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ME3F - Robot Report 1 - Group3

The document is a robot report submitted by a group of students to their professor. It includes four sections: (1) an overview of different types of robotic arms, (2) specifications and application of a Scorbot robotic arm, (3) specifications and applications of three other robotic arms, and (4) images showing the implementation of tasks using a Robocell robot over one week.

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Mohammed Almohjili
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80 views13 pages

ME3F - Robot Report 1 - Group3

The document is a robot report submitted by a group of students to their professor. It includes four sections: (1) an overview of different types of robotic arms, (2) specifications and application of a Scorbot robotic arm, (3) specifications and applications of three other robotic arms, and (4) images showing the implementation of tasks using a Robocell robot over one week.

Uploaded by

Mohammed Almohjili
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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De La Salle University

Gokongwei College of Engineering

Mechanical Engineering Department

Term 1, A.Y. 2022 - 2023

ROBOT REPORT 1

Submitted by:

Almohjili, Mohammad Adil

Cuaresma, Marian Athena C.

Dizon, Rafael Brylle G.

Villaruel, Kirk Patrick P.

Wong, Ludi Mae A.

Submitted to:

Dr. Alvin Chua

Date:

September 19, 2022


A. Types of Robotic Arms
● Articulated Arm - Robotic arms for general use having five or more joints or
degrees of freedom. Numerous more robot kinds fall under the general category
of the articulated arm. A six-axis robot, for instance, has an articulated arm with
six degrees of freedom. The widest variety of industrial robot types are those with
articulating arms, which also includes six-axis and collaborative robots.

● Six-axis robots - The most popular type of articulated arm. As a result, they are
currently the most widely utilized robotic arm in industry. They make excellent
all-purpose robotic arms because of their versatility. The six-axis now has an
astounding variety of applications. The industrial robot that is easiest to recognize
is the six-axis robot.

● Collaborative Robot - A robot arm that is designed specifically for hybrid work.
It is therefore intended to operate close to people. In hybrid work environments,
specific safety elements allow for a significant risk reduction. This sort of robot is
relatively new, and its applications are still being researched. As more firms
become aware of their advantages, collaborative robots are becoming increasingly
common in the sector.

● SCARA robots - Robot arms that only flex certain ways. They therefore lack the
same degree of flexibility that articulated arms enjoy. They are constrained in
some ways, but they also have some advantages over articulated arm types as a
result.

● Cartesian robots - Are rigid, three-dimensional (3D) moving systems. Three


linear actuators are commonly used to build these robots. In the x-axis, one
actuator moves left and right. The x-axis actuator is connected to another actuator.
In the y-axis plane, this actuator moves upward and downward. The y-axis
member is connected to a final actuator, which oscillates in the z-axis plane.
Robots designed for little applications are called cartesian robots.

● Cylindrical robot arms - Are built on a single arm that can move vertical
members up and down. The arm is horizontally rotated by this vertical part. In
order to complete the work, the arm can extend and retract. These little robots are
used for quick, easy jobs and are relatively portable.

● Spherical/Polar - Spherical (polar) robots were the first industrial robots of the
modern era. This sort of robot has a straightforward design, although they aren't
as widespread as they previously were. Robots that are spherical resemble
cylindrical robots, but instead of a vertical linear axis, they include an extra
rotational axis. It may rotate vertically thanks to this axis. It was created for easy
jobs that don't need rapid movement or intricate movements.

● Parallel/Delta robots - Are quick robotic automation possibilities. These robots


can travel at amazing speeds because of their distinctive design. The delta robot is
a fantastic option for quick and light jobs.

● Anthropomorphic - Robots that resemble humans are uncommon in industrial


settings. These machines have a smiling face and two or more arms. They are
frequently used in cooperative settings where they operate close to human
operators.

B. Scorbot image, parts specifications and application

Figure 2.1. Actual Photo of the Scorbot-ER 5 Plus


Figure 2.2. Scorbot-ER 5 Plus Parts Specifications

Robot Arm Specifications:


Mechanical Structure: Vertical articulated
Number of Axes: 5 axes plus servo gripper
Axis Movement (Axis 1 to Axis 5)
Axis 1: Base rotation = 310°
Axis 2: Shoulder rotation = +130° / – 35°
Axis 3: Elbow rotation = ±130°
Axis 4: Wrist pitch = ±130°
Axis 5: Wrist roll = Unlimited (mechanically);±570° (electrically)
Maximum Operating Radius: 610mm (24.4")
End Effector: DC servo gripper, with optical encoder, parallel finger motion; Measurement of object’s size
/gripping force by means of gripper sensor and software.
Maximum Gripper Opening: 75 mm (3") without rubber pads; 65 mm (2.6") with rubber pads
Hard Home: Fixed position on each axis, found by means of microswitches
Feedback: Optical encoder on each axis
Actuators: 12VDC servo motors
Motor Capacity (axes 1–6): 15 oz. in Peak Torque (stall); 70 W Power for Peak Torque
Gear Ratios (Motors 1-6)
Motors 1, 2, 3: 127.1:1; Motors 4, 5: 65.5:1; Motor 6 (gripper): 19.5:1
Transmission: Gears, timing belts, lead screw
Maximum Payload: 1 kg (2.2 lb.), including gripper
Position Repeatability: ±0.5 mm (0.02") at TCP (tip of gripper)
Weight: 11.5 kg (25 lb)
Maximum Path Velocity: 600 mm/sec (23.6"/sec)
Ambient Operating Temperature: 2°–40°C (36°–104°F)
Controller Specifications:
Application:
● Industrial Robotics Training and Education
● Robotic Welding
● Machine Vision
● CNC Machine Tending
● Flexible Manufacturing System (FMS) Operations

C. 3 Other robotic arms with image, parts specification and application

Figure 3.1. AX-12A / AX-18A Smart Robotic Arm


Standard Gripper: Sensor-engineered gripper design, built-in adjustable camera/sensor
mount, slotted gripper paddles for easy sensor attachment, and high resolution 60 tooth
heavy-duty gear train.
Initial Angles: Adjustable initial angle in 45-degree increments. The adjustable initial
angle can be upgraded to the 6-axis upgrade, which includes a dual AX-18A axis.
Power supply/sensors: AX-12A/AX-18A power supply and power supply harness,
Flexiforce pressure sensor, and Ping Ultra Sonic Sensor

Controllers:
Application: Pick and place robot arm, which is commonly sold to schools and
universities
Figure 3.2 Spot Arm and Gripper

Arm specifications: Ingress protection: Water and dust resistant


Degrees of freedom: 6 + gripper
Length at full extension: 984 mm Gripper specifications:
Max. reach height on robot: 1800 mm Depth: 90 mm
Mass/weight, including gripper: 8 kg Peak clamp force (at tip of opening): 130 N
Max. endpoint speed: 10 m/s Integrated sensors: ToF, IMU, 4K RGB
Lift capacity*: Up to 11 kg Accessory port: Gigabit Ethernet, 50W
Continuous lift capacity at 0.5 m extension*: power, camera sync (PPS)
5 kg Max Camera FOV: RGB: 60.2° x 46.4°;
Drag capacity* (on carpet): Up to 25 kg Depth: 55.9° x 44°
Operating temp: -20 C to 45 C

Application:
● Manipulation Service
● ArmSurfaceContact Service
● Door Service (Autopush, AutoGrasp, Warmstart)
Figure 3.3 THE600 SCARA Robot

Arm Specifications: Hand Control Signal:


Full length: 600 mm 8 inputs and 8 output
First arm: 325 mm
Second arm: 275 mm Maximum Speed:
Axis 1: 457॰/sec
Working Envelope: Axis 2: 672॰/sec
Axis 1: ±140॰ Axis 3 (Z-axis): 2,000 mm/sec
Axis 2: ±152॰ Axis 4 (Z-axis rotation): 2,359॰/sec
Axis 3 (Z-axis): 0~210 mm Composite (Axis 1 and 2 composite): 8,017
Axis 4 (Z-axis rotation): ±360॰ m/sec

Position Repeatability: Controller:


X-Y: ±0.01 mm TS5000
Axis 3 (Z-axis): ±0.01 mm
Axis 4 (Z-axis rotation): ±0.005॰

Application:
● Assembly and inspection services
● Automobile and electronics components
D. Robocell implementation for the week

Figure 4.1 Robocell (before task)

Figure 4.2 Robocell Command list from 1 to 10


Figure 4.3 Robocell command list from 11 to 20

Figure 4.4 Robocell (after the task)


REFERENCES

AX-18A Smart Robotic Arm. (2022). Net-Craft.com.

http://crust.dev.net-craft.com/products/AX-18F%20Smart%20Robotic%20Arm/

Robotic Arms: Different Types and When to Use Them. (n.d.). #HowToRobot. Retrieved

September 18, 2022, from

https://www.howtorobot.com/expert-insight/robotic-arms

SCARA Robot THE600. (n.d.). Retrieved September 19, 2022, from

https://www.shibaura-machine.co.jp/en/product/robot/lineup/th/THE600.html

Spot Arm and Gripper — Spot 3.2.0 documentation. (2022). Bostondynamics.com.

https://dev.bostondynamics.com/docs/concepts/arm/readme

SCORBOT-ER 5 Plus User Manual. (2003).

http://www.theoldrobots.com/book45/Scorboter-ER%205%20Plus.pdf

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