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.
T
h
e
lif
ti
n
g
ca
p
ac
it
y
o
f
th
i
s
s
y
s
te
m
is
ab
o
u
t
1
5
to
n
n
e.
Ma
g
n
etic
s
y
s
te
m
is
t
h
e
ea
s
ie
s
t
a
n
d
f
a
s
test
in
h
a
n
d
lin
g
o
f
co
ils
.
I
t
i
s
also
a
v
er
y
ec
o
n
o
m
ical
m
et
h
o
d
o
f
h
a
n
d
lin
g
t
h
e
co
il
s
.
A
s
t
h
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m
ag
n
et
is
u
s
ed
f
o
r
li
f
ti
n
g
th
e
co
il,
t
h
er
e
i
s
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o
p
o
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ib
ilit
y
o
f
d
a
m
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g
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to
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h
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c
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ils
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L
o
w
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to
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s
p
ac
e
i
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ir
ed
.
T
o
o
p
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ate
th
is
s
y
s
te
m
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m
an
p
o
w
er
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ir
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co
m
p
ar
ativ
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y
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m
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Fig
u
r
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.
Ma
g
n
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S
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IJ
RA
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tack
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ater
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o
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m
ac
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e
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li
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C
N
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m
illi
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g
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I
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ab
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u
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k
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it
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o
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f
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r
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a
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h
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ef
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lic
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er
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h
an
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it
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s
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to
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p
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ate,
less
m
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.
Fig
u
r
e
4
.
H
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m
2
.
5
.
Va
cuu
m
Sy
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t
e
m
Su
ctio
n
s
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m
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r
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u
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s
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o
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w
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li
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h
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it
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t
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r
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e.
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h
e
s
u
ctio
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cu
p
s
w
h
ich
ar
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u
s
ed
f
o
r
lif
ti
n
g
ar
e
m
ad
e
u
p
o
f
n
at
u
r
al
r
u
b
b
er
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h
e
v
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r
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m
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ev
ice
is
u
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ed
to
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ea
te
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m
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f
f
ec
t.
T
h
e
s
en
s
o
r
s
ar
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in
s
talled
to
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t
th
e
o
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o
f
th
e
p
r
o
d
u
ct
w
h
ich
w
e
h
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v
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to
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t.
On
th
e
m
ac
h
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n
e,
th
e
elec
t
r
i
ca
l
an
d
p
n
eu
m
a
tic
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ip
m
e
n
ts
ar
e
s
et.
Fig
u
r
e
5
.
Vac
u
u
m
S
y
st
em
2
.
6
.
Sla
b H
a
nd
Cra
ne
On
e
m
o
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s
y
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te
m
w
h
ic
h
i
s
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s
ed
f
o
r
t
h
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li
f
ti
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h
ea
v
y
d
u
t
y
m
ater
ials
is
s
lab
h
a
n
d
cr
an
e.
T
h
e
lif
ti
n
g
ca
p
ac
it
y
o
f
th
is
cr
a
n
e
i
s
v
er
y
h
ig
h
th
at
is
1
8
0
to
n
n
e.
Fo
r
s
i
n
g
le
o
r
m
u
ltip
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lab
h
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d
li
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g
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ip
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w
it
h
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ical
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r
h
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o
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s
e
th
e
r
ate
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r
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,
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ip
p
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ee
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ed
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ce
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m
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m
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h
e
cr
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e
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ell
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5
0
m
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.
Fig
u
r
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6
.
Slab
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C
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52
3.
AUTOM
AT
I
O
N
I
N
I
NDUS
T
RY
I
n
r
o
b
o
tics
an
d
au
to
m
atio
n
i
n
d
u
s
tr
y
s
ec
to
r
,
th
e
co
n
s
tr
u
c
tio
n
i
n
d
u
s
tr
y
is
o
n
e
o
f
t
h
e
m
o
s
t
u
n
f
a
m
ilia
r
R
&
D
f
ield
s
.
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h
e
co
n
s
tr
u
ctio
n
in
d
u
s
tr
y
is
o
n
e
o
f
t
h
e
lar
g
es
t
an
d
o
ld
est
ec
o
n
o
m
y
s
ec
to
r
.
I
n
t
h
e
i
n
d
u
s
tr
ialized
co
u
n
tr
ies
li
k
e
US
a
n
d
J
ap
an
,
t
h
e
co
n
tr
ib
u
tio
n
o
f
in
d
u
s
tr
y
to
th
eir
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is
ab
o
u
t
7
to
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%
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u
t
in
co
m
p
ar
is
o
n
to
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e
r
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t
ad
v
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ce
d
tec
h
n
o
lo
g
y
,
it
s
ee
m
s
t
h
at
t
h
e
le
v
el
o
f
a
u
to
m
atio
n
i
n
co
n
s
tr
u
ct
io
n
is
s
til
l
v
er
y
lo
w
.
T
h
is
i
s
th
e
r
ea
s
o
n
w
h
y
all
r
esear
ch
e
r
s
an
d
co
m
p
a
n
ie
s
m
u
s
t
tak
e
n
e
w
ef
f
o
r
ts
to
i
n
cr
ea
s
e
le
v
e
l
o
f
a
u
to
m
atio
n
i
n
in
d
u
s
tr
y
s
ec
to
r
.
I
n
m
a
n
y
i
n
d
u
s
tr
y
s
ec
to
r
s
,
co
n
s
tr
u
ct
io
n
is
o
n
e
o
f
th
e
m
o
s
t
i
m
p
o
r
tan
t
ec
o
n
o
m
y
as
p
ec
t.
Mo
r
e
co
m
p
eti
tio
n
,
le
s
s
s
k
il
led
lab
o
r
an
d
tech
n
o
lo
g
y
ad
v
a
n
c
e
m
en
t
ar
e
f
o
r
cin
g
to
m
ak
e
r
ap
id
ch
an
g
e
s
i
n
co
n
s
tr
u
ct
io
n
a
u
to
m
atio
n
.
A
ll t
h
ese
asp
ec
t
s
m
o
ti
v
ate
s
f
o
r
th
e
au
to
m
at
io
n
i
n
th
e
i
n
d
u
s
tr
y
.
He
av
y
m
ac
h
in
e
s
s
u
c
h
as
b
u
lld
o
ze
r
s
,
ex
ca
v
ato
r
s
ar
e
v
er
y
co
m
m
o
n
in
co
n
s
tr
u
ct
io
n
.
R
esear
ch
d
ev
elo
p
m
en
t
h
av
e
s
h
o
w
n
th
e
p
r
o
m
is
e
o
f
au
to
m
atio
n
i
n
co
n
s
tr
u
ct
io
n
in
d
u
s
tr
y
b
u
t
s
til
l
t
h
e
f
u
l
l
y
a
u
to
m
at
io
n
i
n
co
n
s
tr
u
ctio
n
s
it
e
is
d
r
ea
m
o
f
s
o
m
e
civ
il e
n
g
i
n
ee
r
s
.
I
n
m
a
n
u
f
ac
tu
r
i
n
g
i
n
d
u
s
tr
y
,
t
h
e
i
m
p
le
m
e
n
tat
io
n
o
f
r
o
b
o
t
h
as
b
ee
n
a
v
alu
e
ad
d
ed
en
t
it
y
.
R
o
b
o
tic
s
i
m
u
lat
io
n
is
u
s
ed
to
v
is
u
alize
th
e
en
tire
r
o
b
o
tic
m
o
v
e
m
en
t
o
f
ar
m
s
b
ased
o
n
s
er
ies
o
f
p
r
e
d
ef
in
ed
g
eo
m
etr
ic
po
in
ts
,
la
y
o
u
t
c
h
ec
k
in
g
a
n
d
r
o
b
o
t’
s
r
ea
ch
ab
ilit
y
b
y
g
e
n
er
a
tin
g
w
o
r
k
p
lace
,
co
llis
io
n
a
n
d
n
ea
r
m
is
s
d
etec
tio
n
an
d
m
o
n
ito
r
in
g
o
n
th
e
c
y
cle
t
i
m
e
u
p
o
n
co
m
p
leti
n
g
t
h
e
tas
k
.
T
h
e
r
esear
ch
er
Z
o
m
a
y
a,
e
x
p
la
in
t
h
e
r
o
le
o
f
r
o
b
o
t
in
i
n
d
u
s
tr
y
a
n
d
s
o
m
e
o
f
t
h
e
m
ar
e
co
s
t
o
f
lab
o
r
s
,
in
cr
e
m
en
t
i
n
f
lex
ib
il
it
y
,
v
er
s
ati
lit
y
an
d
d
is
p
lace
h
u
m
an
w
o
r
k
i
n
g
in
h
az
ar
d
o
u
s
a
n
d
i
m
p
r
ac
tical
en
v
ir
o
n
m
e
n
t.
A
r
o
b
o
t
is
o
n
e
o
f
th
e
m
o
s
t
p
o
p
u
lar
is
s
u
e
o
n
r
o
b
o
tic
f
ield
.
A
r
o
b
o
tic
ar
m
w
h
ic
h
is
u
s
ed
in
in
d
u
s
tr
y
m
a
y
h
a
v
e
s
in
g
le
ar
m
o
r
d
u
al
ar
m
.
T
h
e
d
u
al
ar
m
r
o
b
o
t
h
as
t
w
o
ar
m
s
s
a
m
e
as
h
u
m
a
n
.
T
h
e
d
u
al
ar
m
r
o
b
o
t
is
ab
le
to
p
er
f
o
r
m
m
o
r
e
co
m
p
le
x
tas
k
t
h
an
t
h
e
s
i
n
g
le
ar
m
r
o
b
o
t,
an
d
s
o
m
e
o
f
t
h
e
ta
s
k
s
ar
e
h
a
n
d
lin
g
o
f
m
ater
ial
s
o
r
p
ick
an
d
p
lace
o
p
er
atio
n
.
On
e
ca
n
r
ep
lace
h
u
m
an
b
y
r
o
b
o
t
in
in
d
u
s
tr
y
b
y
co
n
s
id
er
i
n
g
its
f
ea
t
u
r
es
a
n
d
ad
v
an
ta
g
es.
4.
WO
RK
SPAC
E
L
T
W
o
r
k
s
p
ac
e
is
a
s
o
f
t
w
ar
e
w
h
ich
i
s
u
s
ed
f
o
r
th
e
s
i
m
u
latio
n
p
u
r
p
o
s
e.
Si
m
u
latio
n
f
o
r
r
o
b
o
tics
an
d
m
an
u
f
ac
t
u
r
in
g
a
u
to
m
atio
n
f
o
r
in
d
u
s
tr
y
a
n
d
f
o
r
ed
u
ca
ti
o
n
.
T
h
er
e
ar
e
m
ai
n
l
y
t
w
o
t
y
p
e
s
o
f
w
o
r
k
s
p
ac
e
s
i
m
u
lat
io
n
s
o
f
t
w
ar
e
w
o
r
k
s
p
ac
e
L
T
an
d
w
o
r
k
s
p
ac
e
5
.
Ou
t
o
f
t
w
o
th
e
w
o
r
k
s
p
ac
e
L
T
is
u
s
e
d
f
o
r
th
e
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m
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s
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p
ab
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f
cr
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3
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m
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m
an
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3
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m
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to
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cr
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ca
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tate
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h
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3
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m
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s
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p
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id
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h
le
v
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co
n
tr
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l
w
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n
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t
p
o
s
s
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b
y
tr
ad
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m
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Of
f
l
in
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r
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s
u
p
p
o
r
ts
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ati
v
e
r
o
b
o
t
lan
g
u
a
g
es.
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m
e
o
f
cu
r
r
en
tl
y
s
u
p
p
o
r
ted
lan
g
u
a
g
es
ar
e
A
r
la,
R
ap
id
,
K
ar
el,
T
P
,
Val1
,
Val2
etc.
On
e
m
o
r
e
f
ea
t
u
r
e
o
f
t
h
i
s
s
o
f
t
w
ar
e
i
s
s
i
m
u
latio
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n
t
h
is
ac
cu
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ate
k
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m
at
ic
m
o
d
elin
g
o
f
r
o
b
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d
m
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h
a
n
is
m
is
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o
n
e.
I
t
also
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as
co
llis
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d
e
tectio
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f
ea
t
u
r
e.
B
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t c
o
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t
h
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t
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m
a
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b
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ch
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s
m
in
i
m
u
m
co
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th
er
e
is
m
i
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m
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p
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d
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w
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t
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f
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x
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s
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p
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cle
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w
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ca
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s
av
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p
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w
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to
m
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p
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w
ar
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5.
CO
NCLU
SI
O
N
I
n
t
h
is
p
ap
er
,
w
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d
is
c
u
s
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n
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d
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p
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A
s
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w
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t
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lled
co
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