Robotics Fundamentals & Programing

Faculty of Engineering, University of Windsor

Mechanical, Automotive and Materials Engineering

MECH8290-INDE8900-01-S19
Robotics Fundamentals & Programing
Instructor
Dr. Al-Zaher A., P.Eng.

Class 1 - Lec-01B Date: 2019/05/10

Introduction to robotics & work cells

2019/05/10 Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D 1 of 40

Faculty of Engineering, University of Windsor

Mechanical, Automotive and Materials Engineering

 Video Segments: cost effective =Assembly Line

 Course Overview
o Robotics History
o Robotics and Technology Developments
o Assembly Systems
o Robotics and Technology Developments
o Communication with instructor
 E-mail Instructor
 Office Hours (TBD )
o Introduction to robotics

 References:
 Class Handout
 Introduction to Robotics Mechanics and Control (3rd Edition)

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Robotics Fundamentals & Programing

Faculty of Engineering, University of Windsor

Mechanical, Automotive and Materials Engineering

Assembly Line: Safe your Factory

Save Your Factory with FANUC Material Handling Robots

2019/05/10 Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D 3 of 40

Faculty of Engineering, University of Windsor

Mechanical, Automotive and Materials Engineering

Assembly Line: Safe your Factory 2.4 min

2019/05/10 Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D 4 of 40

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Robotics Fundamentals & Programing

Faculty of Engineering, University of Windsor

Mechanical, Automotive and Materials Engineering

Robots in everyday use

2019/05/10 Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D 5 of 40

Faculty of Engineering, University of Windsor

Mechanical, Automotive and Materials Engineering

Robotics and Technology Developments

2019/05/10 Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D 6 of 40

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Robotics Fundamentals & Programing

Faculty of Engineering, University of Windsor

Mechanical, Automotive and Materials Engineering

Robotic work-cell Assembly Systems

• Assembly robots:
 Increases the capabilities in the manufacturing industries.
• Robots assembly process :
 is faster, more efficient and precise than ever before.
 saved workers from tedious and dull assembly line jobs.
 increased production and savings in the process.
Advantages of Robot Assembly:
 No Fatigue:
 An assembly robot can work without pause.
 More Output:
 consistent output of a robotic system along with quality, and repeatability
are unmatched even with the most challenging of applications.
 Better Performance:
 Automated systems provide precise, exact assembly performance.
 Savings:
 Robot assembly systems create savings by eliminating downtime and labor.

2019/05/10 Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D 7 of 40

Faculty of Engineering, University of Windsor

Mechanical, Automotive and Materials Engineering

Automation & Robotics for Manufacturing

How many DOF

How many DOF Base

Shoulder

Elbow

2019/05/10 Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D 8 of 40

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Robotics Fundamentals & Programing

Faculty of Engineering, University of Windsor

Mechanical, Automotive and Materials Engineering

What is a robot?

• The Drive:
 The servomotor (actuator)move the joint.
• Three different type of actuators:
 Hydraulic drive: Speed and strength more power
 Electric motor: less speed and power
 Pneumatics drive systems. Used for smaller systems fewer axes
movements

2019/05/10 Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D 9 of 40

Faculty of Engineering, University of Windsor

Mechanical, Automotive and Materials Engineering

Robots Components

EOAT

2019/05/10 Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D 10 of 40

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Robotics Fundamentals & Programing

Faculty of Engineering, University of Windsor

Mechanical, Automotive and Materials Engineering

Robots Components

2019/05/10 Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D 11 of 40

Faculty of Engineering, University of Windsor

Mechanical, Automotive and Materials Engineering

PUMA 500

2019/05/10 Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D 12 of 40

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Robotics Fundamentals & Programing

Faculty of Engineering, University of Windsor

Mechanical, Automotive and Materials Engineering

SCARA Robots Adept I

2019/05/10 Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D 13 of 40

Faculty of Engineering, University of Windsor

Mechanical, Automotive and Materials Engineering

Coordinate Systems
1) Joint Coordinate System 2) World Coordinate System 3) Tool Coordinate System

2019/05/10 Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D 14 of 40

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Robotics Fundamentals & Programing

Faculty of Engineering, University of Windsor

Mechanical, Automotive and Materials Engineering

Robots Reach and Envelope

2019/05/10 Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D 15 of 40

Faculty of Engineering, University of Windsor

Mechanical, Automotive and Materials Engineering

Direct and Inverse Kinematics

2019/05/10 Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D 16 of 40

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Robotics Fundamentals & Programing

Faculty of Engineering, University of Windsor

Mechanical, Automotive and Materials Engineering

Robotic Reconfigurations
The five common robotic reconfigurations are:

1) Polar,
2) Cylindrical,
3) Cartesian coordinate,
4) joint-arm, and
5) SCARA,
(Selective Compliance Assembly Robot Arm.)

RRP RPR PPP RRR RRP

2019/05/10 Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D 17 of 40

Faculty of Engineering, University of Windsor

Mechanical, Automotive and Materials Engineering

Robots programming (process & design)

Online programming (using teach pendant manual mode teaching mode)
Offline programming (simulation downloads: I grip RobCad and Process Simulate)
What is the robot programming languages : (Discussion 2- 3 minutes with students )
 Robots Makers (BN) used in the automotive industries
ABB Robots Fanuc Robots programming SCARA Robot - Adept
programming & controllers & controllers programming & controllers
S2, S3, and S4 Karel. RJ2, RJ3, and TP CX Smart Controller
S4: S4A, S4B, & S4C+ Embedded controller
Fanuc R2000 PLC Connect base
The S4C+ is the latest in a
SCARA Robot - S440 Series
long line of ABB robot
controllers and it is designed
to match the physical
capabilities of the robot range.
The S4C+ tries to optimize
cycle time and path
accuracy and it tries to be
readily integrated into factory
automation plan.

2019/05/10 Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D 18 of 40

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Robotics Fundamentals & Programing

Faculty of Engineering, University of Windsor

Mechanical, Automotive and Materials Engineering

Introduction work Cell Simulation

 Why Simulation is needed ?
 Reduce cost of change with early detection of product design issues
 Reduce number of physical prototypes through virtual validation
 Optimize cycle times through simulation
 Virtual validation of mechanical and electrical (PLC and robotics)
 Promotes collaboration amongst mechanical design and controls
departments
 Offline programming.
 System Layout (tool and robot placement)

2019/05/10 Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D 19 of 40

Faculty of Engineering, University of Windsor

Mechanical, Automotive and Materials Engineering

Robots Programming
1: ABB Robotics - Laser Cutting (1.5 Min)
http://www.youtube.com/watch?v=7k20Zp5aPjY

2: Remote laser welding front door (2 min)

http://www.youtube.com/watch?v=OhKatfrk3Cs&NR=1

2019/05/10 Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D 20 of 40

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Robotics Fundamentals & Programing

Faculty of Engineering, University of Windsor

Mechanical, Automotive and Materials Engineering

MH Weld Robotics
Sealing Applications
and dispensing
Comb
applications
in BIW Visions
Inspections and
special app

M/H C-Gun Sealing Any combination Product Vision systems.

Transf. Ped Gun Dispensing or more of diff. inspections Special appl.
Arc Weld applications or
Laser Applications
Weld inspection

Robot EOAT/ MH Robot EOAT /WG

2019/05/10 Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D 21 of 40

Faculty of Engineering, University of Windsor

Mechanical, Automotive and Materials Engineering

Work-cells Construction.
• Work-cell in Manufacturing Systems

Building workcell Checking workcells Simulation Deliverables

 Building work-cell
 Product assembly (customer Data)
 Tooling (to execute the mfg. processes)
• fixtures, conveyers, racking welding equipments, Inspection stations and transfer
systems
• End of arm tooling (end effectors, carry weld gun arc welding dispensing …
• Controls …..
 Add Robot (robot selection …..)
LIBRARY item: ( Risers, Adapter plates, Light screens, Tip Dressers, etc...)
 Safety Components;
• Fencing, light screens ..
• Cable trays

2019/05/10 Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D 22 of 40

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Robotics Fundamentals & Programing

Faculty of Engineering, University of Windsor

Mechanical, Automotive and Materials Engineering

Work-cells Construction
• Building Devices of Manufacturing Systems
Importing data to CAD and creating parts, importing geometry or
accessing integrated data for building device components.
 Tooling Fixture
 Gripper
 Layout
 Product, Welds, & Datum's ref.
 Weld Gun
 LIBRARY item: Device already built

2019/05/10 Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D 23 of 40

Faculty of Engineering, University of Windsor

Mechanical, Automotive and Materials Engineering

Robot Selection Criteria: Application& load

2019/05/10 Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D 24 of 40

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Robotics Fundamentals & Programing

Faculty of Engineering, University of Windsor

Mechanical, Automotive and Materials Engineering

M/H, Weld, Sealing Stud weld ..

Run simulation Product assemblies and tooling
M/H Robot Most BIW contain more than 70% common
Weld Robot equipment.
Required simulation logic to control these
Sealing Robot devices may be re-used.

Stud welding Robot

Ped Welder Robot

2019/05/10 Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D 25 of 40

Faculty of Engineering, University of Windsor

Mechanical, Automotive and Materials Engineering

Work cell Design Run Igrip Simulation

2019/05/10 Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D 26 of 40

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Robotics Fundamentals & Programing

Faculty of Engineering, University of Windsor

Mechanical, Automotive and Materials Engineering

Work cell Design Run Igrip Simulation

2019/05/10 Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D 27 of 40

Faculty of Engineering, University of Windsor

Mechanical, Automotive and Materials Engineering

Digital Manufacturing Tecnomatix RobCAD

2019/05/10 Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D 28 of 40

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Robotics Fundamentals & Programing

Faculty of Engineering, University of Windsor

Mechanical, Automotive and Materials Engineering

Tecnomatix : Process Simulate

Navigation Tree Graphic Viewer Modules

Simulation Panel
& Operation
Sequence/
Path/
Signals/
Collision

2019/05/10 Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D 29 of 40

Faculty of Engineering, University of Windsor

Mechanical, Automotive and Materials Engineering

Kinematics: Gantry Sys Virtual data

7000 mm
3600 mm

2019/05/10 Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D 30 of 40

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Robotics Fundamentals & Programing

Faculty of Engineering, University of Windsor

Mechanical, Automotive and Materials Engineering

Robotics Payload data Analysis

 Robot Operation ( )
• Robot Path (different
Application)
• Pickup up to 6
• Drop Off up to 6
• Process up to 3
• Sequence of operation
• Robot CT (cycle Time)
• Robot Dress (Robload –load
inertia)
• RCS to:
 Verify Payload Data and
 To ensure safety of operation
 Dressing Part

Robot EOAT Robot EOAT

Payload Setup Payload Analysis
MH Weld Gun

2019/05/10 Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D 31 of 40

Faculty of Engineering, University of Windsor

Mechanical, Automotive and Materials Engineering

Cont. Robotics Payload data analysis

Design Data, operation speed acceleration are application requirements

to accomplish the task (MH/ Weld, …… switch to developer program)
2019/05/10 Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D 32 of 40

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Robotics Fundamentals & Programing

Faculty of Engineering, University of Windsor

Mechanical, Automotive and Materials Engineering

Robotics Payload data Analysis

2019/05/10 Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D 33 of 40

Faculty of Engineering, University of Windsor

Mechanical, Automotive and Materials Engineering

Robotics application and controls

https://www.youtube.com/watch?v=_X88kRHjkiM

https://www.youtube.com/watch?v=fH4VwTgfyrQ
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Robotics Fundamentals & Programing

Faculty of Engineering, University of Windsor

Mechanical, Automotive and Materials Engineering

Hominid robot

https://www.youtube.com/watch?v=aFPQfhUArjI

2019/05/10 Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D 35 of 40

Faculty of Engineering, University of Windsor

Mechanical, Automotive and Materials Engineering

Hominid robot

2019/05/10 Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D 36 of 40

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Robotics Fundamentals & Programing

Faculty of Engineering, University of Windsor

Mechanical, Automotive and Materials Engineering

Robotics application and controls

https://www.youtube.com/watch?v=imVNg9j7rvU

2019/05/10 Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D 37 of 40

Faculty of Engineering, University of Windsor

Mechanical, Automotive and Materials Engineering

Ongoing research:
DR. OUSSAMA KHATIB PROFESSOR, DEPARTMENT OF COMPUTER SCIENCE
DIRECTOR OF STANFORD ROBOTICS LAB

2019/05/10 Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D 38 of 40

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Robotics Fundamentals & Programing

Faculty of Engineering, University of Windsor

Mechanical, Automotive and Materials Engineering

Material to review prior to next lecture

• Matrices properties and operations
• Cross product and dot product
• Watch the link on the Blackboard
• https://www.youtube.com/watch?v=hho9a0_y7KY
• https://www.youtube.com/watch?v=qPoIv4kgI5w

Cross product is a new vector Dot product is a scalar

2019/05/10 Robotics Fundamentals & Programing By: Al-Zaher, A., P. Eng. Ph.D 39 of 40

Faculty of Engineering, University of Windsor

Mechanical, Automotive and Materials Engineering

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