Capability Model ontology

Classes

basic resource information
blind riveting
box shape
bulk box feeding
capability
capability parameter additional
combined capability
cone shape
cylinder shape
drill bit function
drilling
expanding ring with gripper
expansion grasping
finger function
finger grasping
finger gripper function
fixturing
force applying
force detail
frame function
hammer function
hammering
holding by gravity
impact riveting
inserting
item size
linear movement range
locating visual
magnetic grasping
manual tool driver function
milling
milling cutter function
milling tool function
mounting flexible ring external
movement range
moving
moving collaborative
moving tool
ogiva function
ogiva toolset function
orbital powerhead function
orbital riveting
orienting mechanical
part storing in bulk
part storing in tray
part storing in tube
performance
pick and place
pick and place flexible
picking
placing
positioning mechanical
press tool function
pressing
pulling
pyramid shape
radial powerhead function
radial riveting
ratchet function
ratchet wrench function
releasing
ring mounting tool function
rivet holding
riveting tool function
rollset function
rotational movement range
screwing
screwing head function
screwing with wrench
shape and size definition
simple capability
sphere shape
spinning tool
storing
thread running
tightening from side
tool holding
transport feeding
transporting
transporting collaborative
tray feeding
tray holding
tube feeder base function
tube feeding
twisting
twisting driver
vacuum cup function
vacuum grasping
vacuum gripper function
workspace
workspace articulated
workspace cartesian
workspace cylinder
workspace polar
wrench function

basic resource information^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#BasicResourceInformation

This class is meant for storing some basic resource information which is needed for combined capability calculation and capability matching, but which is not directly logically related to any capability.

has super-classes: capability parameter additional^c; dimension x^dp exactly 1; dimension y^dp exactly 1; dimension z^dp exactly 1; mass^dp exactly 1; diameter^dp max 1

blind riveting^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#BlindRiveting

Capability to join parts by blind riveting, i.e. riveting only from one side of the product. Sometimes called pop riveting.

has super-classes: combined capability^c; blind riveting; rivet type^dp value blind; rivet head shape^dp min 1; force max^dp exactly 1; rivet type^dp exactly 1; stroke max^dp exactly 1; force min^dp max 1; has input capability^op some moving^c; has input capability^op some pulling^c; has input capability^op some riveting tool function^c; has rivet size max^op some item size^c; has rivet size min^op some item size^c; has suitable material^op only material type; has suitable material^op min 1; has item size max^op exactly 1; has rivet size max^op exactly 1; has rivet size min^op exactly 1; has item size min^op max 1
is disjoint with: bulk box feeding^c, drilling^c, finger grasping^c, impact riveting^c, inserting^c, milling^c, milling tool function^c, mounting flexible ring external^c, ogiva toolset function^c, orbital riveting^c, pick and place^c, picking^c, placing^c, pressing^c, radial riveting^c, screwing^c, thread running^c, transport feeding^c, transporting^c, transporting collaborative^c, tray feeding^c, tube feeding^c, vacuum grasping^c

box shape^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#BoxShape

This class is used to define the dimensional parameters for a box shaped object.

has super-classes: shape and size definition^c; dimension x^dp exactly 1; dimension y^dp exactly 1; dimension z^dp exactly 1

bulk box feeding^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#BulkBoxFeeding

Capability to feed parts directly from bulk, e.g. from boxes. Other commonly used term is bin picking. Machine vision is needed to identify the position and orientation of the parts.

has super-classes: combined capability^c; bulk box feeding; has input capability^op some locating visual^c; has input capability^op some part storing in bulk^c; has item size min^op some item size^c; has item size max^op only item size^c; has item size max^op exactly 1; has item size min^op exactly 1; payload^dp exactly 1
is disjoint with: blind riveting^c, drilling^c, finger grasping^c, impact riveting^c, inserting^c, milling^c, milling tool function^c, mounting flexible ring external^c, ogiva toolset function^c, orbital riveting^c, pick and place^c, picking^c, placing^c, pressing^c, radial riveting^c, screwing^c, thread running^c, transport feeding^c, transporting^c, transporting collaborative^c, tray feeding^c, tube feeding^c, vacuum grasping^c

capability^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Capability

Capability class is a parent class for the specific capability classes, which define the functionalities of resources. Capabilities can be simple or combined capabilities, but they are all saved as sub-classes of the Capability without separating them into different classes. This is because combined capabilities may be aggregated from lower level combined capabilities.

has super-classes: capability definition element^c
has sub-classes: combined capability^c, simple capability^c
is in range of: has input capability^op, refers to capability^op

capability parameter additional^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#CapabilityParameterAdditional

In this class are saved some additional parameters related to resources and their capabilities. Different parameter types, which are modelled through a separate class instead of datatype properties of a relevant capability class may be: 1) Parameters, which affect the capability of the resource, but which can not be directly assigned to any capability, e.g. dimensions or weight of the resources. 2) Parameter groups, which can relate to multiple different capabilities, e.g. ItemSize which can be used to indicate the min and max size of an item that can be handled with a certain capability, are implemented as a separate class to improve the reusability of the parameters. 3) Parameter groups, which relate directly to certain capability, but which parameters depend on the nature of the capability. E.g. the workspace type of the movement capability determines the parameters of the workspace and can not thus modelled as datatype properties of the Moving capability directly.

has super-classes: capability definition element^c
has sub-classes: basic resource information^c, force detail^c, item size^c, movement range^c, performance^c, shape and size definition^c, workspace^c

combined capability^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#CombinedCapability

This is the parent class for all the combined capabilities.

has super-classes: capability^c
has sub-classes: blind riveting^c, bulk box feeding^c, drilling^c, finger grasping^c, hammering^c, impact riveting^c, inserting^c, milling^c, milling tool function^c, mounting flexible ring external^c, ogiva toolset function^c, orbital riveting^c, pick and place^c, pick and place flexible^c, picking^c, placing^c, pressing^c, radial riveting^c, ratchet wrench function^c, screwing^c, screwing with wrench^c, thread running^c, tightening from side^c, transport feeding^c, transporting^c, transporting collaborative^c, tray feeding^c, tube feeding^c, twisting driver^c, vacuum grasping^c
is in domain of: has input capability^op

cone shape^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ConeShape

This class is used to define the dimensional parameters for a cone shaped object.

has super-classes: shape and size definition^c; diameter^dp exactly 2; dimension z^dp exactly 1

cylinder shape^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#CylinderShape

This class is used to define the dimensional parameters for a cylinder shaped object.

has super-classes: shape and size definition^c; diameter^dp exactly 1; dimension z^dp exactly 1

drill bit function^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#DrillBitFunction

Capability of a drill bit.

has super-classes: simple capability^c; has suitable material^op only material type; has suitable material^op min 1; hole diameter^dp min 1; bottom shape^dp exactly 1; drill bit type^dp exactly 1; drilling depth max^dp exactly 1; tolerance lower value^dp exactly 1; tolerance upper value^dp exactly 1; hole diameter^dp max 2
is disjoint with: drilling^c, finger function^c, finger grasping^c, finger gripper function^c, fixturing^c, force applying^c, holding by gravity^c, milling^c, milling cutter function^c, milling tool function^c, moving^c, moving collaborative^c, moving tool^c, orienting mechanical^c, part storing in tray^c, part storing in tube^c, pick and place^c, picking^c, positioning mechanical^c, press tool function^c, pressing^c, releasing^c, screwing^c, screwing head function^c, spinning tool^c, tool holding^c, transport feeding^c, transporting^c, tray feeding^c, tray holding^c, tube feeder base function^c, tube feeding^c, vacuum cup function^c, vacuum grasping^c, vacuum gripper function^c

drilling^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Drilling

Capability to perform drilling operation. For example drill with attached drill bit, or milling machine with attached tool holder and drill bit, has this capability.

has super-classes: combined capability^c; drilling; has input capability^op some drill bit function^c; has input capability^op some spinning tool^c; has input capability^op some tool holding^c; has input capability^op some moving^c or moving tool^c; has suitable material^op only material type; has suitable material^op min 1; hole diameter^dp min 1; bottom shape^dp exactly 1; drill bit type^dp exactly 1; drilling depth max^dp exactly 1; tolerance lower value^dp exactly 1; tolerance upper value^dp exactly 1; hole diameter^dp max 2
is disjoint with: blind riveting^c, bulk box feeding^c, drill bit function^c, finger function^c, finger grasping^c, finger gripper function^c, fixturing^c, force applying^c, holding by gravity^c, impact riveting^c, inserting^c, milling^c, milling cutter function^c, milling tool function^c, mounting flexible ring external^c, moving^c, moving collaborative^c, moving tool^c, ogiva toolset function^c, orbital riveting^c, orienting mechanical^c, part storing in tray^c, part storing in tube^c, pick and place^c, picking^c, placing^c, positioning mechanical^c, press tool function^c, pressing^c, radial riveting^c, releasing^c, screwing^c, screwing head function^c, spinning tool^c, thread running^c, tool holding^c, transport feeding^c, transporting^c, transporting collaborative^c, tray feeding^c, tray holding^c, tube feeder base function^c, tube feeding^c, vacuum cup function^c, vacuum grasping^c, vacuum gripper function^c

expanding ring with gripper^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ExpandingRingWithGripper

Capability to expand a flexible ring, e.g. o-ring, with a gripper type tool.

has super-classes: simple capability^c; has suitable material^op some material type; has allowed item shape and size internal max^op only cylinder shape^c; has allowed item shape and size internal min^op only cylinder shape^c; has shape and size internal^op only cylinder shape^c; has allowed item shape and size internal max^op exactly 1; has allowed item shape and size internal min^op exactly 1; has shape and size internal^op exactly 1; force max^dp exactly 1

expansion grasping^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ExpansionGrasping

This is a capability to grasp items internally by expansion.

has super-classes: simple capability^c; has shape and size^op some shape and size definition^c; grasping type^dp value Internal grasping; accuracy^dp exactly 1; contraction time min^dp exactly 1; expansion time min^dp exactly 1; expansion max^dp exactly 1; expansion min^dp exactly 1; gripper type^dp exactly 1; payload^dp exactly 1; repeatability^dp exactly 1

finger function^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerFunction

Capability of a finger that is used in a finger gripper. Note! It has been decided in ReCaM that the finger gripper is described as one unit, including the fingers. Therefore, this capability is not used in ReCaM.

has super-classes: simple capability^c; finger type^dp min 1; grasping type^dp min 1; tolerance lower value^dp exactly 1; tolerance upper value^dp exactly 1; finger type^dp max 2; grasping type^dp max 2
is disjoint with: drill bit function^c, drilling^c, finger grasping^c, finger gripper function^c, fixturing^c, force applying^c, holding by gravity^c, milling^c, milling cutter function^c, milling tool function^c, moving^c, moving collaborative^c, moving tool^c, orienting mechanical^c, part storing in tray^c, part storing in tube^c, pick and place^c, picking^c, positioning mechanical^c, press tool function^c, pressing^c, releasing^c, screwing^c, screwing head function^c, spinning tool^c, tool holding^c, transport feeding^c, transporting^c, tray feeding^c, tray holding^c, tube feeder base function^c, tube feeding^c, vacuum cup function^c, vacuum grasping^c, vacuum gripper function^c

finger grasping^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping

Capability to grasp items with fingers. For example finger gripper (with attached fingers) has this capability.

has super-classes: combined capability^c; finger grasping; has input capability^op some finger function^c; has input capability^op some finger gripper function^c; has allowed item shape and size max^op max 4; has allowed item shape and size min^op max 4; finger type^dp min 1; grasping type^dp min 1; accuracy^dp exactly 1; finger closing time min^dp exactly 1; finger number^dp exactly 1; finger opening time min^dp exactly 1; finger opening max^dp exactly 1; finger opening min^dp exactly 1; force control^dp exactly 1; grasping force max^dp exactly 1; grasping force min^dp exactly 1; gripper type^dp exactly 1; payload^dp exactly 1; position control^dp exactly 1; repeatability^dp exactly 1; finger type^dp max 2; grasping type^dp max 2
is disjoint with: blind riveting^c, bulk box feeding^c, drill bit function^c, drilling^c, finger function^c, finger gripper function^c, fixturing^c, force applying^c, holding by gravity^c, impact riveting^c, inserting^c, milling^c, milling cutter function^c, milling tool function^c, mounting flexible ring external^c, moving^c, moving collaborative^c, moving tool^c, ogiva toolset function^c, orbital riveting^c, orienting mechanical^c, part storing in tray^c, part storing in tube^c, pick and place^c, picking^c, placing^c, positioning mechanical^c, press tool function^c, pressing^c, radial riveting^c, releasing^c, screwing^c, screwing head function^c, spinning tool^c, thread running^c, tool holding^c, transport feeding^c, transporting^c, transporting collaborative^c, tray feeding^c, tray holding^c, tube feeder base function^c, tube feeding^c, vacuum cup function^c, vacuum grasping^c, vacuum gripper function^c

finger gripper function^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction

Capability of a finger gripper without the fingers. Note! It has been decided in ReCaM that the finger gripper is described as one unit, including the fingers. Therefore, this capability is not used in ReCaM.

has super-classes: simple capability^c; finger closing time min^dp exactly 1; finger number^dp exactly 1; finger opening time min^dp exactly 1; force control^dp exactly 1; grasping force max^dp exactly 1; grasping force min^dp exactly 1; gripper type^dp exactly 1; payload^dp exactly 1; position control^dp exactly 1; repeatability^dp exactly 1; stroke per finger max^dp exactly 1
is disjoint with: drill bit function^c, drilling^c, finger function^c, finger grasping^c, fixturing^c, force applying^c, holding by gravity^c, milling^c, milling cutter function^c, milling tool function^c, moving^c, moving collaborative^c, moving tool^c, orienting mechanical^c, part storing in tray^c, part storing in tube^c, pick and place^c, picking^c, positioning mechanical^c, press tool function^c, pressing^c, releasing^c, screwing^c, screwing head function^c, spinning tool^c, tool holding^c, transport feeding^c, transporting^c, tray feeding^c, tray holding^c, tube feeder base function^c, tube feeding^c, vacuum cup function^c, vacuum grasping^c, vacuum gripper function^c

fixturing^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Fixturing

Capability to fix items, i.e. to hold them in a fixed position during processing or assembling. For example fixture has this capability.

has super-classes: simple capability^c; fixturing; has allowed item shape and size max^op only shape and size definition^c; has allowed item shape and size min^op only shape and size definition^c; has item size max^op max 1; has item size min^op max 1; part centering^dp min 1; accuracy^dp exactly 1; fixturing method^dp exactly 1; force max^dp exactly 1; force min^dp exactly 1; force resolution^dp exactly 1; payload^dp exactly 1; repeatability^dp exactly 1; dof^dp max 6; fixture opening max^dp max 1; fixture opening min^dp max 1
is disjoint with: drill bit function^c, drilling^c, finger function^c, finger grasping^c, finger gripper function^c, force applying^c, holding by gravity^c, milling^c, milling cutter function^c, milling tool function^c, moving^c, moving collaborative^c, moving tool^c, orienting mechanical^c, part storing in tray^c, part storing in tube^c, pick and place^c, picking^c, positioning mechanical^c, press tool function^c, pressing^c, releasing^c, screwing^c, screwing head function^c, spinning tool^c, tool holding^c, transport feeding^c, transporting^c, tray feeding^c, tray holding^c, tube feeder base function^c, tube feeding^c, vacuum cup function^c, vacuum grasping^c, vacuum gripper function^c

force applying^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ForceApplying

Capability to apply force to certain directions.

has super-classes: simple capability^c; has force detail^op only force detail^c; has force detail^op min 1
is disjoint with: drill bit function^c, drilling^c, finger function^c, finger grasping^c, finger gripper function^c, fixturing^c, holding by gravity^c, milling^c, milling cutter function^c, milling tool function^c, moving^c, moving collaborative^c, moving tool^c, orienting mechanical^c, part storing in tray^c, part storing in tube^c, pick and place^c, picking^c, positioning mechanical^c, press tool function^c, pressing^c, releasing^c, screwing^c, screwing head function^c, spinning tool^c, tool holding^c, transport feeding^c, transporting^c, tray feeding^c, tray holding^c, tube feeder base function^c, tube feeding^c, vacuum cup function^c, vacuum grasping^c, vacuum gripper function^c

force detail^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ForceDetail

This class is used to store instances related to force directions and minimum and maximum force values. It is used by the ForceApplying capability.

has super-classes: capability parameter additional^c; force direction^dp min 1; force max^dp exactly 1; force min^dp exactly 1; force resolution^dp exactly 1
is in range of: has force detail^op

frame function^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FrameFunction

Capability to act as a frame in different processes. This capability is used to hold the resource (e.g. in case of riveting or pressing) in relation to the product and to provide the counter force to the applied process force.

has super-classes: simple capability^c; has workspace type and dimensions^op exactly 1; force direction^dp min 1; force max^dp exactly 1; force min^dp exactly 1; frame type^dp exactly 1

hammer function^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#HammerFunction

This is the capability of the hammer. Hammer can not do anything alone.

has super-classes: simple capability^c; handle length^dp exactly 1

hammering^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Hammering

This capability refers to the ability to exert impact force to a nail or other object.

has super-classes: combined capability^c; hammering; has input capability^op some force applying^c; has input capability^op some hammer function^c; has input capability^op some moving^c; force max^dp exactly 1; stroke max^dp exactly 1

holding by gravity^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#HoldingByGravity

Capability to hold items by gravity. For example belt conveyor has this capability.

has super-classes: simple capability^c; has item size max^op exactly 1; has item size min^op exactly 1; payload^dp exactly 1
is disjoint with: drill bit function^c, drilling^c, finger function^c, finger grasping^c, finger gripper function^c, fixturing^c, force applying^c, milling^c, milling cutter function^c, milling tool function^c, moving^c, moving collaborative^c, moving tool^c, orienting mechanical^c, part storing in tray^c, part storing in tube^c, pick and place^c, picking^c, positioning mechanical^c, press tool function^c, pressing^c, releasing^c, screwing^c, screwing head function^c, spinning tool^c, tool holding^c, transport feeding^c, transporting^c, tray feeding^c, tray holding^c, tube feeder base function^c, tube feeding^c, vacuum cup function^c, vacuum grasping^c, vacuum gripper function^c

impact riveting^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ImpactRiveting

Capability to perform impact riveting. In impact riveting the tool follows linear trajectory.

has super-classes: combined capability^c; impact riveting; has input capability^op some force applying^c; has input capability^op some frame function^c; has input capability^op some moving tool^c; has input capability^op some rivet holding^c; has input capability^op some riveting tool function^c; has input capability^op some rollset function^c; has suitable material^op only material type; has rivet size max^op exactly 1; has rivet size min^op exactly 1; rivet head shape^dp min 1; rivet type^dp min 1; force max^dp exactly 1; force min^dp exactly 1; stroke max^dp exactly 1
is disjoint with: blind riveting^c, bulk box feeding^c, drilling^c, finger grasping^c, inserting^c, milling^c, milling tool function^c, mounting flexible ring external^c, ogiva toolset function^c, orbital riveting^c, pick and place^c, picking^c, placing^c, pressing^c, radial riveting^c, screwing^c, thread running^c, transport feeding^c, transporting^c, transporting collaborative^c, tray feeding^c, tube feeding^c, vacuum grasping^c

inserting^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Inserting

This is a capability to insert items by applying some force.

has super-classes: combined capability^c; inserting; has input capability^op some force applying^c; has input capability^op some moving^c; has input capability^op some releasing^c; has input capability^op some finger grasping^c or vacuum grasping^c; has force detail^op only force detail^c; has force detail^op min 1; accuracy^dp exactly 1; repeatability^dp exactly 1
is disjoint with: blind riveting^c, bulk box feeding^c, drilling^c, finger grasping^c, impact riveting^c, milling^c, milling tool function^c, mounting flexible ring external^c, ogiva toolset function^c, orbital riveting^c, pick and place^c, picking^c, placing^c, pressing^c, radial riveting^c, screwing^c, thread running^c, transport feeding^c, transporting^c, transporting collaborative^c, tray feeding^c, tube feeding^c, vacuum grasping^c

item size^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ItemSize

This class is used to store the dimensional information of items. Can be used to define the max and min item size that can be handled with a certain capability.

has super-classes: capability parameter additional^c; height^dp exactly 1; weight^dp exactly 1; diameter^dp max 1; length^dp max 1; width^dp max 1
is in range of: has item size max^op, has item size min^op, has rivet size max^op, has rivet size min^op

linear movement range^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#LinearMovementRange

This class is for storing the information about the linear movement ranges. Two values should be given to indicate the movement ranges to different +/- direction from the home position.

has super-classes: movement range^c; translation x^dp exactly 2; translation y^dp exactly 2; translation z^dp exactly 2
is in range of: has linear movement range^op

locating visual^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#LocatingVisual

Capability to visually detect the orientation and position of the parts, e.g. based on machine vision. This is the capability of the whole camera system, including e.g. lenses, flash and image prosessing. (This capabiility could be further divided into lower level capabilities (VisualSensing, ObjectRecognition and ImageProcessing) but it is out of scope in ReCaM.)

has super-classes: simple capability^c; algorithm type^dp min 1; operation type^dp min 1; field of view max x^dp exactly 1; field of view max y^dp exactly 1; field of view min x^dp exactly 1; field of view min y^dp exactly 1; focal length max^dp exactly 1; focal length min^dp exactly 1; focus distance max^dp exactly 1; focus distance min^dp exactly 1; spatial resolution max^dp exactly 1; spatial resolution min^dp exactly 1; surface accuracy max^dp exactly 1; surface accuracy min^dp exactly 1; vawelength max^dp max 1; wavelength min^dp max 1

magnetic grasping^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MagneticGrasping

Capability to grasp items by magnet. E.g. screw driver head/tool tip may have this capability.

has super-classes: simple capability^c; has item size max^op exactly 1; has item size min^op exactly 1; holding force max^dp exactly 1

manual tool driver function^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ManualToolDriverFunction

This is a capability of a manual driver tool, e.g. a screwdriver, without the tool tip (e.g. a screwing head). This capability doesn't have any parameters.

has super-classes: simple capability^c

milling^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Milling

Capability to remove material by milling. For example milling machine with attached tooling has this capability.

has super-classes: combined capability^c; milling; has input capability^op some fixturing^c; has input capability^op some milling tool function^c; has input capability^op some spinning tool^c; has input capability^op some moving^c or moving tool^c; has suitable material^op only material type; has workspace type and dimensions^op only workspace^c; has suitable material^op min 1; has workspace type and dimensions^op exactly 1; cutter type^dp min 1; accuracy^dp exactly 1; cutter version^dp exactly 1; cutting edge angle^dp exactly 1; cutting edge length^dp exactly 1; insert shape^dp exactly 1; nose radius^dp exactly 1; repeatability^dp exactly 1; spinning speed max^dp exactly 1; teeth number^dp exactly 1; torque max^dp exactly 1
is disjoint with: blind riveting^c, bulk box feeding^c, drill bit function^c, drilling^c, finger function^c, finger grasping^c, finger gripper function^c, fixturing^c, force applying^c, holding by gravity^c, impact riveting^c, inserting^c, milling cutter function^c, milling tool function^c, mounting flexible ring external^c, moving^c, moving collaborative^c, moving tool^c, ogiva toolset function^c, orbital riveting^c, orienting mechanical^c, part storing in tray^c, part storing in tube^c, pick and place^c, picking^c, placing^c, positioning mechanical^c, press tool function^c, pressing^c, radial riveting^c, releasing^c, screwing^c, screwing head function^c, spinning tool^c, thread running^c, tool holding^c, transport feeding^c, transporting^c, transporting collaborative^c, tray feeding^c, tray holding^c, tube feeder base function^c, tube feeding^c, vacuum cup function^c, vacuum grasping^c, vacuum gripper function^c

milling cutter function^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MillingCutterFunction

Capability of a milling cutter.

has super-classes: simple capability^c; has suitable material^op only material type; has suitable material^op min 1; cutter type^dp exactly 1; cutter version^dp exactly 1; cutting edge angle^dp exactly 1; cutting edge length^dp exactly 1; insert shape^dp exactly 1; nose radius^dp exactly 1; teeth number^dp exactly 1
is disjoint with: drill bit function^c, drilling^c, finger function^c, finger grasping^c, finger gripper function^c, fixturing^c, force applying^c, holding by gravity^c, milling^c, milling tool function^c, moving^c, moving collaborative^c, moving tool^c, orienting mechanical^c, part storing in tray^c, part storing in tube^c, pick and place^c, picking^c, positioning mechanical^c, press tool function^c, pressing^c, releasing^c, screwing^c, screwing head function^c, spinning tool^c, tool holding^c, transport feeding^c, transporting^c, tray feeding^c, tray holding^c, tube feeder base function^c, tube feeding^c, vacuum cup function^c, vacuum grasping^c, vacuum gripper function^c

milling tool function^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MillingToolFunction

Capability of a milling tool, including the tool holder and milling cutter. This capability has no parameters, as this capability is not used alone.

has super-classes: combined capability^c; has input capability^op some milling cutter function^c; has input capability^op some tool holding^c
is disjoint with: blind riveting^c, bulk box feeding^c, drill bit function^c, drilling^c, finger function^c, finger grasping^c, finger gripper function^c, fixturing^c, force applying^c, holding by gravity^c, impact riveting^c, inserting^c, milling^c, milling cutter function^c, mounting flexible ring external^c, moving^c, moving collaborative^c, moving tool^c, ogiva toolset function^c, orbital riveting^c, orienting mechanical^c, part storing in tray^c, part storing in tube^c, pick and place^c, picking^c, placing^c, positioning mechanical^c, press tool function^c, pressing^c, radial riveting^c, releasing^c, screwing^c, screwing head function^c, spinning tool^c, thread running^c, tool holding^c, transport feeding^c, transporting^c, transporting collaborative^c, tray feeding^c, tray holding^c, tube feeder base function^c, tube feeding^c, vacuum cup function^c, vacuum grasping^c, vacuum gripper function^c

mounting flexible ring external^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MountingFlexibleRingExternal

Capability to mount flexible rings, e.g. o-rings, externally around cylindrical shape.

has super-classes: combined capability^c; mounting o ring; has input capability^op some force applying^c; has input capability^op some releasing^c; has input capability^op some expanding ring with gripper^c or ogiva toolset function^c; has input capability^op some moving^c or moving tool^c; has shape and size internal^op only cylinder shape^c; has suitable material^op only material type; has workspace type and dimensions^op only workspace^c; has shape and size internal^op exactly 1; has workspace type and dimensions^op exactly 1; item diameter internal max^dp exactly 1; force max^dp exactly 1; item diameter internal min^dp exactly 1; force min^dp max 1
is disjoint with: blind riveting^c, bulk box feeding^c, drilling^c, finger grasping^c, impact riveting^c, inserting^c, milling^c, milling tool function^c, ogiva toolset function^c, orbital riveting^c, pick and place^c, picking^c, placing^c, pressing^c, radial riveting^c, screwing^c, thread running^c, transport feeding^c, transporting^c, transporting collaborative^c, tray feeding^c, tube feeding^c, vacuum grasping^c

movement range^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovementRange

This class is used to store the dimensional information of movement ranges. Linear and rotational movement ranges are saved in separate classes.

has super-classes: capability parameter additional^c
has sub-classes: linear movement range^c, rotational movement range^c

moving^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Moving

Capability to move items within a certain workspace. For example a robot and conveyor has this capability.

has super-classes: simple capability^c; has linear movement range^op only linear movement range^c; has rotation movement range^op only rotational movement range^c; has workspace type and dimensions^op only workspace^c; has workspace type and dimensions^op exactly 1; has linear movement range^op max 1; has rotation movement range^op max 1; accuracy^dp exactly 1; dof number^dp exactly 1; payload^dp exactly 1; repeatability^dp exactly 1; acceleration x max^dp max 1; acceleration y max^dp max 1; acceleration z max^dp max 1; dof^dp max 6; speed x max^dp max 1; speed y max^dp max 1; speed z max^dp max 1
is disjoint with: drill bit function^c, drilling^c, finger function^c, finger grasping^c, finger gripper function^c, fixturing^c, force applying^c, holding by gravity^c, milling^c, milling cutter function^c, milling tool function^c, moving collaborative^c, orienting mechanical^c, part storing in tray^c, part storing in tube^c, pick and place^c, picking^c, positioning mechanical^c, press tool function^c, pressing^c, releasing^c, screwing^c, screwing head function^c, spinning tool^c, tool holding^c, transport feeding^c, transporting^c, tray feeding^c, tray holding^c, tube feeder base function^c, tube feeding^c, vacuum cup function^c, vacuum grasping^c, vacuum gripper function^c

moving collaborative^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative

Capability to move items within a certain workspace with collaborative movement. For example a dual arm robot has this capability.

has super-classes: simple capability^c; has linear movement range^op only linear movement range^c; has rotation movement range^op only rotational movement range^c; has workspace type and dimensions^op only workspace^c; has workspace type and dimensions^op exactly 1; has linear movement range^op max 1; has rotation movement range^op max 1; accuracy^dp exactly 1; dof number^dp exactly 1; payload^dp exactly 1; repeatability^dp exactly 1; acceleration x max^dp max 1; acceleration y max^dp max 1; acceleration z max^dp max 1; dof^dp max 6; speed x max^dp max 1; speed y max^dp max 1; speed z max^dp max 1
is disjoint with: drill bit function^c, drilling^c, finger function^c, finger grasping^c, finger gripper function^c, fixturing^c, force applying^c, holding by gravity^c, milling^c, milling cutter function^c, milling tool function^c, moving^c, orienting mechanical^c, part storing in tray^c, part storing in tube^c, picking^c, positioning mechanical^c, press tool function^c, pressing^c, releasing^c, screwing^c, screwing head function^c, spinning tool^c, tool holding^c, transport feeding^c, transporting^c, tray feeding^c, tray holding^c, tube feeder base function^c, tube feeding^c, vacuum cup function^c, vacuum grasping^c, vacuum gripper function^c

moving tool^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingTool

Capability of a machine to move the tool within the machine, e.g. milling machine has this capability.

has super-classes: simple capability^c; has workspace type and dimensions^op only workspace^c; has workspace type and dimensions^op exactly 1; accuracy^dp exactly 1; dof number^dp exactly 1; payload^dp exactly 1; repeatability^dp exactly 1; acceleration x max^dp max 1; acceleration y max^dp max 1; acceleration z max^dp max 1; dof^dp max 6; speed x max^dp max 1; speed y max^dp max 1; speed z max^dp max 1
is disjoint with: drill bit function^c, drilling^c, finger function^c, finger grasping^c, finger gripper function^c, fixturing^c, force applying^c, holding by gravity^c, milling^c, milling cutter function^c, milling tool function^c, orienting mechanical^c, part storing in tray^c, part storing in tube^c, picking^c, positioning mechanical^c, press tool function^c, pressing^c, releasing^c, screwing^c, screwing head function^c, spinning tool^c, tool holding^c, transport feeding^c, transporting^c, tray feeding^c, tray holding^c, tube feeder base function^c, tube feeding^c, vacuum cup function^c, vacuum grasping^c, vacuum gripper function^c

ogiva function^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#OgivaFunction

Capabili ty of an ogiva-shaped tool, which can be used to e.g. expand an o-ring.

has super-classes: simple capability^c; has shape and size^op only cone shape^c; has shape and size internal^op only cylinder shape^c; has shape and size^op exactly 1; has shape and size internal^op exactly 1

ogiva toolset function^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#OgivaToolsetFunction

Capability to expand a flexible ring, e.g. o-ring, with ogiva shaped tool. Includes the ogiva and the tool that pushes the o-ring from the ogiva.

has super-classes: combined capability^c; has input capability^op some ogiva function^c; has input capability^op some ring mounting tool function^c
is disjoint with: blind riveting^c, bulk box feeding^c, drilling^c, finger grasping^c, impact riveting^c, inserting^c, milling^c, milling tool function^c, mounting flexible ring external^c, orbital riveting^c, pick and place^c, picking^c, placing^c, pressing^c, radial riveting^c, screwing^c, thread running^c, transport feeding^c, transporting^c, transporting collaborative^c, tray feeding^c, tube feeding^c, vacuum grasping^c

orbital powerhead function^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#OrbitalPowerheadFunction

Capability to act as an orbital powerhead e.g. in orbital riveting or orbital forming process.

has super-classes: simple capability^c; has suitable material^op only material type; has rivet size max^op exactly 1; has rivet size min^op exactly 1; rivet type^dp min 1; tool angle^dp exactly 1

orbital riveting^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#OrbitalRiveting

Capability to perform orbital riveting. In orbital riveting the tool follows orbital trajectory.

has super-classes: combined capability^c; orbital riveting; has input capability^op some force applying^c; has input capability^op some frame function^c; has input capability^op some moving tool^c; has input capability^op some orbital powerhead function^c; has input capability^op some riveting tool function^c; has input capability^op some spinning tool^c; has suitable material^op only material type; has rivet size max^op exactly 1; has rivet size min^op exactly 1; rivet head shape^dp min 1; rivet type^dp min 1; force max^dp exactly 1; force min^dp exactly 1; spinning speed max^dp exactly 1; spinning speed min^dp exactly 1; stroke max^dp exactly 1; tool angle^dp exactly 1
is disjoint with: blind riveting^c, bulk box feeding^c, drilling^c, finger grasping^c, impact riveting^c, inserting^c, milling^c, milling tool function^c, mounting flexible ring external^c, ogiva toolset function^c, pick and place^c, picking^c, placing^c, pressing^c, radial riveting^c, screwing^c, thread running^c, transport feeding^c, transporting^c, transporting collaborative^c, tray feeding^c, tube feeding^c, vacuum grasping^c

orienting mechanical^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#OrientingMechanical

This capability orients an object mechanically. E.g. some guiding features attached to a conveyor may have this capability.

has super-classes: simple capability^c; orienting; has allowed item shape and size exact^op min 0; has allowed item shape and size max^op min 0; has allowed item shape and size min^op min 0; accuracy^dp exactly 1; repeatability^dp exactly 1
is disjoint with: drill bit function^c, drilling^c, finger function^c, finger grasping^c, finger gripper function^c, fixturing^c, force applying^c, holding by gravity^c, milling^c, milling cutter function^c, milling tool function^c, moving^c, moving collaborative^c, moving tool^c, part storing in tray^c, part storing in tube^c, pick and place^c, picking^c, positioning mechanical^c, press tool function^c, pressing^c, releasing^c, screwing^c, screwing head function^c, spinning tool^c, tool holding^c, transport feeding^c, transporting^c, tray feeding^c, tray holding^c, tube feeder base function^c, tube feeding^c, vacuum cup function^c, vacuum grasping^c, vacuum gripper function^c

part storing in bulk^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PartStoringInBulk

Capability to store parts in a random position and orientation, e.g. in a box.

has super-classes: simple capability^c; has item size max^op exactly 1; has item size min^op exactly 1; payload^dp exactly 1

part storing in tray^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PartStoringInTray

Capability to store parts in a dedicated position and orientation on a tray. Feeding tray has this capability.

has super-classes: simple capability^c; has allowed item shape and size max^op min 1; has allowed item shape and size min^op min 1; number of parts max^dp exactly 1; payload^dp exactly 1; picking space dimension x^dp exactly 1; picking space dimension y^dp exactly 1
is disjoint with: drill bit function^c, drilling^c, finger function^c, finger grasping^c, finger gripper function^c, fixturing^c, force applying^c, holding by gravity^c, milling^c, milling cutter function^c, milling tool function^c, moving^c, moving collaborative^c, moving tool^c, orienting mechanical^c, part storing in tube^c, pick and place^c, picking^c, positioning mechanical^c, press tool function^c, pressing^c, releasing^c, screwing^c, screwing head function^c, spinning tool^c, tool holding^c, transport feeding^c, transporting^c, tray feeding^c, tray holding^c, tube feeder base function^c, tube feeding^c, vacuum cup function^c, vacuum grasping^c, vacuum gripper function^c

part storing in tube^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PartStoringInTube

Capability of a feeding tube that is used in tube feeders. Tube refers to a magazine in which the parts are stacked on each other and can be provided to the feeder one by one.

has super-classes: simple capability^c; has allowed item shape and size max^op exactly 1; has allowed item shape and size min^op exactly 1; payload^dp exactly 1
is disjoint with: drill bit function^c, drilling^c, finger function^c, finger grasping^c, finger gripper function^c, fixturing^c, force applying^c, holding by gravity^c, milling^c, milling cutter function^c, milling tool function^c, moving^c, moving collaborative^c, moving tool^c, orienting mechanical^c, part storing in tray^c, pick and place^c, picking^c, positioning mechanical^c, press tool function^c, pressing^c, releasing^c, screwing^c, screwing head function^c, spinning tool^c, tool holding^c, transport feeding^c, transporting^c, tray feeding^c, tray holding^c, tube feeder base function^c, tube feeding^c, vacuum cup function^c, vacuum grasping^c, vacuum gripper function^c

performance^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Performance

This class contains information related to the performance of the resource.

has super-classes: capability parameter additional^c; cycle time average^dp exactly 1

pick and place^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace

Capability to pick items and to place them into another location.

has super-classes: combined capability^c; pick and place; has input capability^op some moving^c; has input capability^op some releasing^c; has input capability^op some expansion grasping^c or finger grasping^c or magnetic grasping^c or vacuum grasping^c; has workspace type and dimensions^op only workspace^c; has allowed item shape and size max^op min 0; has allowed item shape and size min^op min 0; has workspace type and dimensions^op exactly 1; has item size max^op max 1; has item size min^op max 1; dof^dp min 1; accuracy^dp exactly 1; payload^dp exactly 1; repeatability^dp exactly 1; dof^dp max 6
is disjoint with: blind riveting^c, bulk box feeding^c, drill bit function^c, drilling^c, finger function^c, finger grasping^c, finger gripper function^c, fixturing^c, force applying^c, holding by gravity^c, impact riveting^c, inserting^c, milling^c, milling cutter function^c, milling tool function^c, mounting flexible ring external^c, moving^c, ogiva toolset function^c, orbital riveting^c, orienting mechanical^c, part storing in tray^c, part storing in tube^c, picking^c, placing^c, positioning mechanical^c, press tool function^c, pressing^c, radial riveting^c, releasing^c, screwing^c, screwing head function^c, spinning tool^c, thread running^c, tool holding^c, transport feeding^c, transporting^c, transporting collaborative^c, tray feeding^c, tray holding^c, tube feeder base function^c, tube feeding^c, vacuum cup function^c, vacuum grasping^c, vacuum gripper function^c

pick and place flexible^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlaceFlexible

This capability refers to flexible pick and place, which means that the picking and placing positions are not pre-programmed, but a vision and reasoning is used to detect the correct positions.

has super-classes: combined capability^c; pick and place flexible; has input capability^op some locating visual^c; has input capability^op some pick and place^c; has workspace type and dimensions^op only workspace^c; has allowed item shape and size max^op min 0; has allowed item shape and size min^op min 0; has workspace type and dimensions^op exactly 1; has item size max^op max 1; has item size min^op max 1; dof^dp min 1; accuracy^dp exactly 1; payload^dp exactly 1; dof^dp max 6

picking^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Picking

Capability to perform pick up operation.

has super-classes: combined capability^c; picking; has input capability^op some moving^c; has input capability^op some expansion grasping^c or finger grasping^c or magnetic grasping^c or vacuum grasping^c; has allowed item shape and size max^op min 0; has allowed item shape and size min^op min 0; has item size max^op exactly 1; has item size min^op exactly 1; accuracy^dp exactly 1; payload^dp exactly 1; repeatability^dp exactly 1
is disjoint with: blind riveting^c, bulk box feeding^c, drill bit function^c, drilling^c, finger function^c, finger grasping^c, finger gripper function^c, fixturing^c, force applying^c, holding by gravity^c, impact riveting^c, inserting^c, milling^c, milling cutter function^c, milling tool function^c, mounting flexible ring external^c, moving^c, moving collaborative^c, moving tool^c, ogiva toolset function^c, orbital riveting^c, orienting mechanical^c, part storing in tray^c, part storing in tube^c, pick and place^c, placing^c, positioning mechanical^c, press tool function^c, pressing^c, radial riveting^c, releasing^c, screwing^c, screwing head function^c, spinning tool^c, thread running^c, tool holding^c, transport feeding^c, transporting^c, transporting collaborative^c, tray feeding^c, tray holding^c, tube feeder base function^c, tube feeding^c, vacuum cup function^c, vacuum grasping^c, vacuum gripper function^c

placing^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Placing

Capability to perform placing operation.

has super-classes: combined capability^c; placing; has input capability^op some moving^c; has input capability^op some releasing^c; has input capability^op some expansion grasping^c or finger grasping^c or magnetic grasping^c or vacuum grasping^c; accuracy^dp exactly 1; repeatability^dp exactly 1
is disjoint with: blind riveting^c, bulk box feeding^c, drilling^c, finger grasping^c, impact riveting^c, inserting^c, milling^c, milling tool function^c, mounting flexible ring external^c, ogiva toolset function^c, orbital riveting^c, pick and place^c, picking^c, pressing^c, radial riveting^c, screwing^c, thread running^c, transport feeding^c, transporting^c, transporting collaborative^c, tray feeding^c, tube feeding^c, vacuum grasping^c

positioning mechanical^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PositioningMechanical

This capability positions an object mechanically . E.g. some guiding features attached to a conveyor may have this capability.

has super-classes: simple capability^c; positioning; has allowed item shape and size exact^op min 0; has allowed item shape and size max^op min 0; has allowed item shape and size min^op min 0; accuracy^dp exactly 1; repeatability^dp exactly 1
is disjoint with: drill bit function^c, drilling^c, finger function^c, finger grasping^c, finger gripper function^c, fixturing^c, force applying^c, holding by gravity^c, milling^c, milling cutter function^c, milling tool function^c, moving^c, moving collaborative^c, moving tool^c, orienting mechanical^c, part storing in tray^c, part storing in tube^c, pick and place^c, picking^c, press tool function^c, pressing^c, releasing^c, screwing^c, screwing head function^c, spinning tool^c, tool holding^c, transport feeding^c, transporting^c, tray feeding^c, tray holding^c, tube feeder base function^c, tube feeding^c, vacuum cup function^c, vacuum grasping^c, vacuum gripper function^c

press tool function^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PressToolFunction

Press tool function represents the capability of the pressing tool. In some cases it may be specifically designed for a certain product shape.

has super-classes: simple capability^c; has suitable material^op only material type; has tool shape and size^op exactly 1; has material type exactly 1
is disjoint with: drill bit function^c, drilling^c, finger function^c, finger grasping^c, finger gripper function^c, fixturing^c, force applying^c, holding by gravity^c, milling^c, milling cutter function^c, milling tool function^c, moving^c, moving collaborative^c, moving tool^c, orienting mechanical^c, part storing in tray^c, part storing in tube^c, pick and place^c, picking^c, positioning mechanical^c, pressing^c, releasing^c, screwing^c, screwing head function^c, spinning tool^c, tool holding^c, transport feeding^c, transporting^c, tray feeding^c, tray holding^c, tube feeder base function^c, tube feeding^c, vacuum cup function^c, vacuum grasping^c, vacuum gripper function^c

pressing^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Pressing

Capability to perform pressing activity. Pressing may be used e.g. to assemble tight fit joinings. Depending on the size of the product, pressing may require fixturing. This need to be defined in the product requirement description.

has super-classes: combined capability^c; pressing; has input capability^op some force applying^c; has input capability^op some frame function^c; has input capability^op some press tool function^c; has input capability^op some moving^c or moving tool^c; has suitable material^op only material type; has tool shape and size^op exactly 1; acceleration z max^dp exactly 1; accuracy^dp exactly 1; force max^dp exactly 1; force min^dp exactly 1; force resolution^dp exactly 1; repeatability^dp exactly 1; speed z max^dp exactly 1; stroke max^dp exactly 1
is disjoint with: blind riveting^c, bulk box feeding^c, drill bit function^c, drilling^c, finger function^c, finger grasping^c, finger gripper function^c, fixturing^c, force applying^c, holding by gravity^c, impact riveting^c, inserting^c, milling^c, milling cutter function^c, milling tool function^c, mounting flexible ring external^c, moving^c, moving collaborative^c, moving tool^c, ogiva toolset function^c, orbital riveting^c, orienting mechanical^c, part storing in tray^c, part storing in tube^c, pick and place^c, picking^c, placing^c, positioning mechanical^c, press tool function^c, radial riveting^c, releasing^c, screwing^c, screwing head function^c, spinning tool^c, thread running^c, tool holding^c, transport feeding^c, transporting^c, transporting collaborative^c, tray feeding^c, tray holding^c, tube feeder base function^c, tube feeding^c, vacuum cup function^c, vacuum grasping^c, vacuum gripper function^c

pulling^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Pulling

This capability refers to the ability to pull items. E.g. blind riveting machine is able to form the rivets by pulling it towards itself from the rivet mandrel.

has super-classes: simple capability^c; has item size max^op exactly 1; has item size min^op max 1; force max^dp exactly 1; stroke max^dp exactly 1; force min^dp max 1

pyramid shape^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PyramidShape

This class is used to define the dimensional parameters for a pyramid shaped object.

has super-classes: shape and size definition^c; dimension x^dp exactly 2; dimension y^dp exactly 2; dimension z^dp exactly 1

radial powerhead function^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#RadialPowerheadFunction

Capability to act as a radial powerhead e.g. in radial riveting or radial forming process.

has super-classes: simple capability^c; has suitable material^op only material type; has rivet size max^op exactly 1; has rivet size min^op exactly 1; rivet type^dp min 1; tool angle max^dp exactly 1; tool angle min^dp exactly 1

radial riveting^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#RadialRiveting

Capability to perform radial riveting. In radial riveting the tool follows radial trajectory.

has super-classes: combined capability^c; radial riveting; has input capability^op some force applying^c; has input capability^op some frame function^c; has input capability^op some moving tool^c; has input capability^op some radial powerhead function^c; has input capability^op some riveting tool function^c; has input capability^op some spinning tool^c; has suitable material^op only material type; has rivet size max^op exactly 1; has rivet size min^op exactly 1; rivet head shape^dp min 1; rivet type^dp min 1; force max^dp exactly 1; force min^dp exactly 1; spinning speed max^dp exactly 1; spinning speed min^dp exactly 1; stroke max^dp exactly 1; tool angle max^dp exactly 1; tool angle min^dp exactly 1
is disjoint with: blind riveting^c, bulk box feeding^c, drilling^c, finger grasping^c, impact riveting^c, inserting^c, milling^c, milling tool function^c, mounting flexible ring external^c, ogiva toolset function^c, orbital riveting^c, pick and place^c, picking^c, placing^c, pressing^c, screwing^c, thread running^c, transport feeding^c, transporting^c, transporting collaborative^c, tray feeding^c, tube feeding^c, vacuum grasping^c

ratchet function^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#RatchetFunction

This is the capability of a ratchet (wrench) without the socket.

has super-classes: simple capability^c; arm of force^dp exactly 1

ratchet wrench function^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#RatchetWrenchFunction

This is a capability of a ratchet wrench with the attached socket.

has super-classes: combined capability^c; has input capability^op some ratchet function^c; has input capability^op value screwing head function; screw type^dp min 1; arm of force^dp exactly 1; screw size^dp exactly 1

releasing^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Releasing

Capability to release items which have been grasped. E.g. gripper has this capability.

has super-classes: simple capability^c
is disjoint with: drill bit function^c, drilling^c, finger function^c, finger grasping^c, finger gripper function^c, fixturing^c, force applying^c, holding by gravity^c, milling^c, milling cutter function^c, milling tool function^c, moving^c, moving collaborative^c, moving tool^c, orienting mechanical^c, part storing in tray^c, part storing in tube^c, pick and place^c, picking^c, positioning mechanical^c, press tool function^c, pressing^c, screwing^c, screwing head function^c, spinning tool^c, tool holding^c, transport feeding^c, transporting^c, tray feeding^c, tray holding^c, tube feeder base function^c, tube feeding^c, vacuum cup function^c, vacuum grasping^c, vacuum gripper function^c

ring mounting tool function^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#RingMountingToolFunction

Capability of an tool, which is used to push the o-ring or other flexible ring on top of ogiva to expand the o-ring.

has super-classes: simple capability^c; has suitable material^op only material type; item diameter internal max^dp max 1; item diameter external max^dp max 1; item diameter external min^dp max 1; item diameter internal min^dp max 1

rivet holding^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#RivetHolding

Capability to hold the rivet during the riveting process. This capability is needed e.g. in impact riveting.

has super-classes: simple capability^c; has rivet size max^op exactly 1; has rivet size min^op exactly 1; rivet type^dp min 1

riveting tool function^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#RivetingToolFunction

Capability of the riveting tool. This tool is the one which delivers force to the rivet during the riveting process. In case of orbital and radial riveting, this tool is used to form the rivet while in case of impact riveting the actual forming tool is on the other side of the product.

has super-classes: simple capability^c; has suitable material^op only material type; has suitable material^op min 1; has rivet size max^op exactly 1; has rivet size min^op exactly 1; rivet head shape^dp min 1; rivet type^dp min 1

rollset function^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#RollsetFunction

This is the capability to act as a rollset during riveting process. In impact riveting, it is the capability of the tool below the workpiece. This tool does the actual forming of the rivet, while the rivet is being pushed with another tool from another side of the product.

has super-classes: simple capability^c; has suitable material^op only material type; has suitable material^op min 1; has rivet size max^op exactly 1; has rivet size min^op exactly 1; rivet head shape^dp min 1; rivet type^dp min 1

rotational movement range^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#RotationalMovementRange

This class is for storing the information about the rotational movement ranges. Two values should be given to indicate the movement ranges to different +/- direction from the home position.

has super-classes: movement range^c; rotation x^dp exactly 2; rotation y^dp exactly 2; rotation z^dp exactly 2
is in range of: has rotation movement range^op

screwing^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Screwing

Capability to perform screwing operation. For example screwdriver with attached screwing head has this capability.

has super-classes: combined capability^c; screwing; has input capability^op some screwing head function^c; has input capability^op some moving^c or moving tool^c; has input capability^op some spinning tool^c or twisting driver^c; screw size^dp min 1; screw type^dp min 1; screwing head effective length^dp exactly 1; spinning speed max^dp exactly 1; spinning speed min^dp exactly 1; torque max^dp exactly 1; torque min^dp max 1
is disjoint with: blind riveting^c, bulk box feeding^c, drill bit function^c, drilling^c, finger function^c, finger grasping^c, finger gripper function^c, fixturing^c, force applying^c, holding by gravity^c, impact riveting^c, inserting^c, milling^c, milling cutter function^c, milling tool function^c, mounting flexible ring external^c, moving^c, moving collaborative^c, moving tool^c, ogiva toolset function^c, orbital riveting^c, orienting mechanical^c, part storing in tray^c, part storing in tube^c, pick and place^c, picking^c, placing^c, positioning mechanical^c, press tool function^c, pressing^c, radial riveting^c, releasing^c, screwing head function^c, spinning tool^c, thread running^c, tool holding^c, transport feeding^c, transporting^c, transporting collaborative^c, tray feeding^c, tray holding^c, tube feeder base function^c, tube feeding^c, vacuum cup function^c, vacuum grasping^c, vacuum gripper function^c

screwing head function^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ScrewingHeadFunction

has super-classes: simple capability^c; screw size^dp min 1; screw type^dp min 1; screwing head size^dp exactly 1; screwing head effective length^dp exactly 1
is disjoint with: drill bit function^c, drilling^c, finger function^c, finger grasping^c, finger gripper function^c, fixturing^c, force applying^c, holding by gravity^c, milling^c, milling cutter function^c, milling tool function^c, moving^c, moving collaborative^c, moving tool^c, orienting mechanical^c, part storing in tray^c, part storing in tube^c, pick and place^c, picking^c, positioning mechanical^c, press tool function^c, pressing^c, releasing^c, screwing^c, spinning tool^c, tool holding^c, transport feeding^c, transporting^c, tray feeding^c, tray holding^c, tube feeder base function^c, tube feeding^c, vacuum cup function^c, vacuum grasping^c, vacuum gripper function^c
is also defined as: named individual

screwing with wrench^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ScrewingWithWrench

This capability refers to a process in which the nut, bolt or screw is tightened by a wrench type tooling.

has super-classes: combined capability^c; screwing; has input capability^op some force applying^c; has input capability^op some moving^c or moving tool^c; has input capability^op some ratchet wrench function^c or wrench function^c; torque max^dp exactly 1; nut size max^dp max 1; nut size min^dp max 1; screw size^dp max 1; screw type^dp max 5; torque min^dp max 1

shape and size definition^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ShapeAndSizeDefinition

This class includes the different shape definitions that can be used to describe e.g. allowable shapes and sizes of objects that can be handled, or the shape of a mould or adapter on a high level. The sub-classes (ConeShape, BoxShape, CylinderShape, PyramidShape and SphereShape) define the dimensional parameters for different shapes.

has super-classes: capability parameter additional^c; mass^dp max 1
has sub-classes: box shape^c, cone shape^c, cylinder shape^c, pyramid shape^c, sphere shape^c
is in range of: has allowed item shape and size exact^op, has allowed item shape and size internal max^op, has allowed item shape and size internal min^op, has allowed item shape and size max^op, has allowed item shape and size min^op, has fixturing shape and space max^op, has fixturing shape and space min^op, has shape and size^op, has tool shape and size^op

simple capability^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#SimpleCapability

This is the parent class for all the simple capabilities.

has super-classes: capability^c
has sub-classes: drill bit function^c, expanding ring with gripper^c, expansion grasping^c, finger function^c, finger gripper function^c, fixturing^c, force applying^c, frame function^c, hammer function^c, holding by gravity^c, locating visual^c, magnetic grasping^c, manual tool driver function^c, milling cutter function^c, moving^c, moving collaborative^c, moving tool^c, ogiva function^c, orbital powerhead function^c, orienting mechanical^c, part storing in bulk^c, part storing in tray^c, part storing in tube^c, positioning mechanical^c, press tool function^c, pulling^c, radial powerhead function^c, ratchet function^c, releasing^c, ring mounting tool function^c, rivet holding^c, riveting tool function^c, rollset function^c, screwing head function^c, spinning tool^c, storing^c, tool holding^c, tray holding^c, tube feeder base function^c, twisting^c, vacuum cup function^c, vacuum gripper function^c, wrench function^c

sphere shape^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#SphereShape

This class is used to define the dimensional parameters for a sphere shaped object.

has super-classes: shape and size definition^c; diameter^dp exactly 1

spinning tool^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#SpinningTool

Capability to rotate (to spin) a tool. For example drill, screwdriver and milling machine has this capability.

has super-classes: simple capability^c; spinning direction^dp min 1; spindle concentricity^dp exactly 1; spinning speed max^dp exactly 1; spinning speed min^dp exactly 1; torque max^dp exactly 1; rotations max^dp max 1; torque min^dp max 1
is disjoint with: drill bit function^c, drilling^c, finger function^c, finger grasping^c, finger gripper function^c, fixturing^c, force applying^c, holding by gravity^c, milling^c, milling cutter function^c, milling tool function^c, moving^c, moving collaborative^c, moving tool^c, orienting mechanical^c, part storing in tray^c, part storing in tube^c, pick and place^c, picking^c, positioning mechanical^c, press tool function^c, pressing^c, releasing^c, screwing^c, screwing head function^c, tool holding^c, transport feeding^c, transporting^c, tray feeding^c, tray holding^c, tube feeder base function^c, tube feeding^c, vacuum cup function^c, vacuum grasping^c, vacuum gripper function^c

storing^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Storing

This capability is for storing items, e.g. in a warehouse or in part magazine.

has super-classes: simple capability^c; storing; has item size max^op exactly 1; has item size min^op exactly 1; payload^dp exactly 1; number of parts max^dp max 1

thread running^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ThreadRunning

Capability to run parts on thread. Basically this means capability to spin the parts.

has super-classes: combined capability^c; thread running; has input capability^op some finger grasping^c; has input capability^op some spinning tool^c; has input capability^op some moving^c or moving tool^c; has allowed item shape and size max^op min 1; has allowed item shape and size min^op min 1; has item size max^op max 1; has item size min^op max 1; spinning direction^dp min 1; spinning speed max^dp exactly 1; spinning speed min^dp exactly 1; torque max^dp exactly 1; torque min^dp exactly 1; rotations max^dp max 1
is disjoint with: blind riveting^c, bulk box feeding^c, drilling^c, finger grasping^c, impact riveting^c, inserting^c, milling^c, milling tool function^c, mounting flexible ring external^c, ogiva toolset function^c, orbital riveting^c, pick and place^c, picking^c, placing^c, pressing^c, radial riveting^c, screwing^c, transport feeding^c, transporting^c, transporting collaborative^c, tray feeding^c, tube feeding^c, vacuum grasping^c

tightening from side^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TighteningFromSide

This capability refers to a process where a nut (or some other part with threads) is tightened from the side. The tool can not access from above.

has super-classes: combined capability^c; tightening from side; has input capability^op some force applying^c; has input capability^op some wrench function^c; has input capability^op some moving^c or moving tool^c; nut size max^dp exactly 1; nut size min^dp exactly 1; torque max^dp exactly 1; torque min^dp exactly 1

tool holding^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ToolHolding

Capability to hold a tool. For example tool holder in a machining centre has this capability. The information related to the tool and tool holder interfaces is handled by the interface descriptions of the resources. Here only such parameters are included, which affect to the processing capability of the resource and resource combination.

has super-classes: simple capability^c; tool entry max^dp exactly 1; tool entry min^dp exactly 1
is disjoint with: drill bit function^c, drilling^c, finger function^c, finger grasping^c, finger gripper function^c, fixturing^c, force applying^c, holding by gravity^c, milling^c, milling cutter function^c, milling tool function^c, moving^c, moving collaborative^c, moving tool^c, orienting mechanical^c, part storing in tray^c, part storing in tube^c, pick and place^c, picking^c, positioning mechanical^c, press tool function^c, pressing^c, releasing^c, screwing^c, screwing head function^c, spinning tool^c, transport feeding^c, transporting^c, tray feeding^c, tray holding^c, tube feeder base function^c, tube feeding^c, vacuum cup function^c, vacuum grasping^c, vacuum gripper function^c

transport feeding^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportFeeding

This capability feeds part by transporting, positioning and orienting the parts to a desired place. For example conveyor with positioning elements may have this capability.

has super-classes: combined capability^c; transportation based feeding; has input capability^op some transporting^c; has input capability^op some locating visual^c or orienting mechanical^c; has input capability^op some locating visual^c or positioning mechanical^c; has allowed item shape and size exact^op min 0; has allowed item shape and size max^op min 0; has allowed item shape and size min^op min 0; has item size max^op max 1; has item size min^op max 1; accuracy^dp exactly 1; payload^dp exactly 1
is disjoint with: blind riveting^c, bulk box feeding^c, drill bit function^c, drilling^c, finger function^c, finger grasping^c, finger gripper function^c, fixturing^c, force applying^c, holding by gravity^c, impact riveting^c, inserting^c, milling^c, milling cutter function^c, milling tool function^c, mounting flexible ring external^c, moving^c, moving collaborative^c, moving tool^c, ogiva toolset function^c, orbital riveting^c, orienting mechanical^c, part storing in tray^c, part storing in tube^c, pick and place^c, picking^c, placing^c, positioning mechanical^c, press tool function^c, pressing^c, radial riveting^c, releasing^c, screwing^c, screwing head function^c, spinning tool^c, thread running^c, tool holding^c, transporting^c, transporting collaborative^c, tray feeding^c, tray holding^c, tube feeder base function^c, tube feeding^c, vacuum cup function^c, vacuum grasping^c, vacuum gripper function^c

transporting^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting

Capability to transport items from one place to another. For example robot attached with a gripper, or conveyor alone have this capability.

has super-classes: combined capability^c; transporting; has input capability^op some moving^c; has input capability^op some expansion grasping^c or finger grasping^c or holding by gravity^c or magnetic grasping^c or vacuum grasping^c; has workspace type and dimensions^op only workspace^c; has allowed item shape and size max^op min 0; has allowed item shape and size min^op min 0; has item size max^op exactly 1; has item size min^op exactly 1; has workspace type and dimensions^op exactly 1; dof^dp min 1; accuracy^dp exactly 1; payload^dp exactly 1; repeatability^dp exactly 1; acceleration x max^dp max 1; acceleration y max^dp max 1; acceleration z max^dp max 1; dof^dp max 6; speed x max^dp max 1; speed y max^dp max 1; speed z max^dp max 1
is disjoint with: blind riveting^c, bulk box feeding^c, drill bit function^c, drilling^c, finger function^c, finger grasping^c, finger gripper function^c, fixturing^c, force applying^c, holding by gravity^c, impact riveting^c, inserting^c, milling^c, milling cutter function^c, milling tool function^c, mounting flexible ring external^c, moving^c, moving collaborative^c, moving tool^c, ogiva toolset function^c, orbital riveting^c, orienting mechanical^c, part storing in tray^c, part storing in tube^c, pick and place^c, picking^c, placing^c, positioning mechanical^c, press tool function^c, pressing^c, radial riveting^c, releasing^c, screwing^c, screwing head function^c, spinning tool^c, thread running^c, tool holding^c, transport feeding^c, transporting collaborative^c, tray feeding^c, tray holding^c, tube feeder base function^c, tube feeding^c, vacuum cup function^c, vacuum grasping^c, vacuum gripper function^c

transporting collaborative^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportingCollaborative

Capability to transport items from one place to another by collaborative movement. For example a dual-arm robot attached with two grippers has this capability.

has super-classes: combined capability^c; transporting collaborative; has input capability^op some moving collaborative^c; has specialnput capability^op some finger grasping^c or magnetic grasping^c or vacuum grasping^c; has allowed item shape and size max^op only shape and size definition^c; has allowed item shape and size min^op only shape and size definition^c; has workspace type and dimensions^op only workspace^c; has item size max^op exactly 2; has item size min^op exactly 2; has specialnput capability^op exactly 2; accuracy^dp exactly 1; payload^dp exactly 1; repeatability^dp exactly 1; acceleration x max^dp max 1; acceleration y max^dp max 1; acceleration z max^dp max 1; dof^dp max 6; speed x max^dp max 1; speed y max^dp max 1; speed z max^dp max 1
is disjoint with: blind riveting^c, bulk box feeding^c, drilling^c, finger grasping^c, impact riveting^c, inserting^c, milling^c, milling tool function^c, mounting flexible ring external^c, ogiva toolset function^c, orbital riveting^c, pick and place^c, picking^c, placing^c, pressing^c, radial riveting^c, screwing^c, thread running^c, transport feeding^c, transporting^c, tray feeding^c, tube feeding^c, vacuum grasping^c

tray feeding^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TrayFeeding

Capability to feed parts on trays. For example tray feeder attached with compatible tray has this capability.

has super-classes: combined capability^c; tray feeding; has input capability^op some part storing in tray^c; has input capability^op some tray holding^c; has allowed item shape and size max^op min 1; has allowed item shape and size min^op min 1; has shape and size^op exactly 1; payload^dp exactly 1; picking space dimension x^dp exactly 1; picking space dimension y^dp exactly 1; number of parts max^dp max 1
is disjoint with: blind riveting^c, bulk box feeding^c, drill bit function^c, drilling^c, finger function^c, finger grasping^c, finger gripper function^c, fixturing^c, force applying^c, holding by gravity^c, impact riveting^c, inserting^c, milling^c, milling cutter function^c, milling tool function^c, mounting flexible ring external^c, moving^c, moving collaborative^c, moving tool^c, ogiva toolset function^c, orbital riveting^c, orienting mechanical^c, part storing in tray^c, part storing in tube^c, pick and place^c, picking^c, placing^c, positioning mechanical^c, press tool function^c, pressing^c, radial riveting^c, releasing^c, screwing^c, screwing head function^c, spinning tool^c, thread running^c, tool holding^c, transport feeding^c, transporting^c, transporting collaborative^c, tray holding^c, tube feeder base function^c, tube feeding^c, vacuum cup function^c, vacuum grasping^c, vacuum gripper function^c

tray holding^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TrayHolding

The device has ability to act as a tray feeder (tray itself not included).

has super-classes: simple capability^c; has allowed object size^op only item size^c; has allowed object size^op min 1; payload^dp exactly 1; tray capacity^dp exactly 1; tray changer automatic^dp exactly 1
is disjoint with: drill bit function^c, drilling^c, finger function^c, finger grasping^c, finger gripper function^c, fixturing^c, force applying^c, holding by gravity^c, milling^c, milling cutter function^c, milling tool function^c, moving^c, moving collaborative^c, moving tool^c, orienting mechanical^c, part storing in tray^c, part storing in tube^c, pick and place^c, picking^c, positioning mechanical^c, press tool function^c, pressing^c, releasing^c, screwing^c, screwing head function^c, spinning tool^c, tool holding^c, transport feeding^c, transporting^c, tray feeding^c, tube feeder base function^c, tube feeding^c, vacuum cup function^c, vacuum grasping^c, vacuum gripper function^c

tube feeder base function^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TubeFeederBaseFunction

Capability of a tube feeder base (only the feeder part, tube excluded). Tube feeder base is the module which holds the tube (magazine) and pushes one part at the time to the feeding position.

has super-classes: simple capability^c; has item size max^op exactly 1; has item size min^op exactly 1; accuracy^dp exactly 1; feed rate max^dp exactly 1; payload^dp exactly 1; repeatability^dp exactly 1
is disjoint with: drill bit function^c, drilling^c, finger function^c, finger grasping^c, finger gripper function^c, fixturing^c, force applying^c, holding by gravity^c, milling^c, milling cutter function^c, milling tool function^c, moving^c, moving collaborative^c, moving tool^c, orienting mechanical^c, part storing in tray^c, part storing in tube^c, pick and place^c, picking^c, positioning mechanical^c, press tool function^c, pressing^c, releasing^c, screwing^c, screwing head function^c, spinning tool^c, tool holding^c, transport feeding^c, transporting^c, tray feeding^c, tray holding^c, tube feeding^c, vacuum cup function^c, vacuum grasping^c, vacuum gripper function^c

tube feeding^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TubeFeeding

Capability to feed parts from a tube. This is a capability of a tube feeder consisting of the tube (maganize) and the feeder base unit along with the part positioning and orienting units.

has super-classes: combined capability^c; tube feeding; has input capability^op some orienting mechanical^c; has input capability^op some part storing in tube^c; has input capability^op some positioning mechanical^c; has input capability^op some tube feeder base function^c; has allowed item shape and size exact^op min 0; has allowed item shape and size max^op min 0; has allowed item shape and size min^op min 0; accuracy^dp exactly 1; feed rate max^dp exactly 1; payload^dp exactly 1; repeatability^dp exactly 1
is disjoint with: blind riveting^c, bulk box feeding^c, drill bit function^c, drilling^c, finger function^c, finger grasping^c, finger gripper function^c, fixturing^c, force applying^c, holding by gravity^c, impact riveting^c, inserting^c, milling^c, milling cutter function^c, milling tool function^c, mounting flexible ring external^c, moving^c, moving collaborative^c, moving tool^c, ogiva toolset function^c, orbital riveting^c, orienting mechanical^c, part storing in tray^c, part storing in tube^c, pick and place^c, picking^c, placing^c, positioning mechanical^c, press tool function^c, pressing^c, radial riveting^c, releasing^c, screwing^c, screwing head function^c, spinning tool^c, thread running^c, tool holding^c, transport feeding^c, transporting^c, transporting collaborative^c, tray feeding^c, tray holding^c, tube feeder base function^c, vacuum cup function^c, vacuum grasping^c, vacuum gripper function^c

twisting^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Twisting

This is the manual capability of a human to twist (rotate) e.g. a screwdriver.

has super-classes: simple capability^c; spinning speed max^dp exactly 1; spinning speed min^dp exactly 1; torque max^dp exactly 1; torque min^dp max 1

twisting driver^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TwistingDriver

This is the capability of twisting (rotating) a tool driver. Consists of the tool driver function itself and the twisting done by human.

has super-classes: combined capability^c; has input capability^op some manual tool driver function^c; has input capability^op some twisting^c

vacuum cup function^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumCupFunction

Capability of a vacuum cup.

has super-classes: simple capability^c; has material type exactly 1; bellows^dp exactly 1; diameter^dp exactly 1; height compensation^dp exactly 1; holding force max^dp exactly 1; lateral force max^dp exactly 1; pressure nominal^dp exactly 1; vacuum pressure max^dp exactly 1; volume^dp exactly 1
is disjoint with: drill bit function^c, drilling^c, finger function^c, finger grasping^c, finger gripper function^c, fixturing^c, force applying^c, holding by gravity^c, milling^c, milling cutter function^c, milling tool function^c, moving^c, moving collaborative^c, moving tool^c, orienting mechanical^c, part storing in tray^c, part storing in tube^c, pick and place^c, picking^c, positioning mechanical^c, press tool function^c, pressing^c, releasing^c, screwing^c, screwing head function^c, spinning tool^c, tool holding^c, transport feeding^c, transporting^c, tray feeding^c, tray holding^c, tube feeder base function^c, tube feeding^c, vacuum grasping^c, vacuum gripper function^c

vacuum grasping^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping

Capability to grasp items by vacuum. For example a vacuum gripper with ejector and vacuum cup(s) has this capability.

has super-classes: combined capability^c; vacuum grasping; has input capability^op some vacuum cup function^c; has input capability^op some vacuum gripper function^c; has item size min^op exactly 1; bellows^dp exactly 1; cup number^dp exactly 1; height compensation^dp exactly 1; holding force max^dp exactly 1; lateral force max^dp exactly 1; payload^dp exactly 1; volume^dp exactly 1
is disjoint with: blind riveting^c, bulk box feeding^c, drill bit function^c, drilling^c, finger function^c, finger grasping^c, finger gripper function^c, fixturing^c, force applying^c, holding by gravity^c, impact riveting^c, inserting^c, milling^c, milling cutter function^c, milling tool function^c, mounting flexible ring external^c, moving^c, moving collaborative^c, moving tool^c, ogiva toolset function^c, orbital riveting^c, orienting mechanical^c, part storing in tray^c, part storing in tube^c, pick and place^c, picking^c, placing^c, positioning mechanical^c, press tool function^c, pressing^c, radial riveting^c, releasing^c, screwing^c, screwing head function^c, spinning tool^c, thread running^c, tool holding^c, transport feeding^c, transporting^c, transporting collaborative^c, tray feeding^c, tray holding^c, tube feeder base function^c, tube feeding^c, vacuum cup function^c, vacuum gripper function^c

vacuum gripper function^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGripperFunction

Capability of the ejector and vacuum gripper body.

has super-classes: simple capability^c; suction capacity max^dp exactly 1; vacuum pressure max^dp exactly 1
is disjoint with: drill bit function^c, drilling^c, finger function^c, finger grasping^c, finger gripper function^c, fixturing^c, force applying^c, holding by gravity^c, milling^c, milling cutter function^c, milling tool function^c, moving^c, moving collaborative^c, moving tool^c, orienting mechanical^c, part storing in tray^c, part storing in tube^c, pick and place^c, picking^c, positioning mechanical^c, press tool function^c, pressing^c, releasing^c, screwing^c, screwing head function^c, spinning tool^c, tool holding^c, transport feeding^c, transporting^c, tray feeding^c, tray holding^c, tube feeder base function^c, tube feeding^c, vacuum cup function^c, vacuum grasping^c

workspace^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Workspace

This class is used to save the information about the workspace of the moving capability. The sub-classes (WorkspaceArticulated, WorkspaceCartesian, WorkspacePolar) define the dimensional parameters of the specific workspace type.

has super-classes: capability parameter additional^c
has sub-classes: workspace articulated^c, workspace cartesian^c, workspace cylinder^c, workspace polar^c
is in range of: has workspace type and dimensions^op

workspace articulated^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#WorkspaceArticulated

This class is used to save the information of an articulated workspace. The definition is simpliified.

has super-classes: workspace^c; height bottom^dp exactly 1; height top^dp exactly 1; radius inner^dp exactly 1; radius outer^dp exactly 1; rotation angle^dp exactly 1
is disjoint with: workspace cartesian^c, workspace cylinder^c, workspace polar^c

workspace cartesian^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#WorkspaceCartesian

This class is used to save the information of a cartesian workspace (box/cube).

has super-classes: workspace^c; dimension x^dp exactly 1; dimension y^dp exactly 1; dimension z^dp exactly 1
is disjoint with: workspace articulated^c, workspace cylinder^c, workspace polar^c

workspace cylinder^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#WorkspaceCylinder

This class is used to save the information of a cylindrical workspace.

has super-classes: workspace^c; dimension z^dp exactly 1; radius inner^dp exactly 1; radius outer^dp exactly 1; rotation angle^dp exactly 1
is disjoint with: workspace articulated^c, workspace cartesian^c, workspace polar^c

workspace polar^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#WorkspacePolar

This class is used to save the information of a polar workspace.

has super-classes: workspace^c; height bottom^dp exactly 1; height top^dp exactly 1; radius inner^dp exactly 1; radius outer^dp exactly 1; rotation angle^dp exactly 1
is disjoint with: workspace articulated^c, workspace cartesian^c, workspace cylinder^c

wrench function^c back to ToC or Class ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#WrenchFunction

This is a capability of a wrench type tool, e.g. open ended wrench or monkey wrench.

has super-classes: simple capability^c; arm of force^dp exactly 1; nut size max^dp exactly 1; nut size min^dp exactly 1

Object Properties

capability parameters additional^op back to ToC or Object Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#CapabilityParametersAdditional

This is a parent property for object properties which are used to relate the capabilities to additional capability parameters.

has sub-properties: has allowed item shape and size exact^op, has allowed item shape and size internal max^op, has allowed item shape and size internal min^op, has allowed item shape and size max^op, has allowed item shape and size min^op, has allowed object size^op, has fixturing shape and space max^op, has fixturing shape and space min^op, has force detail^op, has item size max^op, has item size min^op, has linear movement range^op, has rivet size max^op, has rivet size min^op, has rotation movement range^op, has shape and size^op, has shape and size internal^op, has suitable material^op, has tool shape and size^op, has workspace type and dimensions^op

has allowed item shape and size exact^op back to ToC or Object Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasAllowedItemShapeAndSize_exact

This property is used to define the exact allowable shape and size that can be handled with the specific capability. This property may get multiple values. .

has super-properties: capability parameters additional^op
has range: shape and size definition^c

has allowed item shape and size internal max^op back to ToC or Object Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasAllowedItemShapeAndSize_internal_max

This property is used to define the shape and maximun internal size of items that can be handled with the capability.

has super-properties: capability parameters additional^op
has range: shape and size definition^c

has allowed item shape and size internal min^op back to ToC or Object Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasAllowedItemShapeAndSize_internal_min

This property is used to define the shape and minimun internal size of items that can be handled with the capability.

has super-properties: capability parameters additional^op
has range: shape and size definition^c

has allowed item shape and size max^op back to ToC or Object Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasAllowedItemShapeAndSize_max

This property is used to define the shape and maximun size of items that can be handled with the capability.

has super-properties: capability parameters additional^op
has range: shape and size definition^c

has allowed item shape and size min^op back to ToC or Object Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasAllowedItemShapeAndSize_min

This property is used to define the shape and minimum size of items that can be handled with the capability.

has super-properties: capability parameters additional^op
has range: shape and size definition^c

has allowed object size^op back to ToC or Object Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasAllowedObjectSize

This parameter is used to save the allowed size of the associated object, e.g. a tray of a tray feeder.

has super-properties: capability parameters additional^op

has fixturing shape and space max^op back to ToC or Object Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasFixturingShapeAndSpace_max

This parameter is used to save the information related to the maximum size and shape of the fixtured product. This property is used if the shape is relevant. Otherwise the bounding box type parameter hasItemSize_max can be used.

has super-properties: capability parameters additional^op
has range: shape and size definition^c

has fixturing shape and space min^op back to ToC or Object Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasFixturingShapeAndSpace_min

This parameter is used to save the information related to the minimum size and shape of the fixtured product. This parameter is used if the shape is relevant. Otherwise the bounding box type parameter hasItemSize_min can be used.

has super-properties: capability parameters additional^op
has range: shape and size definition^c

has force detail^op back to ToC or Object Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasForceDetail

This parameter is used to refer to the min and max force values and direction of the force.

has super-properties: capability parameters additional^op
has range: force detail^c

has input capability^op back to ToC or Object Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasInputCapability

This property is used to indicate from which capabilities a certain combined capability is composed of.

has sub-properties: has specialnput capability^op
has domain: combined capability^c
has range: capability^c

has item size max^op back to ToC or Object Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasItemSize_max

This prop erty is used to link the capabilities to the maximum item size they can handle. If the shape is critical, then another parameter called hasAllowedItemShapeAndSize_max should be used.

has super-properties: capability parameters additional^op
has range: item size^c

has item size min^op back to ToC or Object Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasItemSize_min

This property is used to link the capabilities to the minimum item size they can handle. If the shape is critical, then another parameter called hasAllowedItemShapeAndSize_min should be used.

has super-properties: capability parameters additional^op
has range: item size^c

has linear movement range^op back to ToC or Object Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasLinearMovementRange

This parameter is used to give details on the movement ranges of translational movement capability.

has characteristics : functional

has super-properties: capability parameters additional^op
has range: linear movement range^c

has rivet size max^op back to ToC or Object Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasRivetSize_max

This property is used to link to the definition of a maximum rivet size that can be handled with the capability. Can be used to define both the length and diameter.

has characteristics : functional

has super-properties: capability parameters additional^op
has range: item size^c

has rivet size min^op back to ToC or Object Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasRivetSize_min

This property is used to link to the definition of a minimum rivet size that can be handled with the capability. Can be used to define both the length and diameter.

has characteristics : functional

has super-properties: capability parameters additional^op
has range: item size^c

has rotation movement range^op back to ToC or Object Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasRotationMovementRange

This parameter is used to give details on the movement ranges of rotational capability.

has characteristics : functional

has super-properties: capability parameters additional^op
has range: rotational movement range^c

has shape and size^op back to ToC or Object Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasShapeAndSize

This property is used to associate an object to a shape definition, i.e. to present the shape and size of the object, which is critical for determining the match between product requirements. It can be used e.g. to define the shape of a tool.

has super-properties: capability parameters additional^op
has range: shape and size definition^c

has shape and size internal^op back to ToC or Object Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasShapeAndSize_internal

This property is used to associate an object to a shape definition, i.e. to present the internal shape of an object, which is critical for determining the match between product requirements.

has super-properties: capability parameters additional^op

has specialnput capability^op back to ToC or Object Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasSpecialnputCapability

This property is used to save qualified property restrictions for input capabilities.

has super-properties: has input capability^op

has suitable material^op back to ToC or Object Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasSuitableMaterial

This property is used to indicate the suitable materials that can be processed with the capability.

has super-properties: capability parameters additional^op
has range: material type

has tool shape and size^op back to ToC or Object Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasToolShapeAndSize

This property indicates the shape and size of the tool used to accomplish this capability.

has characteristics : functional

has super-properties: capability parameters additional^op
has range: shape and size definition^c

has workspace type and dimensions^op back to ToC or Object Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasWorkspaceTypeAndDimensions

This property is used to link the moving capability to a certain workspace type and its dimensions.

has characteristics : functional

has super-properties: capability parameters additional^op
has range: workspace^c

refers to capability^op back to ToC or Object Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#refersToCapability

has characteristics : functional

has range: capability^c

Data Properties

acceleration x max
acceleration y max
acceleration z max
accuracy
algorithm type
arm of force
bellows
bottom shape
capability parameter
contraction time min
cup number
cutter parameter
cutter type
cutter version
cutting edge angle
cutting edge length
cycle time average
diameter
dimension x
dimension y
dimension z
dof
dof number
drill bit parameter
drill bit type
drilling depth max
expansion max
expansion min
expansion time min
feed rate max
field of view max x
field of view max y
field of view min x
field of view min y
finger closing time min
finger gripper parameter
finger number
finger opening max
finger opening min
finger opening time min
finger type
fixing force max
fixing force min
fixing parameter
fixing points
fixture opening max
fixture opening min
fixturing method
focal length max
focal length min
focus distance max
focus distance min
force control
force direction
force max
force min
force resolution
frame type
friction
grasping force max
grasping force min
grasping type
gripper type
handle length
height
height bottom
height compensation
height top
holding force
holding force max
hole diameter
insert shape
item diameter external max
item diameter external min
item diameter internal max
item diameter internal min
lateral force max
length
mass
moving parameter
name
nose radius
number of parts max
nut size max
nut size min
operation type
part centering
payload
picking space dimension x
picking space dimension y
position control
pressure nominal
radius inner
radius outer
repeatability
ring size parameter
rivet head shape
rivet type
rotation angle
rotation x
rotation y
rotation z
rotations max
screw size
screw type
screwing head effective length
screwing head parameter
screwing head size
spatial resolution max
spatial resolution min
speed x max
speed y max
speed z max
spindle concentricity
spinning direction
spinning speed max
spinning speed min
spinning speed parameter
stroke max
stroke per finger max
stroke per fixing max
suction capacity max
surface accuracy max
surface accuracy min
teeth number
tolerance lower value
tolerance upper value
tool angle
tool angle max
tool angle min
tool effective length
tool entry current
tool entry max
tool entry min
tool entry parameters
torque default
torque max
torque min
torque parameters
translation x
translation y
translation z
tray capacity
tray changer automatic
vacuum pressure max
vawelength max
volume
wavelength min
weight
width

acceleration x max^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#acceleration_x_max

Maximum acceleration in x-direction.

has characteristics : functional

has super-properties: moving parameter^dp
has range: float

acceleration y max^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#acceleration_y_max

Maximum acceleration in y-direction.

has characteristics : functional

has super-properties: moving parameter^dp
has range: float

acceleration z max^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#acceleration_z_max

Maximum acceleration in z-direction.

has characteristics : functional

has super-properties: moving parameter^dp
has range: float

accuracy^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#accuracy

Accuracy of the capability.

has characteristics : functional

has super-properties: capability parameter^dp
has range: float

algorithm type^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#algorithmType

<p style="margin-top: 0"> Type of the machine vision algorithm. </p>

has super-properties: capability parameter^dp
has range: { "blob" , "circle_fitting" , "pattern_matching" , "surface_matching" }

arm of force^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#armOfForce

Unit: millimeter (mm)

has characteristics : functional

has super-properties: capability parameter^dp
has range: float

bellows^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#bellows

This property is used to indicate if the vacuum cup has bellows or not. Gets Boolean value (true | false).

has characteristics : functional

has super-properties: capability parameter^dp
has range: boolean

bottom shape^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#bottomShape

Shape of the hole's bottom, that can be achieved with the tool, i.e. angle of the tool tip.

has characteristics : functional

has super-properties: drill bit parameter^dp
has range: float

capability parameter^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#CapabilityParameter

This is a parent property for all the capability related datatype properties.

has sub-properties: accuracy^dp, algorithm type^dp, arm of force^dp, bellows^dp, contraction time min^dp, cup number^dp, cutter parameter^dp, dof^dp, dof number^dp, drill bit parameter^dp, expansion max^dp, expansion min^dp, expansion time min^dp, feed rate max^dp, field of view max x^dp, field of view max y^dp, field of view min x^dp, field of view min y^dp, finger gripper parameter^dp, fixing parameter^dp, fixturing method^dp, focal length max^dp, focal length min^dp, focus distance max^dp, focus distance min^dp, force direction^dp, force max^dp, force min^dp, force resolution^dp, frame type^dp, friction^dp, handle length^dp, height compensation^dp, holding force^dp, holding force max^dp, lateral force max^dp, moving parameter^dp, number of parts max^dp, nut size max^dp, nut size min^dp, operation type^dp, part centering^dp, payload^dp, picking space dimension x^dp, picking space dimension y^dp, pressure nominal^dp, repeatability^dp, ring size parameter^dp, rivet head shape^dp, rivet type^dp, rotations max^dp, screwing head parameter^dp, screwing head size^dp, spatial resolution max^dp, spatial resolution min^dp, spindle concentricity^dp, spinning direction^dp, spinning speed parameter^dp, stroke max^dp, suction capacity max^dp, surface accuracy max^dp, surface accuracy min^dp, tolerance lower value^dp, tolerance upper value^dp, tool angle^dp, tool angle max^dp, tool angle min^dp, tool effective length^dp, tool entry parameters^dp, torque parameters^dp, tray capacity^dp, tray changer automatic^dp, vacuum pressure max^dp, vawelength max^dp, wavelength min^dp

contraction time min^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#contractionTime_min

Minimum time it takes to contract (release) an expanding gripper.

has characteristics : functional

has super-properties: capability parameter^dp
has range: float

cup number^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#cupNumber

Amount of vacuum cups in the vacuum gripper

has characteristics : functional

has super-properties: capability parameter^dp
has range: int

cutter parameter^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#cutterParameter

Parent property for capability parameters relating to cutters, e.g. milling or turning cutters.

has super-properties: capability parameter^dp
has sub-properties: cutter type^dp, cutter version^dp, cutting edge angle^dp, cutting edge length^dp, insert shape^dp, nose radius^dp, teeth number^dp

cutter type^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#cutterType

Type of the cutter. Can be e.g. face mill.

has characteristics : functional

has super-properties: cutter parameter^dp
has range: { "end mill" , "face mill" }

cutter version^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#cutterVersion

Version of the tool. Can be "right handed" or "left handed".

has characteristics : functional

has super-properties: cutter parameter^dp
has range: { "Left handed" , "Right handed" }

cutting edge angle^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#cuttingEdgeAngle

Angle of the cutting edge.

has characteristics : functional

has super-properties: cutter parameter^dp
has range: float

cutting edge length^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#cuttingEdgeLength

Length of the cutting edge.

has characteristics : functional

has super-properties: cutter parameter^dp
has range: float

cycle time average^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#cycleTime_average

Average cycle time of one operation cycle with the given resource.

has characteristics : functional

has range: float

diameter^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#diameter

Diameter of an entity.

has range: float

dimension x^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#dimension_x

Dimension in x-direction.

has range: float

dimension y^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#dimension_y

Dimension in y-direction.

has range: float

dimension z^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#dimension_z

Dimension in z-direction.

has range: float

dof^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#dof

Degrees of freedom of the movement.

has super-properties: capability parameter^dp
has range: { "Rotate_X" , "Rotate_Y" , "Rotate_Z" , "Translate_X" , "Translate_Y" , "Translate_Z" }

dof number^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#dofNumber

Number (amount) of degrees of freedom of the movement.

has characteristics : functional

has super-properties: capability parameter^dp
has range: int

drill bit parameter^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#drillBitParameter

Parameters relating to drill bits.

has super-properties: capability parameter^dp
has sub-properties: bottom shape^dp, drill bit type^dp, drilling depth max^dp, hole diameter^dp

drill bit type^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#drillBitType

Type of the drill. Value can be selected from enumerated list, e.g. U-drill, Unibit,...

has characteristics : functional

has super-properties: drill bit parameter^dp
has range: { "CenterDrillBit" , "TwistBit" , "U-drill" , "Unibit" }

drilling depth max^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#drillingDepth_max

Maximum depth that can be drilled with the drill bit.

has characteristics : functional

has super-properties: drill bit parameter^dp
has range: float

expansion max^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#expansion_max

This is the maximum expansion of an expanding gripper.

has characteristics : functional

has super-properties: capability parameter^dp
has range: float

expansion min^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#expansion_min

This is the miminum expansion of the expanding gripper (minimum by which it can still hold items).

has characteristics : functional

has super-properties: capability parameter^dp
has range: float

expansion time min^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#expansionTime_min

Minimum time it takes to expand the gripper in maximum.

has characteristics : functional

has super-properties: capability parameter^dp
has range: float

feed rate max^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#feedRate_max

Maximum feed rate of the capability. Represented as parts/second.

has characteristics : functional

has super-properties: capability parameter^dp
has range: float

field of view max x^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#fieldOfView_max_x

Maximum field of view in x-direction.

has characteristics : functional

has super-properties: capability parameter^dp
has range: float

field of view max y^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#fieldOfView_max_y

Maximum field of view in y-direction.

has characteristics : functional

has super-properties: capability parameter^dp
has range: float

field of view min x^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#fieldOfView_min_x

Minimum field of view in x-direction.

has characteristics : functional

has super-properties: capability parameter^dp
has range: float

field of view min y^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#fieldOfView_min_y

Minimum field of view in y-direction.

has characteristics : functional

has super-properties: capability parameter^dp
has range: float

finger closing time min^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#fingerClosingTime_min

Minimum closing time of the gripper fingers.

has characteristics : functional

has super-properties: finger gripper parameter^dp
has range: float

finger gripper parameter^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#fingerGripperParameter

Parameters relating to finger grippers.

has super-properties: capability parameter^dp
has sub-properties: finger closing time min^dp, finger number^dp, finger opening max^dp, finger opening min^dp, finger opening time min^dp, finger type^dp, force control^dp, grasping force max^dp, grasping force min^dp, grasping type^dp, gripper type^dp, position control^dp, stroke per finger max^dp

finger number^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#fingerNumber

Number of fingers in the gripper

has characteristics : functional

has super-properties: finger gripper parameter^dp
has range: int

finger opening max^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#fingerOpening_max

Maximum opening of the fingers. In case of 3-finger gripper, this value defines the diameter, while in case of 2-finger gripper it defines the distance between the fingers.

has characteristics : functional

has super-properties: finger gripper parameter^dp
has range: float

finger opening min^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#fingerOpening_min

Minimum opening of the fingers. In case of 3-finger gripper, this value defines the diameter, while in case of 2-finger gripper it defines the distance between the fingers.

has characteristics : functional

has super-properties: finger gripper parameter^dp
has range: float

finger opening time min^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#fingerOpeningTime_min

Minimum opening time of the gripper fingers (fastest possible).

has characteristics : functional

has super-properties: finger gripper parameter^dp
has range: float

finger type^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#fingerType

Type of the fingers' grasping method. Can get value:"Friction" or "Mechanical"

has super-properties: finger gripper parameter^dp
has range: { "Friction" , "Mechanical" }

fixing force max^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#fixingForce_max

Maximum fixing force of the fixture.

has characteristics : functional

has super-properties: fixing parameter^dp
has range: float

fixing force min^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#fixingForce_min

Minimum fixing force of the fixture.

has characteristics : functional

has super-properties: fixing parameter^dp
has range: float

fixing parameter^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#fixing_parameter

Parameters relating to fixturing capability.

has super-properties: capability parameter^dp
has sub-properties: fixing force max^dp, fixing force min^dp, fixing points^dp, fixture opening max^dp, fixture opening min^dp, stroke per fixing max^dp

fixing points^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#fixingPoints

Number of fixing points or surfaces in the fixture.

has characteristics : functional

has super-properties: fixing parameter^dp
has range: int

fixture opening max^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#fixtureOpening_max

Maximum opening of the fixture fixing elements. E.g. in case of a clamping type fixture, it is the maximum opening of the fixturing jaws .

has characteristics : functional

has super-properties: fixing parameter^dp
has range: float

fixture opening min^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#fixtureOpening_min

Minimum opening of the fixture fixing elements. E.g in case of a clamping type fixture, it is the minimum opening of the fixturing jaws .

has characteristics : functional

has super-properties: fixing parameter^dp
has range: float

fixturing method^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#fixturingMethod

This property is used to indicate the method on how the fixture works. It gets values from enumerated list.

has characteristics : functional

has super-properties: capability parameter^dp
has range: { "COMPRESSIVE_FORCE" , "MAGNETIC" , "VACUUM" }

focal length max^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#focalLength_max

has characteristics : functional

has super-properties: capability parameter^dp
has range: float

focal length min^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#focalLength_min

has characteristics : functional

has super-properties: capability parameter^dp
has range: float

focus distance max^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#focusDistance_max

Maximum allowed focus distance of the camera system.

has characteristics : functional

has super-properties: capability parameter^dp
has range: float

focus distance min^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#focusDistance_min

Minimum allowed focus distance of the camera system.

has characteristics : functional

has super-properties: capability parameter^dp
has range: float

force control^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#forceControl

Parameter indicating if the capability provides force control or not? Gets boolean value (true or false)

has characteristics : functional

has super-properties: finger gripper parameter^dp
has range: boolean

force direction^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#forceDirection

Directios where the force can be applied.

has super-properties: capability parameter^dp
has range: { "+X" , "+Y" , "+Z" , "-X" , "-Y" , "-Z" }

force max^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#force_max

Maximum force that the capability can apply (N).

has characteristics : functional

has super-properties: capability parameter^dp
has range: float

force min^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#force_min

Minimum force that the capability can apply .

has characteristics : functional

has super-properties: capability parameter^dp
has range: float

force resolution^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#force_resolution

Minimum resolution on which the force can be controlled.

has characteristics : functional

has super-properties: capability parameter^dp
has range: float

frame type^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#frameType

Indicates the shape of the frame which gives the counterforce to the applied process force. Gets values from enumerated list.

has characteristics : functional

has super-properties: capability parameter^dp
has range: { "C-frame" , "H-frame" , "O-frame" }

friction^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#friction

Current version :: TODO: The friction depends on the material of the grasped item. Can this parameter even exist without the product?

Friction provided by the capability, e.g. friction of the finger gripper fingers.

has super-properties: capability parameter^dp
has range: float

grasping force max^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#graspingForce_max

Maximun grasping force of the gripper.

has characteristics : functional

has super-properties: finger gripper parameter^dp
has range: float

grasping force min^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#graspingForce_min

Minimum grasping force of the gripper.

has characteristics : functional

has super-properties: finger gripper parameter^dp
has range: float

grasping type^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#graspingType

Type of the grasping. Can get values internal grasping and/or external grasping.

has super-properties: finger gripper parameter^dp
has range: { "External grasping" , "Internal grasping" }

gripper type^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#gripperType

Type of the gripper. Can get the following values: "Parallel", "3-point", "Radial", or "Angular".

has characteristics : functional

has super-properties: finger gripper parameter^dp
has range: { "3-point" , "Angular" , "Parallel" , "Radial" }

handle length^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#handleLength

This property is used to model the length of the handle, e.g. in case of a hammer.

has characteristics : functional

has super-properties: capability parameter^dp
has range: float

height^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#height

Height of an entity.

has characteristics : functional

has range: float

height bottom^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#height_bottom

Height of the area in the sphere bottom, not belonging to a device workspace

has range: float

height compensation^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#heightCompensation

How much cup retracts when grasping occurs?

has super-properties: capability parameter^dp
has range: float

height top^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#height_top

Height of the area in the shere top, not belonging to a certain workspace.

has range: float

holding force^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#holdingForce

Maxomum holding force to hold items, e.g. in case of magnetic grasping.

has super-properties: capability parameter^dp
has range: float

holding force max^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#holdingForce_max

Theoretical holding force of the device in a default pressure. .

has characteristics : functional

has super-properties: capability parameter^dp
has range: float

hole diameter^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hole_diameter

Diameter of the drilled hole, i.e. drill bit diameter. In case of unibit type drill bit, two values for the diameter can be given.

has super-properties: drill bit parameter^dp
has range: float

insert shape^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#insertShape

Shape of the insert (angle).

has characteristics : functional

has super-properties: cutter parameter^dp
has range: float

item diameter external max^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#itemDiameterExternal_max

Maximum external diameter of the handled item.

has characteristics : functional

has super-properties: ring size parameter^dp
has range: float

item diameter external min^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#itemDiameterExternal_min

Miniimum external diameter of the handled item.

has characteristics : functional

has super-properties: ring size parameter^dp
has range: float

item diameter internal max^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ItemDiameterInternal_max

Maximum internal diameter of the handled item.

has characteristics : functional

has super-properties: ring size parameter^dp
has range: float

item diameter internal min^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#itemDiameterInternal_min

Minimum internal diameter of the handled item.

has characteristics : functional

has super-properties: ring size parameter^dp
has range: float

lateral force max^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#lateralForce_max

Theoretical lateral holding force of the vacuum gripper at the nominal pressure.

has characteristics : functional

has super-properties: capability parameter^dp
has range: float

length^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#length

Length of an entity.

has characteristics : functional

has range: float

mass^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#mass

This property defines the mass of an entity.

has characteristics : functional

has range: float

moving parameter^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#movingParameter

Parameters relating to the moving capability.

has super-properties: capability parameter^dp
has sub-properties: acceleration x max^dp, acceleration y max^dp, acceleration z max^dp, speed x max^dp, speed y max^dp, speed z max^dp

name^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#name

Name of the entity.

has characteristics : functional

has range: string

nose radius^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#noseRadius

Nose radius of the cutting insert.

has characteristics : functional

has super-properties: cutter parameter^dp
has range: float

number of parts max^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#numberOfParts_max

Maximum number of parts the capability can handle.

has characteristics : functional

has super-properties: capability parameter^dp
has range: int

nut size max^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#nutSize_max

Maximum size of nut or bolt (the head that attaches with the tool)

has characteristics : functional

has super-properties: capability parameter^dp
has range: float

nut size min^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#nutSize_min

Minimum size of the nut (the head that attaches to the tool).

has characteristics : functional

has super-properties: capability parameter^dp
has range: float

operation type^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#operationType

Type of operation of the machine vision algorithm.

has super-properties: capability parameter^dp
has range: { "color_recognition" , "existence_recognition" , "localization" , "shape_recognition" }

part centering^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#partCentering

This property is used to tell if the fixturing is centering or not. Gets boolean value: 1 meaning "yes", 0 meaning "no".

has super-properties: capability parameter^dp
has range: boolean

payload^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#payload

Payload related to the given capability.

has characteristics : functional

has super-properties: capability parameter^dp
has range: float

picking space dimension x^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#pickingSpaceDimension_x

Parameter relating to the dimensions of the picking up space in feeder, e.g. in a tray. This will affect to the required workspace of the picking resource.

has characteristics : functional

has super-properties: capability parameter^dp
has range: float

picking space dimension y^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#pickingSpaceDimension_y

Parameter relating to the dimensions of the picking up space in feeder, e.g. in a tray. This will affect to the required workspace of the picking resource.

has characteristics : functional

has super-properties: capability parameter^dp
has range: float

position control^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#positionControl

Parameter indicating if the capability provides position control or not? Gets boolean value: 1 meaning "yes", 0 meaning "no".

has characteristics : functional

has super-properties: finger gripper parameter^dp
has range: boolean

pressure nominal^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#pressure_nominal

has characteristics : functional

has super-properties: capability parameter^dp
has range: float

radius inner^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#radius_inner

Inner radius of a workspace

has range: float

radius outer^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#radius_outer

Outer radius of a workspace

has range: float

repeatability^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#repeatability

Repeatability of a given capability.

has characteristics : functional

has super-properties: capability parameter^dp
has range: float

ring size parameter^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ringSizeParameter

Parent property for different ring size related properties.

has super-properties: capability parameter^dp
has sub-properties: item diameter external max^dp, item diameter external min^dp, item diameter internal max^dp, item diameter internal min^dp
has range: float

rivet head shape^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#rivetHeadShape

Defines the shape of the rivet that can be achieved with this capability. Gets values from enumerated list: “button”, “truss”, “oval”, “flat countersunk”, “pan”, “flat”, “cone”.

has super-properties: capability parameter^dp
has range: { "button" , "cone" , "flat" , "flat countersunk" , "oval" , "pan" , "truss" }

rivet type^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#rivetType

Type of the rivet that can be riveted with this capability. Gets values from enumerated list: “solid”, “semitubular”, “tubular”, “split”, “compression”, “blind”.

has super-properties: capability parameter^dp
has range: { "blind" , "compression" , "countersunk" , "semitubular" , "solid" , "split" , "tubular" }

rotation angle^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#rotationAngle

Rotation angle of a workspace.

has range: float

rotation x^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#rotation_x

This property defines the rotation angles of an X-axis. Two values should be provided for this property, + and - values.

has range: float

rotation y^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#rotation_y

This property defines the rotation angles of an Y-axis. Two values should be provided for this property, + and - values.

has range: float

rotation z^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#rotation_z

This property defines the rotation angles of an Z-axis. Two values should be provided for this property, + and - values.

has range: float

rotations max^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#rotations_max

Max imum amount of rotations that the device can take.

has characteristics : functional

has super-properties: capability parameter^dp
has range: int

screw size^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#screwSize

Size of a screw for which the screwing head is meant for.

has super-properties: screwing head parameter^dp
has range: float

screw type^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#screwType

Type of the screwing head for which the tool is meant for, e.g. "torx", "phillips" etc.

has super-properties: screwing head parameter^dp
has range: { "cross" , "hex_bolt" , "hex_socket" , "phillips" , "pozidriv" , "robertson" , "security_T" , "slotted" , "torx" }

screwing head effective length^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#screwingHead_effectiveLength

This parameter indicates the effective length of the screwing head. It means the length of the tool outside the screw driver. This information can be used to define how deep inside a material the screw can be screwed.

has characteristics : functional

has super-properties: screwing head parameter^dp
has range: float

screwing head parameter^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#screwingHead_parameter

Para meters relating to the screwing head capability.

has super-properties: capability parameter^dp
has sub-properties: screw size^dp, screw type^dp, screwing head effective length^dp

screwing head size^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#screwingHeadSize

Size of the screwing head . In case of standard size, it may be unitless. Otherwise mm.

has characteristics : functional

has super-properties: capability parameter^dp
has range: float

spatial resolution max^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#spatialResolution_max

Maximum spatial resolution (in maximum focus distance).

has characteristics : functional

has super-properties: capability parameter^dp
has range: float

spatial resolution min^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#spatialResolution_min

Minimum spatial resolution (in minimum focus distance).

has characteristics : functional

has super-properties: capability parameter^dp
has range: float

speed x max^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#speed_x_max

Maximum speed (velocity) in x-direction.

has characteristics : functional

has super-properties: moving parameter^dp
has range: float

speed y max^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#speed_y_max

Maximum speed (velocity) in y-direction.

has characteristics : functional

has super-properties: moving parameter^dp
has range: float

speed z max^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#speed_z_max

Maximum speed (velocity) in z-direction.

has characteristics : functional

has super-properties: moving parameter^dp
has range: float

spindle concentricity^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#spindleConcentricity

Concentricity of the spindle movement.

has super-properties: capability parameter^dp
has range: float

spinning direction^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#spinningDirection

Directions into which the device can spin (rotate). Can get values: "clockwise" or "counterclockwise"

has super-properties: capability parameter^dp
has range: { "clockwise" , "counterclockwise" }

spinning speed max^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#spinningSpeed_max

Maximum spinning (rotation) speed (rpm).

has characteristics : functional

has super-properties: spinning speed parameter^dp
has range: float

spinning speed min^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#spinningSpeed_min

Miminum spinning (rotation) speed (rpm).

has characteristics : functional

has super-properties: spinning speed parameter^dp
has range: float

spinning speed parameter^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#spinningSpeed_parameter

Parameters relating to spinning speed (rotation speed).

has super-properties: capability parameter^dp
has sub-properties: spinning speed max^dp, spinning speed min^dp

stroke max^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#stroke_max

Maximum stroke of the movement.

has characteristics : functional

has super-properties: capability parameter^dp
has range: float

stroke per finger max^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#strokePerFinger_max

Maximum movement range of a finger.

has characteristics : functional

has super-properties: finger gripper parameter^dp
has range: float

stroke per fixing max^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#strokePerFixing_max

Maximum stroke of the fixing elements in the fixture.

has characteristics : functional

has super-properties: fixing parameter^dp
has range: float

suction capacity max^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#suctionCapacity_max

Maximum suction capacity of the device (l/min).

has characteristics : functional

has super-properties: capability parameter^dp
has range: float

surface accuracy max^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#surfaceAccuracy_max

Maximum surface accuracy (in maximum focus distance).

has super-properties: capability parameter^dp
has range: float

surface accuracy min^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#surfaceAccuracy_min

Minimum surface accuracy (in minimum focus distance).

has characteristics : functional

has super-properties: capability parameter^dp
has range: float

teeth number^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#teethNumber

Number of teeth in the cutter tool.

has characteristics : functional

has super-properties: cutter parameter^dp
has range: int

tolerance lower value^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#tolerance_LowerValue

Tolerance (lower value) relating to a specific capability.

has characteristics : functional

has super-properties: capability parameter^dp
has range: float

tolerance upper value^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#tolerance_UpperValue

Tolerance (upper value) relating to a specific capability.

has characteristics : functional

has super-properties: capability parameter^dp
has range: float

tool angle^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#toolAngle

Defines the angle of the tool in the tool holder.

has super-properties: capability parameter^dp
has range: float

tool angle max^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#toolAngle_max

Defines the maximum angle of the tool in the device. In case of radial riveting the tool angle changes during the process.

has characteristics : functional

has super-properties: capability parameter^dp
has range: float

tool angle min^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#toolAngle_min

Defines the minimum angle of the tool in the device. In case of radial riveting the tool angle changes during the process.

has super-properties: capability parameter^dp
has range: float

tool effective length^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#tool_effectiveLength

This parameter indicates the effective length of the tool, which means the length of the tool outside the holding element.

has characteristics : functional

has super-properties: capability parameter^dp
has range: float

tool entry current^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#toolEntry_current

has characteristics : functional

has super-properties: tool entry parameters^dp
has range: float

tool entry max^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#toolEntry_max

The maximum depth the tool can enter inside the tool holder or machine.

has characteristics : functional

has super-properties: tool entry parameters^dp
has range: float

tool entry min^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#toolEntry_min

has characteristics : functional

has super-properties: tool entry parameters^dp
has range: float

tool entry parameters^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#toolEntry_Parameters

Parameters for saving the inforamation about max and min values for the tool entry inside the tool holder. These should be moved to the interfae description!?

has super-properties: capability parameter^dp
has sub-properties: tool entry current^dp, tool entry max^dp, tool entry min^dp

torque default^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#torque_default

Default torque that can be applied.

has characteristics : functional

has super-properties: torque parameters^dp
has range: float

torque max^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#torque_max

Maximum torque that can be applied.

has characteristics : functional

has super-properties: torque parameters^dp
has range: float

torque min^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#torque_min

Minimum torque that can be applied.

has characteristics : functional

has super-properties: torque parameters^dp
has range: float

torque parameters^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#torque_Parameters

Parameters relating to the torque of the capability.

has super-properties: capability parameter^dp
has sub-properties: torque default^dp, torque max^dp, torque min^dp

translation x^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#translation_x

This property defines the translation dimension along an X-axis. Two values should be provided for this property, + and - values.

has range: float

translation y^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#translation_y

This property defines the translation dimension along an Y-axis. Two values should be provided for this property, + and - values.

has range: float

translation z^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#translation_z

This property defines the translation dimension along an Z-axis. Two values should be provided for this property, + and - values.

has range: float

tray capacity^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#trayCapacity

This parameter indicates the amount of trays that can be put to the tray feeder.

has characteristics : functional

has super-properties: capability parameter^dp
has range: int

tray changer automatic^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#trayChanger_automatic

This property is used to indicate if the tray feeder can automatically change trays.

has characteristics : functional

has super-properties: capability parameter^dp
has range: boolean

vacuum pressure max^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#vacuumPressure_max

Lowest operating pressure (highest vacuum) the gripper can operate with. Negative value expected.

has characteristics : functional

has super-properties: capability parameter^dp
has range: float

vawelength max^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#vawelength_max

has characteristics : functional

has super-properties: capability parameter^dp
has range: float

volume^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#volume

Volume of an entity

has range: float

wavelength min^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#wavelength_min

has super-properties: capability parameter^dp
has range: float

weight^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#weight

Unit: Kilograms (kg)

has characteristics : functional

has range: float

width^dp back to ToC or Data Property ToC

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#width

Unit: Millimeters (mm)

has characteristics : functional

has range: float

Namespace Declarations back to ToC

default namespace: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#
commonconcepts: https://resourcedescription.rd.tuni.fi/ontology/commonConcepts#
dc: http://purl.org/dc/elements/1.1/
ontology: https://resourcedescription.rd.tuni.fi/ontology/
owl: http://www.w3.org/2002/07/owl#
processtaxonomymodel: https://resourcedescription.rd.tuni.fi/ontology/processTaxonomyModel#
rdf: http://www.w3.org/1999/02/22-rdf-syntax-ns#
rdfs: http://www.w3.org/2000/01/rdf-schema#
xsd: http://www.w3.org/2001/XMLSchema#

Capability Model ontology

Abstract

Table of Content

Introduction

Classes

basic resource informationc back to ToC or Class ToC

blind rivetingc back to ToC or Class ToC

box shapec back to ToC or Class ToC

bulk box feedingc back to ToC or Class ToC

capabilityc back to ToC or Class ToC

capability parameter additionalc back to ToC or Class ToC

combined capabilityc back to ToC or Class ToC

cone shapec back to ToC or Class ToC

cylinder shapec back to ToC or Class ToC

drill bit functionc back to ToC or Class ToC

drillingc back to ToC or Class ToC

expanding ring with gripperc back to ToC or Class ToC

expansion graspingc back to ToC or Class ToC

finger functionc back to ToC or Class ToC

finger graspingc back to ToC or Class ToC

finger gripper functionc back to ToC or Class ToC

fixturingc back to ToC or Class ToC

force applyingc back to ToC or Class ToC

force detailc back to ToC or Class ToC

frame functionc back to ToC or Class ToC

hammer functionc back to ToC or Class ToC

hammeringc back to ToC or Class ToC

holding by gravityc back to ToC or Class ToC

impact rivetingc back to ToC or Class ToC

insertingc back to ToC or Class ToC

item sizec back to ToC or Class ToC

linear movement rangec back to ToC or Class ToC

locating visualc back to ToC or Class ToC

magnetic graspingc back to ToC or Class ToC

manual tool driver functionc back to ToC or Class ToC

millingc back to ToC or Class ToC

milling cutter functionc back to ToC or Class ToC

milling tool functionc back to ToC or Class ToC

mounting flexible ring externalc back to ToC or Class ToC

movement rangec back to ToC or Class ToC

movingc back to ToC or Class ToC

moving collaborativec back to ToC or Class ToC

moving toolc back to ToC or Class ToC

ogiva functionc back to ToC or Class ToC

ogiva toolset functionc back to ToC or Class ToC

orbital powerhead functionc back to ToC or Class ToC

orbital rivetingc back to ToC or Class ToC

orienting mechanicalc back to ToC or Class ToC

part storing in bulkc back to ToC or Class ToC

part storing in trayc back to ToC or Class ToC

part storing in tubec back to ToC or Class ToC

performancec back to ToC or Class ToC

pick and placec back to ToC or Class ToC

pick and place flexiblec back to ToC or Class ToC

pickingc back to ToC or Class ToC

placingc back to ToC or Class ToC

positioning mechanicalc back to ToC or Class ToC

press tool functionc back to ToC or Class ToC

pressingc back to ToC or Class ToC

pullingc back to ToC or Class ToC

pyramid shapec back to ToC or Class ToC

radial powerhead functionc back to ToC or Class ToC

radial rivetingc back to ToC or Class ToC

ratchet functionc back to ToC or Class ToC

ratchet wrench functionc back to ToC or Class ToC

releasingc back to ToC or Class ToC

ring mounting tool functionc back to ToC or Class ToC

rivet holdingc back to ToC or Class ToC

riveting tool functionc back to ToC or Class ToC

rollset functionc back to ToC or Class ToC

rotational movement rangec back to ToC or Class ToC

screwingc back to ToC or Class ToC

screwing head functionc back to ToC or Class ToC

screwing with wrenchc back to ToC or Class ToC

shape and size definitionc back to ToC or Class ToC

simple capabilityc back to ToC or Class ToC

sphere shapec back to ToC or Class ToC

spinning toolc back to ToC or Class ToC

storingc back to ToC or Class ToC

thread runningc back to ToC or Class ToC

basic resource information^c back to ToC or Class ToC

blind riveting^c back to ToC or Class ToC

box shape^c back to ToC or Class ToC

bulk box feeding^c back to ToC or Class ToC

capability^c back to ToC or Class ToC

capability parameter additional^c back to ToC or Class ToC

combined capability^c back to ToC or Class ToC

cone shape^c back to ToC or Class ToC

cylinder shape^c back to ToC or Class ToC

drill bit function^c back to ToC or Class ToC

drilling^c back to ToC or Class ToC

expanding ring with gripper^c back to ToC or Class ToC

expansion grasping^c back to ToC or Class ToC

finger function^c back to ToC or Class ToC

finger grasping^c back to ToC or Class ToC

finger gripper function^c back to ToC or Class ToC

fixturing^c back to ToC or Class ToC

force applying^c back to ToC or Class ToC

force detail^c back to ToC or Class ToC

frame function^c back to ToC or Class ToC

hammer function^c back to ToC or Class ToC

hammering^c back to ToC or Class ToC

holding by gravity^c back to ToC or Class ToC

impact riveting^c back to ToC or Class ToC

inserting^c back to ToC or Class ToC

item size^c back to ToC or Class ToC

linear movement range^c back to ToC or Class ToC

locating visual^c back to ToC or Class ToC

magnetic grasping^c back to ToC or Class ToC

manual tool driver function^c back to ToC or Class ToC

milling^c back to ToC or Class ToC

milling cutter function^c back to ToC or Class ToC

milling tool function^c back to ToC or Class ToC

mounting flexible ring external^c back to ToC or Class ToC

movement range^c back to ToC or Class ToC

moving^c back to ToC or Class ToC

moving collaborative^c back to ToC or Class ToC

moving tool^c back to ToC or Class ToC

ogiva function^c back to ToC or Class ToC

ogiva toolset function^c back to ToC or Class ToC

orbital powerhead function^c back to ToC or Class ToC

orbital riveting^c back to ToC or Class ToC

orienting mechanical^c back to ToC or Class ToC

part storing in bulk^c back to ToC or Class ToC

part storing in tray^c back to ToC or Class ToC

part storing in tube^c back to ToC or Class ToC

performance^c back to ToC or Class ToC

pick and place^c back to ToC or Class ToC

pick and place flexible^c back to ToC or Class ToC

picking^c back to ToC or Class ToC

placing^c back to ToC or Class ToC

positioning mechanical^c back to ToC or Class ToC

press tool function^c back to ToC or Class ToC

pressing^c back to ToC or Class ToC

pulling^c back to ToC or Class ToC

pyramid shape^c back to ToC or Class ToC

radial powerhead function^c back to ToC or Class ToC

radial riveting^c back to ToC or Class ToC

ratchet function^c back to ToC or Class ToC

ratchet wrench function^c back to ToC or Class ToC

releasing^c back to ToC or Class ToC

ring mounting tool function^c back to ToC or Class ToC

rivet holding^c back to ToC or Class ToC

riveting tool function^c back to ToC or Class ToC

rollset function^c back to ToC or Class ToC

rotational movement range^c back to ToC or Class ToC

screwing^c back to ToC or Class ToC

screwing head function^c back to ToC or Class ToC

screwing with wrench^c back to ToC or Class ToC

shape and size definition^c back to ToC or Class ToC

simple capability^c back to ToC or Class ToC

sphere shape^c back to ToC or Class ToC

spinning tool^c back to ToC or Class ToC

storing^c back to ToC or Class ToC

thread running^c back to ToC or Class ToC

tightening from side^c back to ToC or Class ToC

tool holding^c back to ToC or Class ToC

transport feeding^c back to ToC or Class ToC

transporting^c back to ToC or Class ToC

transporting collaborative^c back to ToC or Class ToC