations of
the following countries are bound to implement this European Standard: Austria, Belgium,
Czech Republic, Denmark, Finland, France, Germany, Greece, Iceland, Ireland, Italy,
Luxembourg, Netherlands, Norway, Portugal, Spain, Sweden, Switzerland and the United
Kingdom.
Endorsement notice
The text of ISO 14539:2000 has been approved by CEN as EN ISO 14539:2001 without any
modifications.
NOTE  Normative references to International Standards are listed in Annex ZA (normative).
Annex ZA
(normative)
Normative references to international publications
with their relevant European publications
This European Standard incorporates by dated or undated reference, provisions from other
publications. These normative references are cited at the appropriate places in the text and the
publications are listed hereafter. For dated references, subsequent amendments to or revisions
of any of these publications apply to this European Standard only when incorporated in it by
amendment or revision. For undated references the latest edition of the publication referred to
applies (including amendments).
NOTE Where an International Publication has been modified by common modifications,
indicated by (mod.), the relevant EN/HD applies.
Publication Year Title EN Year
ISO 8373 1994 Manipulating industrial robots - EN ISO 8373 1996
Vocabulary
ISO 9409-1 1996 Manipulating industrial robots - EN ISO 9409-1 1996
Mechanical interfaces - Part 1: Plates
(form A)
ISO 9409-2 1996 Manipulating industrial robots - EN ISO 9409-2 1996
Mechanical interfaces - Part 2: Shafts
(form A)
ISO 9787 1999 Manipulating industrial robots - EN ISO 9787 1999
Coordinate systems and motion
nomenclatures
INTERNATIONAL ISO
STANDARD 14539
NORME
First edition
Première édition
INTERNATIONALE
2000-11-01
Manipulating industrial robots — Object
handling with grasp-type grippers —
Vocabulary and presentation of
characteristics
Robots manipulateurs industriels —
Manipulation des objets par préhenseurs
à pince — Vocabulaire et présentation
des caractéristiques
Reference number
Numéro de référence
ISO 14539:2000(E/F)
©
ISO 2000
ISO 14539:2000(E/F)
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ISO 14539:2000(E/F)
Contents Page
Foreword.v
Introduction.vii
1 Scope .1
2 Terms and definitions .1
3 Vocabulary of object handling .2
3.1 Type of handling .2
3.2 Grasps.5
3.3 Coordinate systems in object handling .8
3.4 Sensing in object handling .10
4 Vocabulary of grasp-type grippers .11
4.1 Type of end effectors .11
4.2 Elements and mechanisms of grasp-type grippers .12
4.3 Type of grasp-type grippers .14
4.4 Type of fingers .15
4.5 Finger control.16
4.6 Clamping elements.18
4.7 Robot interfaces.19
4.8 Safety in grasps and grasping .19
Annex A (normative) Formats for the presentation of gripper characteristics .21
Alphabetical index .30
ISO 14539:2000(E/F)
Sommaire Page
Avant-propos.vi
Introduction .viii
1 Domaine d'application.1
2Termesetdéfinitions.1
3 Vocabulaire de la manipulation d'objet .2
3.1 Type de manipulation.2
3.2 Prises .5
3.3 Systèmes de coordonnées lors de la manipulation d'objets .8
3.4 Contrôle lors de la manipulation d'objets .10
4 Vocabulaire des préhenseurs à pince .11
4.1 Types de terminaux .11
4.2 Éléments et mécanismes des préhenseurs à pince.12
4.3 Types de préhenseurs à pince .14
4.4 Types de doigts.15
4.5 Commande des doigts .16
4.6 Éléments de serrage.
...