PCB DRILLING

Alfonso Alvarez Garmal Professor:

Robotics Engineering José Luis Emanuel González Helguera
Universidad Politécnica de Yucatán Universidad Politécnica de Yucatán
Km. 4.5. Carretera Mérida — Tetiz Km. 4.5. Carretera Mérida — Tetiz
Tablaje Catastral 4448. CP 97357 Tablaje Catastral 4448. CP 97357
Ucú, Yucatán. México Ucú, Yucatán. México
Email: [email protected] Email: [email protected]

Abstract
This document gives you a complete overview of industrial robots. We begin by defining these machines and explore their
varied classification. We dive into the world of robotic arm joints, looking at the different types and their crucial functions for
performing precise movements. Finally, it will be explained how this digital space is used to validate and fine-tune the behavior
of robots.

October 11, 2023 © Universidad Politécnica de Yucatán

INTERNSHIP REPORT, SPRING 2023, UPY 1

PCB DRILLING
I. I NTRODUCTION essential when assigning tasks to the robot, as exceeding its
payload capacity can lead to mechanical failure and reduced
I N this project, we embark on the intriguing endeavor of
simulating a robotic arm’s operation, specifically geared
toward the dynamic field of PCB (Printed Circuit Board)
operational longevity. Professor José Luis Gonzales, in our
class, emphasized the importance of understanding these lim-
designs. Precision and meticulousness will be our guiding itations to ensure the safe and efficient operation of the robot.
principles as we delve into the programming and execution Another critical consideration in the realm of robotic arms
of this simulation. Every aspect and nuance of the project is the choice of the end effector or tool that is attached to
will be thoughtfully considered, ensuring the highest level of the robotic arm. The selection of the end effector is highly
accuracy and efficiency. dependent on the application. For example, if the robot’s
Our exploration will extend to the classification of industrial intended tasks involve picking up and placing objects, a
robots, an essential dimension that sheds light on the diverse gripper or vacuum system might be the right choice. However,
roles they play in modern manufacturing and automation. if the tasks involve welding or painting, specialized tools must
Furthermore, we’ll delve into the fascinating realm of their be integrated into the robotic arm setup.
morphology, examining the physical structures and configura- Additionally, the workspace or operating environment of the
tions that empower these machines to carry out a wide range robot must be meticulously defined. This includes determining
of tasks. the reach of the robotic arm and understanding the range of
motion of each joint. Ensuring that the robot can access all
II. O BJECTIVES necessary work areas without collisions is of utmost impor-
tance. By meticulously defining the workspace, we can avoid
A. General Objective potential problems and complications during the simulation
Learn how Programming a industrial robot and programming phases.
With the fundamental knowledge, we can confidently delve
B. Specific Objectives into programming software. Using state-of-the-art tools and
-Learn all the parts of the RoboDK techniques, we can create a detailed simulation that accurately
represents the Kuka KR6 R900 model. This simulation serves
-Know all the characteristics about the arms robots. as a virtual testing ground, allowing us to develop and refine
control algorithms, evaluate the robot’s performance, and
-Programming simulation of task ensure it operates smoothly within defined parameters.

- Lear the classification of industrial robots

III. S TATE OF THE A RT

In today’s rapidly advancing technological landscape, stay-
ing up to date with the latest innovations is crucial for
businesses striving to remain competitive. As technology con-
tinues to evolve, it has brought about significant changes in Picture1.UPY engineers
various industries and one such innovation that has gained
importance is the use of robotic arms. These robotic arms In the programming part, another crucial aspect of our
offer countless benefits to businesses, ranging from increased project is to become familiar with the programming software,
task efficiency to accelerated product manufacturing. To take specifically Robo DK. This software will serve as the back-
advantage of these advantages, many companies are exploring bone of our robotics programming and simulation efforts. To
the simulation and programming of robotic arms, such as the navigate this tool effectively, we must begin by gaining a solid
Kuka robot model. understanding of its fundamental components.
Working on a project involving robotic arms requires a solid RoboDK, like any other programming environment, has its
foundation of knowledge and understanding of key principles. own set of features, functions and workflows that we need
To ensure a perfect start to such a project, it is imperative to to understand. By delving into the basics of RoboDK, we
begin by familiarizing yourself with some fundamental aspects can establish a solid foundation upon which to build our
of robotic arm technology. experience. This initial knowledge will serve as a springboard
First, it is essential to understand the payload capacity of to delve deeper into the intricacies of the program.
the robot. Payload capacity refers to the maximum weight that As we progress in our exploration of sowtware, we will
the robotic arm can effectively support. This knowledge is gain a deeper insight into its capabilities and functionalities.
INTERNSHIP REPORT, SPRING 2023, UPY 2

We will discover how to take advantage of its tools for robot Ultimately, this program is a tool that can make a difference
modeling, control algorithm development, and task simulation. for industries that rely heavily on automation and robotics.
The RoboDK interface will become more familiar, allowing us Its combination of ease of use, versatility, and customization
to navigate it with ease and confidence. options puts it in a category of its own. It helps businesses
Ultimately, our journey with the program will be a con- simplify their operations, increase productivity, and stay at
tinuous learning process. We will use our new knowledge the forefront of the latest technological innovations. If you
to create a robust and accurate simulation of the Kuka KR6 are looking for an efficient and adaptable solution for offline
R900 robot model. This simulation will allow us to adjust the programming, this program is an excellent choice
robot’s behavior, test various scenarios and validate our control
algorithms, ensuring that they align with the project objectives
and requirements.
The simulation is focused on drilling PCB boards. A printed
circuit board is a rigid structure that contains electrical circuits Picture3.Logo of RoboDK
formed by metal surfaces (usually copper) covered by a
material that is mainly fiberglass. The electronic boards are In the project we use the online programming method, an
complemented by electronic components that are soldered to intelligent strategy that consists of working on a simulation
the PCB board on metal pads, which are connected to the before carrying out physical tests with the real robot. This
circuits of the electronic board. This allows the components methodology is essential to guarantee the security and accu-
to be interconnected. A PCB board can be composed of one, racy of our automation process.
two or several layers of circuits.(Picture2) [1]. One of the most important things when using this approach
is to take into account all the dimensions of the robot and
the actual work area. The virtual simulation must closely
reflect the size, scope, and capabilities of the robot to provide
an accurate representation of its behavior in the real world.
If there are discrepancies or inaccuracies in the simulation,
potentially dangerous situations could arise when the robot
actually goes into action.
It is essential to emphasize that while online programming
may appear to reduce risks compared to traditional trial
Picture2.PCB and error methods, caution is still paramount. The lack of
physical evidence can create a false sense of security. We must
IV. M ETHODS AND T OOLS remain vigilant throughout the process, thoroughly checking
To carry out the project, the Robo DK programming pro- all parameters and variables to ensure that the simulation
gram was mainly used, which is used to simulate any industrial accurately aligns with real-world conditions.
robot. Generate programs for all types of industrial controllers
directly from your PC [2].
This program is a real gem, since it gives us the opportunity V. THEORETICAL FRAMEWORK
to program offline in an extremely simple way and with a wide
variety of options. What makes it so special? Well, first of all, Before we dive into the project, it’s crucial to have a
its user interface is so intuitive that practically anyone can clear understanding of what a robot is. In essence, a robot
use it without having to become a programming expert. This is a versatile, programmable machine with the remarkable
means that both novice and experienced users can get the most capability to autonomously perform tasks. The primary goal
out of this tool without unnecessary complications. behind the creation and deployment of robots is to reduce
Best of all is the versatility it offers. You can use this pro- human involvement in tasks that are perilous, monotonous, or
gram with a wide range of controllers, meaning it adapts per- physically demanding.
fectly to different automation and machinery systems. Whether Isaac Asimov is the greatest promoter of robotics and it
you are working with industrial robots, CNC machines, or any was he who published the 3 laws of robotics:
other automated equipment, this program can be your reliable
ally. 1) A robot cannot harm a human, nor by its inaction allow
But what really sets it apart is the ability to customize the a human being to suffer harm.
work environment. Imagine being able to virtually recreate
your real production space. This allows you to take into ac- 2) a robot must obey the orders received from a human
count all the essential details of your automation process. You being, except that such orders come into conflict with the
can configure the program to reflect exactly what your work first law.
environment is like, from the dimensions of your workshop
to the location of your machines. This ensures that offline 3) A robot must protect its own existence as long as such
programming is not only accurate, but also perfectly suited to protection does not conflict with the first or second law.
real-world conditions.
INTERNSHIP REPORT, SPRING 2023, UPY 3

allow the robot to know its position and adjust its movement
accordingly.

Picture4.Isaac Asimov

Picture6.controllable trajectory robot

A. Industrial Robot
3.Adaptive robot: A type of robot that has the ability
In the project we will be working with an industrial robot,
to change or adjust its behavior, actions, or parameters in
where according to the book Fundamentals of Robotics this
response to changing environmental conditions, task require-
was defined as: An industrial robot is a re-programmable multi
ments, or unforeseen situations. This adaptability allows the
functional manipulator, capable of moving materials, parts,
robot to function effectively in dynamic, unstructured environ-
tools or special devices, according to variable trajectories,
ments.
programmed to perform various tasks.And are divided into
4 types, which are: 1) Sequence 2) Controllable trajectory 3)
adaptive 4) Telemanipulated, [3]

B. classification of industrial robots

1.Sequence Robot:A sequential robot is a class of robots
that is distinguished by its limited knowledge of the envi-
ronment that surrounds it. Unlike more sophisticated robotic
systems, a sequential robot operates based on a predefined
step-by-step program. In essence, it lacks the ability to au-
tonomously perceive and adapt to its environment. Instead,
you adhere to a set of meticulously crafted instructions, which Picture7.Adaptive/Autonomous robot
dictate your actions sequentially, moving from one designated
point to another with precision. 4.Telemanipulated robot: Is a type of robotic system that
is controlled remotely by a human operator. It is designed
to mimic the movements and actions of the human operator,
typically in real time. These robots are often used in situations
where it may be hazardous or impractical for a human to
directly perform a task.

Picture5.Robot secuencial
2.Controllable trajectory robot: A controllable trajectory
robot is a type of robot that can follow a predefined trajectory
with a high degree of precision and control. This type of robot
is characterized by being able to move along a specific route
with minimal deviation from the planned route. In other words,
it can follow a trajectory with great accuracy.
The trajectory can be defined through various methods, Picture8.Telemanipulated surgical system
such as manual programming, vision systems or sensors that
INTERNSHIP REPORT, SPRING 2023, UPY 4

C. Robot morphology D. programing

Robots are made up of different elements such as: ac- Industrial robots can be programmed by different means.
tuators, sensors, the control system, all the mechanical They can be programmed, for example, online or offline.
parts.Mechanically, it is formed by a series of elements or Online methods require direct use of the robot and use a
links joined by joints that allow relative movement between teach pendant (Picture10)for point-to-point programming, as
each two consecutive links. The physical constitution of most well as slave arms or a pistol grip attachment for trajectory
industrial thefts bears this similarity to the anatomy of the programming keep going [5]
human arm [4].
To enable a robot to perform a wide range of movements
and tasks effectively, it’s essential that each joint within its
mechanical structure is designed with distinct characteristics
and functionalities. This diversity in joint types allows the
robot to execute a variety of motions, making it more versatile
and adaptable to different applications(picture9).
Here are some common joint types and their respective
functions:

Spherical Joint: This type of joint enables rotational Picture10.Teach pendat

movement in all directions, providing the robot with a high
degree of freedom to reach and manipulate objects from In this project, we will leverage the power of RoboDK
various angles. software to conduct our work offline. The intuitive and user-
friendly interface of RoboDK will be our key ally, enabling
Flat Joint: A flat joint restricts movement to a two- us to craft a highly sophisticated and realistic simulation. By
dimensional plane, typically useful for tasks that involve harnessing the capabilities of this software, we will seamlessly
horizontal or vertical motions. design and analyze various robotic processes, enhancing our
understanding and efficiency in the field of automation. Our
approach ensures a smooth and effective project execution.
Rotational Joint: These joints allow for pure rotation
around a single axis, which is valuable for tasks like turning
or pivoting. VI. D EVELOPMENT

Cylindrical Joint: Cylindrical joints combine both rotational Once we are familiar with the software thanks to the classes
and translational movement, allowing the robot to move along at the university, we can give way to the Kuka kr6 robot
a single axis while rotating around it. They are beneficial for simulation
actions like extending and retracting.

Prismatic Joint: Prismatic joints facilitate linear, back-and- A. Preparation

forth movement along a single axis, often used for tasks that First we need to dowland the libryry of the robot KUKA
require pushing, pulling, or extending. KR 6 R900 (PICTURE 11)

Picture11.KUKA KR 6 R900
In the same way, download the table and establish the
measurements that are needed taking into account the real
Picture9.Types of joints work area (picture12). Finally, download the drill you need
to be able to lift the corresponding task.
INTERNSHIP REPORT, SPRING 2023, UPY 5

Once with the targets already assigned, we proceed to give

it movement, taking into account the nature of the robot, we
cannot make a circular movement if its joint does not allow it,
we will do all this with the tools that can be seen in the image
(picture 12.3), Looking from left to right, the movements they
give us are: axis movement, linear movement and circular
movement.

Picture12.Table

B. Programming
To start we have to establish the starting place or better
known as hom, the Kuka robot already has one pre-established,
so we simply press home so that it goes to the correct place
(picture12.1)

Picture12.3.Targets

With this we open a programming section and start with the

simulation, to be able to do this already with the beginning
of programming, we right click and add instruction (picture
12.4), then we give the movement that we want according to
the structure of the robot so as not to damage it, we establish
that start at the point we are at just as we tell it where you
want it to move: Example: start at Home and go to target 1
with an axis movement
Picture12.1.Home
Now at home we are putting starting points as we plan for
the robot to move, we place all the necessary ones, we call
them targets (picture 12.2)

Picture12.4.Instructions

We do this for each point, the targets help us to define

Picture12.2.Targets
the beginning and the end of the movement that we do not
As we can see in the image (picture 12.2) the first target want the robot to perform, in this case the majority of the
serves to prepare the arm by aligning the traldro with the axes movements is a movement by axes, with the exception of two
as horizontally as possible, in the next target we put it at the that are already linear. In these movements we only need the
height that we want to drill, in the fourth we go down to have robot to go down and up to start drilling and at the end to get
a preview and in quito and ultimo target we proceed to drill. out of there.
INTERNSHIP REPORT, SPRING 2023, UPY 6

R EFERENCES
[1] Como hacer un circuito impreso —
PCBRAPIDO.COM 2023. (s.f.). PCBRAPIDO.COM.
https://www.pcbrapido.com/index.php/2022/08/05/como-hacer-un-
circuito-impreso/
[2] RoboDK. (s.f.). Simulator for industrial robots and offline programming
- RoboDK. https://robodk.com/es/
[3] Barrientos, A. (s.f.). Fundamentos de rbotica (2a ed.). Concepcion
fFernandez Madrid. (Obra original publicada en 1997)

[4] Barrientos, A. (s.f.). Fundamentos de rbotica (2a ed.). Concepcion

fFernandez Madrid. (Obra original publicada en 1997)

[5] Subir Kumar Saha, “Introducción a la robotica”, 2008. [Online].

Available: https://acortar.link/mE7KHF. [Accessed: Oct-2023].

Picture12.5.Steps
In each of the steps we always had to be aware of what
movements the robot could make so as not to damage it, and
for it to return to home we only followed the previous steps
but in reverse and thus managed to make it reach home.

VII. R ESULTS

At first we faced several difficulties such as erroneous arm

movements and for this reason we were marked with errors,
however with the form and we advanced, these errors were
being corrected, we also encountered learning how to use the
program as it was the first time we When we used it we had
to adapt, however it was simple. As a result of our efforts,
we have successfully achieved an outstanding simulation that
perfectly meets our objectives, allowing us to accurately drill
printed circuit boards (PCBs). This simulation demonstrates
our dedication to perfection and our ability to harness the
power of technology for real-world applications. Below is the
link to view the simulation.

A. Link of the video

Simulation

VIII. C ONCLUSION

Understanding the fundamental concepts and terminology

in the field of robotic arm programming is of utmost im-
portance. Without a solid understanding of these basic terms,
the execution of any project involving a robotic arm would
fail. Mastering these fundamental concepts and definitions is
similar to the foundation on which the entire project rests.
Additionally, it is equally vital to understand the nuances of
using specialized software to simulate arm operations.