vacuum grasping

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

as defined in Capability Model ontology

version info
0.0.7
imports
title
Capability Model ontology
description
Capability Model (CM) is defining capabilities for production resources. This model will be extended by adding more capabilities and their parameters, i.e. extending the capability catalogue.
comment
Capability Model (CM) is defining capabilities for production resources. This model will be extended by adding more capabilities and their parameters, i.e. extending the capability catalogue.
creator
Eeva Järvenpää
contributor
Eeva Järvenpää
Niko Siltala
Otto Hylli
date
2018-03-18
rights
This work is licensed under the Creative Commons Attribution-ShareAlike 4.0 International License (CC BY-SA 4.0). To view a copy of this license, visit http://creativecommons.org/licenses/by-sa/4.0/
language
en
Other visualisation
WebVOWL Source
Export entity
Turtle RDF/XML JSON-LD N-Triples

vacuum grasping
c

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

comment
Capability to grasp items by vacuum. For example a vacuum gripper with ejector and vacuum cup(s) has this capability.
is disjoint with
blind rivetingc,
bulk box feedingc,
impact rivetingc,
insertingc,
mounting flexible ring externalc,
orbital rivetingc,
placingc,
radial rivetingc,
thread runningc,
transporting collaborativec,
ogiva toolset functionc,
pick and placec,
drillingc,
millingc,
pickingc,
pressingc,
screwingc,
transport feedingc,
tray feedingc,
tube feedingc,
milling tool functionc,
transportingc,
drill bit functionc,
finger functionc,
finger graspingc,
finger gripper functionc,
fixturingc,
force applyingc,
holding by gravityc,
milling cutter functionc,
movingc,
orienting mechanicalc,
part storing in trayc,
part storing in tubec,
positioning mechanicalc,
press tool functionc,
releasingc,
screwing head functionc,
spinning toolc,
tool holdingc,
tray holdingc,
tube feeder base functionc,
vacuum cup functionc,
vacuum gripper functionc,
moving collaborativec,
moving toolc
is sub class of
lateral force maxdp
exactly 1
thingc
cup numberdp
exactly 1
thingc
payloaddp
exactly 1
thingc
has input capabilityop
some
vacuum cup functionc
holding force maxdp
exactly 1
thingc
height compensationdp
exactly 1
thingc
bellowsdp
exactly 1
thingc
has input capabilityop
some
vacuum gripper functionc
volumedp
exactly 1
thingc
has item size minop
exactly 1
thingc
combined capabilityc,
vacuum graspingc

@prefix : <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#> .
@prefix owl: <http://www.w3.org/2002/07/owl#> .
@prefix pt: <https://resourcedescription.rd.tuni.fi/ontology/processTaxonomyModel#> .
@prefix rdfs: <http://www.w3.org/2000/01/rdf-schema#> .
@prefix xsd: <http://www.w3.org/2001/XMLSchema#> .

<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> {
    :VacuumGrasping a owl:Class ;
        rdfs:comment """Capability to grasp items by vacuum. \r
For example a vacuum gripper with ejector and vacuum cup(s) has this capability."""^^xsd:string ;
        rdfs:subClassOf _:n256ecb28a04b484a9cedca4af29658dab760,
            _:n256ecb28a04b484a9cedca4af29658dab761,
            _:n256ecb28a04b484a9cedca4af29658dab762,
            _:n256ecb28a04b484a9cedca4af29658dab763,
            _:n256ecb28a04b484a9cedca4af29658dab764,
            _:n256ecb28a04b484a9cedca4af29658dab765,
            _:n256ecb28a04b484a9cedca4af29658dab766,
            _:n256ecb28a04b484a9cedca4af29658dab767,
            _:n256ecb28a04b484a9cedca4af29658dab768,
            _:n256ecb28a04b484a9cedca4af29658dab769,
            :CombinedCapability,
            pt:VacuumGrasping ;
        owl:disjointWith :BlindRiveting,
            :BulkBoxFeeding,
            :DrillBitFunction,
            :Drilling,
            :FingerFunction,
            :FingerGrasping,
            :FingerGripperFunction,
            :Fixturing,
            :ForceApplying,
            :HoldingByGravity,
            :ImpactRiveting,
            :Inserting,
            :Milling,
            :MillingCutterFunction,
            :MillingToolFunction,
            :MountingFlexibleRingExternal,
            :Moving,
            :OgivaToolsetFunction,
            :OrbitalRiveting,
            :OrientingMechanical,
            :PartStoringInTray,
            :PartStoringInTube,
            :PickAndPlace,
            :Picking,
            :Placing,
            :PositioningMechanical,
            :PressToolFunction,
            :Pressing,
            :RadialRiveting,
            :Releasing,
            :Screwing,
            :ScrewingHeadFunction,
            :SpinningTool,
            :ThreadRunning,
            :ToolHolding,
            :TransportFeeding,
            :Transporting,
            :TransportingCollaborative,
            :TrayFeeding,
            :TrayHolding,
            :TubeFeederBaseFunction,
            :TubeFeeding,
            :VacuumCupFunction,
            :VacuumGripperFunction .

    _:n256ecb28a04b484a9cedca4af29658dab760 a owl:Restriction ;
        owl:cardinality "1"^^xsd:int ;
        owl:onProperty :lateralForce_max .

    _:n256ecb28a04b484a9cedca4af29658dab761 a owl:Restriction ;
        owl:cardinality "1"^^xsd:int ;
        owl:onProperty :cupNumber .

    _:n256ecb28a04b484a9cedca4af29658dab762 a owl:Restriction ;
        owl:cardinality "1"^^xsd:int ;
        owl:onProperty :payload .

    _:n256ecb28a04b484a9cedca4af29658dab763 a owl:Restriction ;
        owl:onProperty :hasInputCapability ;
        owl:someValuesFrom :VacuumCupFunction .

    _:n256ecb28a04b484a9cedca4af29658dab764 a owl:Restriction ;
        owl:cardinality "1"^^xsd:int ;
        owl:onProperty :holdingForce_max .

    _:n256ecb28a04b484a9cedca4af29658dab765 a owl:Restriction ;
        owl:cardinality "1"^^xsd:int ;
        owl:onProperty :heightCompensation .

    _:n256ecb28a04b484a9cedca4af29658dab766 a owl:Restriction ;
        owl:cardinality "1"^^xsd:int ;
        owl:onProperty :bellows .

    _:n256ecb28a04b484a9cedca4af29658dab767 a owl:Restriction ;
        owl:onProperty :hasInputCapability ;
        owl:someValuesFrom :VacuumGripperFunction .

    _:n256ecb28a04b484a9cedca4af29658dab768 a owl:Restriction ;
        owl:cardinality "1"^^xsd:int ;
        owl:onProperty :volume .

    _:n256ecb28a04b484a9cedca4af29658dab769 a owl:Restriction ;
        owl:cardinality "1"^^xsd:int ;
        owl:onProperty :hasItemSize_min .
}


[
  {
    "@graph": [
      {
        "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping",
        "@type": [
          "http://www.w3.org/2002/07/owl#Class"
        ],
        "http://www.w3.org/2000/01/rdf-schema#comment": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#string",
            "@value": "Capability to grasp items by vacuum. \r\nFor example a vacuum gripper with ejector and vacuum cup(s) has this capability."
          }
        ],
        "http://www.w3.org/2000/01/rdf-schema#subClassOf": [
          {
            "@id": "_:n256ecb28a04b484a9cedca4af29658dab766"
          },
          {
            "@id": "_:n256ecb28a04b484a9cedca4af29658dab761"
          },
          {
            "@id": "_:n256ecb28a04b484a9cedca4af29658dab765"
          },
          {
            "@id": "_:n256ecb28a04b484a9cedca4af29658dab767"
          },
          {
            "@id": "_:n256ecb28a04b484a9cedca4af29658dab763"
          },
          {
            "@id": "_:n256ecb28a04b484a9cedca4af29658dab769"
          },
          {
            "@id": "_:n256ecb28a04b484a9cedca4af29658dab764"
          },
          {
            "@id": "_:n256ecb28a04b484a9cedca4af29658dab762"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/processTaxonomyModel#VacuumGrasping"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#CombinedCapability"
          },
          {
            "@id": "_:n256ecb28a04b484a9cedca4af29658dab760"
          },
          {
            "@id": "_:n256ecb28a04b484a9cedca4af29658dab768"
          }
        ],
        "http://www.w3.org/2002/07/owl#disjointWith": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Fixturing"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerFunction"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#RadialRiveting"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumCupFunction"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Moving"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Picking"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#BlindRiveting"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportingCollaborative"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ThreadRunning"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MountingFlexibleRingExternal"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#OrientingMechanical"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PositioningMechanical"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ImpactRiveting"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#HoldingByGravity"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MillingToolFunction"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PressToolFunction"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#BulkBoxFeeding"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGripperFunction"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MillingCutterFunction"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TrayHolding"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#DrillBitFunction"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportFeeding"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Releasing"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Drilling"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TubeFeederBaseFunction"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Inserting"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Screwing"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Milling"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PartStoringInTray"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Placing"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ToolHolding"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#SpinningTool"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PartStoringInTube"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ScrewingHeadFunction"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Pressing"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ForceApplying"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TrayFeeding"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#OrbitalRiveting"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TubeFeeding"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#OgivaToolsetFunction"
          }
        ]
      },
      {
        "@id": "_:n256ecb28a04b484a9cedca4af29658dab766",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#cardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#int",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#bellows"
          }
        ]
      },
      {
        "@id": "_:n256ecb28a04b484a9cedca4af29658dab761",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#cardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#int",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#cupNumber"
          }
        ]
      },
      {
        "@id": "_:n256ecb28a04b484a9cedca4af29658dab765",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#cardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#int",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#heightCompensation"
          }
        ]
      },
      {
        "@id": "_:n256ecb28a04b484a9cedca4af29658dab767",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasInputCapability"
          }
        ],
        "http://www.w3.org/2002/07/owl#someValuesFrom": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGripperFunction"
          }
        ]
      },
      {
        "@id": "_:n256ecb28a04b484a9cedca4af29658dab763",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasInputCapability"
          }
        ],
        "http://www.w3.org/2002/07/owl#someValuesFrom": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumCupFunction"
          }
        ]
      },
      {
        "@id": "_:n256ecb28a04b484a9cedca4af29658dab769",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#cardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#int",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasItemSize_min"
          }
        ]
      },
      {
        "@id": "_:n256ecb28a04b484a9cedca4af29658dab764",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#cardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#int",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#holdingForce_max"
          }
        ]
      },
      {
        "@id": "_:n256ecb28a04b484a9cedca4af29658dab762",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#cardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#int",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#payload"
          }
        ]
      },
      {
        "@id": "_:n256ecb28a04b484a9cedca4af29658dab760",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#cardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#int",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#lateralForce_max"
          }
        ]
      },
      {
        "@id": "_:n256ecb28a04b484a9cedca4af29658dab768",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#cardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#int",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#volume"
          }
        ]
      }
    ],
    "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel"
  }
]
_:n256ecb28a04b484a9cedca4af29658dab769 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Fixturing> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#RadialRiveting> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n256ecb28a04b484a9cedca4af29658dab764 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumCupFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n256ecb28a04b484a9cedca4af29658dab762 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Moving> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n256ecb28a04b484a9cedca4af29658dab761 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n256ecb28a04b484a9cedca4af29658dab766 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n256ecb28a04b484a9cedca4af29658dab767 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Picking> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n256ecb28a04b484a9cedca4af29658dab766 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#bellows> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#BlindRiveting> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n256ecb28a04b484a9cedca4af29658dab761 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportingCollaborative> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n256ecb28a04b484a9cedca4af29658dab763 <http://www.w3.org/2002/07/owl#someValuesFrom> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumCupFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n256ecb28a04b484a9cedca4af29658dab761 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ThreadRunning> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MountingFlexibleRingExternal> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#OrientingMechanical> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n256ecb28a04b484a9cedca4af29658dab765 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n256ecb28a04b484a9cedca4af29658dab763 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasInputCapability> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n256ecb28a04b484a9cedca4af29658dab768 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2000/01/rdf-schema#comment> "Capability to grasp items by vacuum. \r\nFor example a vacuum gripper with ejector and vacuum cup(s) has this capability."^^<http://www.w3.org/2001/XMLSchema#string> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PositioningMechanical> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ImpactRiveting> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#HoldingByGravity> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MillingToolFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n256ecb28a04b484a9cedca4af29658dab768 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#volume> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PressToolFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n256ecb28a04b484a9cedca4af29658dab765 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n256ecb28a04b484a9cedca4af29658dab767 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#BulkBoxFeeding> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n256ecb28a04b484a9cedca4af29658dab766 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGripperFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n256ecb28a04b484a9cedca4af29658dab767 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasInputCapability> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n256ecb28a04b484a9cedca4af29658dab765 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MillingCutterFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n256ecb28a04b484a9cedca4af29658dab763 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n256ecb28a04b484a9cedca4af29658dab763 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n256ecb28a04b484a9cedca4af29658dab766 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TrayHolding> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#DrillBitFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n256ecb28a04b484a9cedca4af29658dab762 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n256ecb28a04b484a9cedca4af29658dab762 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#payload> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportFeeding> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Releasing> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Drilling> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n256ecb28a04b484a9cedca4af29658dab769 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n256ecb28a04b484a9cedca4af29658dab764 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n256ecb28a04b484a9cedca4af29658dab762 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n256ecb28a04b484a9cedca4af29658dab769 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasItemSize_min> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TubeFeederBaseFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n256ecb28a04b484a9cedca4af29658dab760 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2000/01/rdf-schema#subClassOf> <https://resourcedescription.rd.tuni.fi/ontology/processTaxonomyModel#VacuumGrasping> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Class> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n256ecb28a04b484a9cedca4af29658dab769 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n256ecb28a04b484a9cedca4af29658dab767 <http://www.w3.org/2002/07/owl#someValuesFrom> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGripperFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n256ecb28a04b484a9cedca4af29658dab764 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Inserting> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Screwing> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Milling> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n256ecb28a04b484a9cedca4af29658dab764 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#holdingForce_max> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n256ecb28a04b484a9cedca4af29658dab761 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#cupNumber> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PartStoringInTray> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n256ecb28a04b484a9cedca4af29658dab760 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#lateralForce_max> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Placing> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ToolHolding> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#SpinningTool> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PartStoringInTube> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n256ecb28a04b484a9cedca4af29658dab765 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#heightCompensation> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ScrewingHeadFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Pressing> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n256ecb28a04b484a9cedca4af29658dab768 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2000/01/rdf-schema#subClassOf> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#CombinedCapability> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n256ecb28a04b484a9cedca4af29658dab760 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ForceApplying> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TrayFeeding> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#OrbitalRiveting> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TubeFeeding> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n256ecb28a04b484a9cedca4af29658dab768 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n256ecb28a04b484a9cedca4af29658dab760 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#OgivaToolsetFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
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