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Industrial Robotics MCT 455

This document provides an introduction to industrial robotics. It begins by defining what a robot is, noting that a robot is a programmable manipulator designed to perform tasks through variable programmed motions. It then discusses the differences between robots and computers/humans. The document outlines some key references on robotics. It also defines robotics as the design, manufacture, programming and use of robots. The rest of the document discusses various applications of industrial robots in areas like material handling, welding, assembly and inspection. It compares serial and parallel robots and notes the advantages and disadvantages of each. Finally, it provides an example of an articulated robot from ABB and thanks the reader.

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mohameed ahmed
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© © All Rights Reserved
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Download as PDF, TXT or read online on Scribd
73 views

Industrial Robotics MCT 455

This document provides an introduction to industrial robotics. It begins by defining what a robot is, noting that a robot is a programmable manipulator designed to perform tasks through variable programmed motions. It then discusses the differences between robots and computers/humans. The document outlines some key references on robotics. It also defines robotics as the design, manufacture, programming and use of robots. The rest of the document discusses various applications of industrial robots in areas like material handling, welding, assembly and inspection. It compares serial and parallel robots and notes the advantages and disadvantages of each. Finally, it provides an example of an articulated robot from ABB and thanks the reader.

Uploaded by

mohameed ahmed
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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ROBOTICS
Industrial Robotics MCT 455

Dr. Shady A. Maged


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References:
• M. W. Spong, S. Hutchinson, M. Vidyasagar,” Robot
modeling and control,” John Wiley & Sons, Inc., 2006.
• P. J. McKerrow, “ Introduction to robotics, ”Addison-
Wesley Publishing Comp., 2001.
• R. P. Paul, “ Robot manipulators: mathematics,
programming and control,” MIT press, 1981.
• J. J. Craig,” Introduction to robotics: mathematics and
control,” Addison-Wesley Publishing Comp., , 1986.
• L. W. Tsai, “ Robot analysis: the mechanics of serial
and parallel manipulators,” John Wiley & Sons, Inc.,
1999.
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What is a Robot?
• Definition of Robot:

 A robot is/are programmable multifunctional


manipulator designed to move materials, parts, tools or
specialized devices through variable programmed
motions for the performance of a variety of tasks.

 A robot is a machine which can be programmed to do a


variety of tasks.
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What is a Robot?
Robot vs. Computer
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What is a Robot?
Robot vs. Human
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What is Robotics
Definition of Robotics:

 Robotics is a discipline which involves


a) The design, manufacture, control, and programming of robot
b) The use of robot is to solve problem.
c) The study of control processes, sensors and algorithms used in
human, animals, and machine
d) The application of these control processes and algorithm to the
design of robots.
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Applications

1. Industrial Robots: used in jobs that were hot, heavy,


hazardous.
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Applications
ABB Different Robots
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Applications
ABB Robots
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Applications

 What Can Industrial Robots Do?


 Material handling
 Material transfer
 Machine Loading and/or unloading
 welding
 Spray coating
 Assembly
 Inspection

 Advantages:
• increased productivity
• improve quality control
• reduce exposure of human to
harmful chemicals
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Applications

2. Mobile Robots: A mobile robot is a robot that can move


in the real world and can be completely autonomous

 The main features


 Reprogramability
 The ability to navigate
 Autonomy
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Applications

3. Climbing Robots
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Applications

4. Humanoid Robots

ASIMO (JAPAN) Vs. PETMAN (USA)


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Applications

5. Underwater or Submarine Robots: Inspection and


maintenance of offshore oil-wells Mining on the ocean
floor
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Applications

6. Space Exploration Robots: : Satellite maintenance robot


construction robots for constructing space stations and
space ships
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Applications

7. Space Exploration Robots


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Applications
8. Deming Robots
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Applications
9. Inspection Robots
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Applications
10. Agriculture Robots
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Applications
11. Cleaning Robots
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Applications
12. Personal Assistant Robots

Automatic wheel chairs controlled by voice


commands The use of robot to perform
complex tasks by people with limited Stewart Robot
disability
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Stewart Parallel Manipulator


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Robots Future
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Components and subsystems


Robot arm:

Serial manipulators parallel manipulators


(Single open loop chain) (Multiple closed loop chains)
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Feature Serial robot Parallel robot


Mechanism Open chain Closed chain
Comparison

Payload/weight ratio Low High

Workspace Large Small

Maximum Force Limited by Summation of


minimum all actuator
actuator force forces
Speed and acceleration Low High

Modelling and solving Relatively simple Complex


dynamics

Solving inverse Difficult Easy


kinematics

Solving forward Easy Sophisticated


kinematics
Position error Accumulates Averages
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Which is better parallel or serial?


 The both types of robots have advantages and disadvantages.

 For example parallel robots offer potential advantages compared with


serial, with higher overall stiffness, higher precision, low inertia, and higher
operating speeds and accelerations. However these advantages could be easy
relativized by reduced workspace, difficult mechanical design, and more
complex kinematics and control algorithms.

It is really very difficult to say what kind of robot is better, serial or parallel.

 A robot selection procedure is very difficult and complex activity.


 It depends on many different factors like
 type of application (dangerous, repetitive and boring, precise, etc.)
 task requirements (DOF, speed, accuracy, repeatability)
 load requirements
 Workspace
 programming time, etc.
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Articulated Robot
• ABB IRB 120
Fabricant ABB

Model IRB 120

Application General Use

Configuration Articulated

DOF 6

Horizontal Reach 60 cm

Max Velocity 7000 mm/s

Drive Electric AC Drive


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THANK YOU
[email protected]

Please make a Facebook group


Admin
Name: (Industrial Robotics 455 Fall 2017)

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