Abstract: A method for generating a tool designed to interact with an object includes obtaining a model of the object, the model including at least a geometry of the object. A criterion set including at least one criterion for the tool is determined, and a virtual tool fulfilling the criterion set is created. An attribute reflecting a simulated interaction between the model and the virtual tool is calculated to thereby obtain an attribute value. On the basis of the attribute value, a to-be-fabricated virtual tool is appointed, and a corresponding tool is fabricated. By means of the present method, the performances of candidate tools can be evaluated before the fabrication of the same. Based on the evaluation, it can be decided whether, and which one, of the candidate tools shall be fabricated.

Abstract: A tool changing system for an industrial robot, the tool changing system including a tool; a base member for arrangement in a manipulator of the industrial robot and for holding the tool; and a tool storage for holding the tool when released from the base member; and a base member force device configured to force the tool to the base member in any orientation of the base member when the tool is held by the base member; and a tool storage force device configured to force the tool to the tool storage in any orientation of the tool storage when the tool is held by the tool storage. A method of handling a tool by an industrial robot is also provided.

Abstract: A method for generating a tool interacting with an object a model of the object is obtained, the model including at least geometry of the object. A criterium set including at least one criterium for the tool is determined, and a virtual tool fulfilling the criterium set is created. An attribute reflecting a simulated interaction between the model and the virtual tool is calculated to thereby obtain an attribute value. On the basis of the attribute value a to-be-fabricated virtual tool is appointed, and a corresponding tool is fabricated. By means of the present method the performances of candidate tools can be evaluated before the fabrication of the same. Based on the evaluation it can be decided whether, and which one, of the candidate tools shall be fabricated.

Abstract: An on-off pilot stage valve arrangement for controlling at least one main stage valve. The on-off pilot stage valve arrangement includes a first pilot valve discretely operable between two states, an on and an off state, the first pilot valve having an input at which there is a first pressure and an output connected to the main stage valve, a second pilot valve discretely operable between two states, an on and an off state, the second pilot stage valve having an input at which there is a second pressure and an output connected to the main stage valve. Both the valves are configured to be set in one of the two states in case the arrangement loses power.

Abstract: An on-off pilot stage valve arrangement for controlling at least one main stage valve. The on-off pilot stage valve arrangement includes a first pilot valve discretely operable between two states, an on and an off state, the first pilot valve having an input at which there is a first pressure and an output connected to the main stage valve, a second pilot valve discretely operable between two states, an on and an off state, the second pilot stage valve having an input at which there is a second pressure and an output connected to the main stage valve. Both the valves are configured to be set in one of the two states in case the arrangement loses power.