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Lec 11

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9 views48 pages

Lec 11

Uploaded by

Mahmoud Essam
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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 Identify the different type of robots and

appreciate the differences between them.

 Recognize the need for different drive systems in


robot applications

 Understand the various types of robot geometry


available
Classification of robots
1. Classification by arm configuration
2. Classification by controller
3. Classification by power supply
4. LERT classification system
5. Classification by design (generations)
1-Classification by arm configuration

 Robots are often classified by the shape of the space or


work envelope that their manipulator can reach.
There are five generally recognized arm
configurations.
1.1 Cartesian coordinates (Rectangular)

 Positioning may be done by straight or linear


motion along three axes: back and forth, in and
out, and up and down.
 This is similar to the type of work area that an
overhead crane in a foundry in the following
Figure . If such crane is controlled by a computer,
it acts as the manipulator of a robot. If the crane is
controlled by a person, it is simply a remote
control device
Cartesian coordinates robot
Overhead Crane
Figure-3 A Point for a Cartesian-coordinates Robot.
Points for a Cartesian-coordinates
robot are specified as values along
three linear axes-x, y, and z. This is
easy to visualize and easy to program
off-line.
Gantry Robot
1.2 Cylindrical coordinates
 If the positioning of the manipulator allows the arm to
rotate about the base and if the other two axes allow
up-and-down and in-and-out motions, the robot is
known as a Cylindrical coordinates robot.
Figure4: Cylindrical coordinates robot.
Figure-5: construction crane
Figure 6 A Point for a Cylindrical-coordinates Robot.
R  X  Y  15.62
2 2 "

sin   Y  0.6402
R
  sin 0.6402  39.81
1 o

If x is positive and y is negative, subtract


from 360°
If x is negative and y is positive, subtract
from 180°.
If x and y are negative, add 180°.

Base Reach Z
Angle position
(
 R Z)
( 39.81 15.62” 13”)
 Points for a cylindrical-coordinates robot are specified
as points defined by two linear axes and one angle. The
linear axes are called z and R (for reach). The angle is
the angle of rotation.
Cylindrical Robot
1.3 SCARA robot
 The SCARA (Selective Compliance Assembly Robot
Arm) robot has the same work area as a cylindrical
coordinates robot. However, the reach axis includes a
rotational joint in a plane parallel to the floor. This
feature allows the SCARA robot to reach around some
obstacles in its work envelope.
Figure2.7: SCARA robot
Figure 8 A Point for a SCARA Robot
= ? = 39.81o
If x is negative and y is positive, subtract from 180o.
If X is positive and y is negative, subtract from 360o.

( )( )

If is negative, add 90o.

( )( )

If is negative, add 90o


Base + shoulder Elbow Z
Angle angle
(γ + β, α, Z)
(78.45, 167.29, 13)

 Points for a SCARA robot are specified as one point


along a linear axis and two angles.

 The linear axis is height, or z. The angles are the base


and shoulder angle and the elbow angle
SCARA ROBOT
1.4 Polar coordinates

 If the arm not only rotates about the base, but also
rotates about an axis in the vertical plane, the robot is
known as polar coordinates or spherical coordinates
robot.

 The polar coordinates robot can reach things almost
directly above itself, as well as around itself. The bend
up and down axis may be limited to 60o or less.
Figure 8: Spherical co-ordinates robot.
Figure 9: Spherical coordinates manipulator
= ? = 39.81o
=20.322
=0.6397
= ? = 39.77
Base Elevation Reach
Angle angle
(γ , β, )
(39.81, 39.77, 20.322)

 Points for a polar-coordinates robot are specified as a


base angle ,an elevation angle , and a linear reach R.
1.5 Jointed arm

 If the arm can rotate about all three axes, the robot is
called a revolute coordinates, articulate, or joint arm
robot.
 The revolute coordinates arm can reach things all
around it, including things above and below it. It can
serve the largest work area for the smallest floor space .
Figure10. Jointed arm
= 15.62
=0.6402
= ? = 39.81o

RF =20.322

sin =Z/ RF = 0.6397


o

RF F
= 0.84675
( )( )
o

( )( )
o

Base Elevation Reach


Angle angle
(γ , β+ , )
(39.81, 71.91, 154.28)
 Points for the jointed arm robot are
specified as three angles: the base angle ,
the complete shoulder angle β+α, and the 
elbow angle Φ
Jointed Robot
ADVANTAGES DISADVANTAGES
CONFIGURATION

 Three linear axes  Can only reach in front of itself


 Rigid structure  Requires large floor space for size of
Cartesian coordinates (x,y,z- base  Easy to program off-line work envelope
travel, reach and height)  Linear axes make for easy mechanical  axes hard to seal
stops

 two linear axes, one rotating axis  cannot reach above itself
 can reach all around itself  base rotational axis is less rigid than a
 reach and height axes rigid linear axis
Cylindrical coordinates (Ѳ, r,z-  rotational axis easy to seal  linear axes hard to seal
base rotation, reach, and height)  won’t reach around obstacles

 one linear axis, two rotational axes  Difficult to program off-line


 height axis is rigid  Highly complex arm
 can reach around obstacles
SCARA coordinates (Ѳ, Φ,z-base
rotation, reach, and height)

 one linear axis, two rotational axes  can’t reach around obstacles
Spherical coordinates (Ѳ, Φ, z -  long horizontal reach  generally has short vertical reach
base rotation and reach angle)

 three rotating axes  two or four ways to reach a point


 can reach above or below obstacles  most complex manipulator
Revolute coordinates (Ѳ,a,b-base  large work area for least floor space
rotation and reach angle)
All Robot Geometries
-2-
Classification by controller
There are three basic types of robot controllers:
1. Limited sequence controllers: they use a timer to determine when to
activate an axis, and mechanical stops or micro switches to mark the end of
travel for an axis.
Classification by controller
2. Point to point controllers: they have memory to hold the coordinates for
each axis at points in a task, and they use sensors to help reach each point.
Classification by controller

Continuous path controller: They have large memories than point to point
controllers and are able to record many point coordinates per second.
-3-
Classification by power supply
 There are three basic types of power supplies:
Electrical, Pneumatic, and Hydraulic.

 If the arm of a robot is powered by


electricity, it is considered to be an electric
robot,
 if the arm is powered by hydraulics, it is
considered to be a hydraulic robot.
 The wrist and gripper may not use the same
type of power as the robot arm.
-4-
LERT classification system

 The LERT classification uses the type of


motion produced by each robot axis as a
basis for classifying the robot. The four basic
motion are Linear, Extensional, Rotational,
and Twisting (LERT).
Linear motion (L)

 Linear motion is produced by a part moving along the


outside of another part, as in rack and pinion system.
Extensional motion(E)

Extensional motion is produced by one part moving


within another part, with a telescoping motion.
Rotational motion(R)

 Rotational motion is produced by a part turning about


something other than its center.
Twisting motion(T)

Twisting motion is produced by a part turning about its


center.
 According to LERT Classification system, classify the
following robot.

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