PhD. S.

Rolando Cruz-Ramírez
February 2020
 Industrial Robotics

http://mexicoindustry.com/es/news/san-luis-potosi-aguascalientes/la-robtica-
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mejora-la-productividad-en-la-industria-automotriz-1
Industrial Robotics

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https://www.youtube.com/watch?v=VWB6xd8ZQEM
 Industrial robot definition

An industrial robot is a re-programmable

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

• ISO 8373 Manipulating industrial

• JIS B 0134-1998 robot 4
Basic architecture

Main Parts

 Robotic Arm
 Controller
 Teaching Box
 Software

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 Basic architecture

Amp unit
Safety
board
Main
Position computer
Motores Monitor
Board

Encoder

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 Classification of Robots
By Degrees Of Freedom (DOF)

 Ideally, a robot should have 6 DOF for

freely manipulate an object in a 3D space.
 It is called general purpose robot if it
possesses 6 DOF,
 redundant robot if it has more than 6 DOF
 and deficient robot if it has less than 6 DOF.

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 Classification of Robots
By Degrees Of Freedom (DOF)

 A redundant robot provides more

freedom to move around obstacles
and operate in a restricted work
space.
 On the other hand, for some special
applications such as assembling
components in a 2D space, a robot
with 4DOF is enough for that task.
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 Classification of Robots
• By Kinematic Structure

Serial Parallel 9
 Classification of Robots
 By Drive Technology

 Pneumatic

 Hydraulic

 Electric
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 Classification of Robots
 By Workspace Geometry

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Workspace

Reachable space:
workspace where a
robot can reach at
least with one
orientation
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Cartesian Robot

 It has three linear movements (3DOF), which

correspond to the movements to X, Y and Z.
 Its workspace is a rectangular box.

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AS / RS (Automatic Storage
and Retrieval System). This
is a robot of Cartesian
configuration, which has 3
DOF (corresponding to the
axes XYZ), and a rotational
DOF in the wrist.
Its main use is for loading
and unloading pallets
between the warehouse
and the conveyor.
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 AS-RS in Volkswagen

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almacenamiento-recuperacion-as-rs-19118-1161081.html
on=com_content&view=article&id=136%3Aasrs-
de-vokswagen&Itemid=27
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Cylindrical robot
 It can execute two linear movements and one
rotational (3DOF).
 Its workspace is enclosed by two concentric
cylinders.

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Spherical robot
 It has two rotational movements and one linear
(3DOF).
 Its workspace is enclosed by two concentric
spheres.

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Angular Robot (anthropomorphic robot):


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• It has at least 3 angular movements
• It has similarity to a human arm
• It can perform angular interpolations as well as
linear interpolations

Simulador easy-rob
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[ \TrainLib\AX-V6 ]
 In addition to the four classic
configurations already mentioned,
there are other configurations called
non-classical.

 The most common no-classical

example is the SCARA robot. The
SCARA acronym stands for: Selective
Compliance Assembly Robot
Arm or Selective Compliance
Articulated Robot Arm.

 This robot arm can perform a larger Simulador easy-rob

horizontal movement due to its two [ \LectorLib\scararoboter ]
rotational joints. It can also perform a
linear movement (through its third 20
joint).
 From the following Robots, mention the type of
configuration.

Cartesian

Angular

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Angular

SCARA

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Angular

Others

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 Some
robot
companies

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PhD. S. Rolando Cruz-Ramírez
February 2020
 End-effector or Robot´s Tool

 Device attached to the robot´s wrist to

perform an specific task.
 There are different types of end-effectors,
it depends of the functions they perform.

 The main categories are tools and

grippers. 26
 End-effector or Robot´s Tool

• Tool Center Point (TCP)

• Weight
• Center of gravity
• Shape

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 At the time of designing an end-
effector, it should take into
account the shape and weight of
the workpiece as well as the
type of motion in order to follow
a desired path.
 The end-effector must not
modify or damage the structure
of the piece to be fastened.
 A general rule is that the end-
effector must hold the workpiece
from its center of gravity, so the
possible moments generated by
the weight could be canceled.
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 In order to reduce the cycle time in loading and unloading
robotic tasks, a multiple points end-effector can be
designed.
 There are other types of end-effectors such as magnetic
gripper and adhesive grippers.

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World Industrial Robot Population
(2003)

 Japan  350,000
 USA  115,000
 Germany  110,000
 Spain  16,000
 Brazil  8,000
 Mexico  4,500
(9,200 in 2005)

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 World Robot Population (2008)

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http://spectrum.ieee.org/automaton/robotics/industrial-robots/041410-world-robot-population
 World Robot Population (2017)

 International Federation of
Robotics (IFR)
 World Robotics Statistics:
 Industrial Robots
 Service Robots

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http://www.ifr.org/industrial-robots/statistics/
 Robot configurations
R-2000i
Arc Mate 100i P-200 ARC Mate 120i M-710iT
ARC Mate Series
50iL M-6i M-16i

S-900i

P-120
P-10/P-15
M-6iT/M-16iT Series
S-430i Series
Series
IR-800

P-300
P-145
P-400

F-200
M-410i Series
LR Mate 200i

A-520i
S-500 M-710i Series
LR Mate 100i

SR Mate Series

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Payload 3 5 6 15 16 20 60 70 100 400 (kg)
Robot configurations

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Online programming
• Karel -> Fanuc
• Rapid -> ABB
• Melfa -> Mitsubishi

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 Online programming
FANUC Karel programming

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 Online programming
 Mitsubishi Melfa programming

1. MVS P10

2. MOV P20

3. MVR P20, P30, P40

4. MVC P40, P30, P20

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 Online programming
 Used 90% of the cases
 Advantages:
 It takes advantage of the following characteristic of
industrial robots:
 Repeatability
 Relatively simple
 Disadvantages:
 It consumes a lot of time
 It requires a precise positioning of work pieces
 Optimization is difficult

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Offline programming
Simulators
• ROBOT STUDIO
• EASY-ROB
• ROBOGUIDE

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 Offline programming
Advantages:
 It allows to plan the movements of the robot including
obstacles.
 It allows a precise calculation of cycle times.
 It offers the possibility of performing sequence
optimization.
 View the work cell and its environment graphically.

 Disadvantages:
 It requires a precise
positioning of work
pieces.
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 Offline programming

 \ ArcWelding
 \ Handling
 \ Painting
 \ SpotWelding
 \ Press

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 Teleoperation
 Other options as a teaching terminals

PHANTOM-Omni Common Ttrackball by

Device by SensAble Co. mouse. Kensington Co.
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 Teleoperation
 Other options as a teaching terminals

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