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Industrial Robotics-Unit 1

This document discusses industrial robotics, including robot anatomy, control systems, end effectors, applications, and programming. It describes the typical components of a robot like joints, links, drives, and sensors. It also outlines common robot configurations and coordinate systems. The document explains how robots are programmed and applied in industry for tasks like material handling, assembly, and welding.

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326 views34 pages

Industrial Robotics-Unit 1

This document discusses industrial robotics, including robot anatomy, control systems, end effectors, applications, and programming. It describes the typical components of a robot like joints, links, drives, and sensors. It also outlines common robot configurations and coordinate systems. The document explains how robots are programmed and applied in industry for tasks like material handling, assembly, and welding.

Uploaded by

tamilselvan n
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Industrial Robotics

Sections:
1. Robot Anatomy
2. Robot Control Systems
3. End Effectors
4. Industrial Robot Applications
5. Robot Programming
ME8099 Robotics Syllabus
UNIT I FUNDAMENTALS OF ROBOT

Robot - Definition - Robot Anatomy - Co ordinate Systems, Work


Envelope Types and Classification- Specifications-Pitch, Yaw, Roll,
Joint Notations, Speed of Motion, Pay Load- Robot Parts and their
Functions-Need for Robots-Different Applications.

UNIT II ROBOT DRIVE SYSTEMS AND END EFFECTORS

Pneumatic Drives-Hydraulic Drives-Mechanical Drives-Electrical


Drives-D.C. Servo Motors, Stepper Motors, A.C. Servo Motors-
Salient Features, Applications and Comparison of all these Drives,
End Effectors-Grippers-Mechanical Grippers, Pneumatic and
Hydraulic- Grippers, Magnetic Grippers, Vacuum Grippers; Two
Fingered and Three Fingered Grippers; Internal Grippers and
External Grippers; Selection and Design Considerations.
UNIT III SENSORS AND MACHINE VISION

Requirements of a sensor, Principles and Applications of the


following types of sensors- Position sensors - Piezo Electric
Sensor, LVDT, Resolvers, Optical Encoders, pneumatic Position
Sensors, Range Sensors Triangulations Principles, Structured,
Lighting Approach, Time of Flight, Range Finders, Laser Range
Meters, Touch Sensors ,binary Sensors., Analog Sensors, Wrist
Sensors, Compliance Sensors, Slip Sensors, Camera, Frame
Grabber, Sensing and Digitizing Image Data- Signal Conversion,
Image Storage, Lighting Techniques, Image Processing and
Analysis-Data Reduction, Segmentation, Feature Extraction,
Object Recognition, Other Algorithms, Applications- Inspection,
Identification, Visual Serving and Navigation.
UNIT IV ROBOT KINEMATICS AND ROBOT PROGRAMMING

Forward Kinematics, Inverse Kinematics and Difference; Forward


Kinematics and Reverse Kinematics of manipulators with Two,
Three Degrees of Freedom (in 2 Dimension), Four Degrees of
freedom (in 3 Dimension) Jacobians, Velocity and Forces-
Manipulator Dynamics, Trajectory Generator, Manipulator
Mechanism Design-Derivations and problems. Lead through
Programming, Robot programming Languages-VAL Programming-
Motion Commands, Sensor Commands, End Effector commands
and simple Programs.

UNIT V IMPLEMENTATION AND ROBOT ECONOMICS

RGV, AGV; Implementation of Robots in Industries-Various Steps;


Safety Considerations for Robot Operations - Economic Analysis of
Robots.
Industrial Robot Defined

A general-purpose, programmable machine possessing


certain anthropomorphic characteristics

 Hazardous work environments


 Repetitive work cycle
 Consistency and accuracy
 Difficult handling task for humans
 Multishift operations
 Reprogrammable, flexible
 Interfaced to other computer systems
Industrial Robots Definition

  A robot is a programmable arm simulator 


 Robot is a programmable, multifunction manipulator designed
to move material, parts, tools, or special devices through
variable programmed motions for the performance of a variety
of tasks”

-Robot Institute of America


Robot Anatomy

 Manipulator consists of joints and links Link3


Joint3
 Joints provide relative motion
End of Arm
 Links are rigid members between joints
 Various joint types: linear and rotary
 Each joint provides a “degree-of- Link2
freedom”
Link1
 Most robots possess five or six
degrees-of-freedom
Joint2
 Robot manipulator consists of two
sections: Joint1
 Body-and-arm – for positioning of
Link0
objects in the robot's work volume
Base
 Wrist assembly – for orientation of
objects
Manipulator Joints

 Translational motion
 Linear joint (type L)
 Orthogonal joint (type O)

 Rotary motion
 Rotational joint (type R)
 Twisting joint (type T)
 Revolving joint (type V)
Joint Notation Scheme

 Uses the joint symbols (L, O, R, T, V) to designate joint


types used to construct robot manipulator
 Separates body-and-arm assembly from wrist assembly
using a colon (:)

 Example: TLR : TR

 Common body-and-arm configurations …


Polar Coordinate
Body-and-Arm Assembly

 Notation TRL:

 Consists of a sliding arm (L joint) actuated relative to the


body, which can rotate about both a vertical axis (T joint)
and horizontal axis (R joint)
Cylindrical Body-and-Arm Assembly

 Notation TLO:

 Consists of a vertical column,


relative to which an arm
assembly is moved up or down
 The arm can be moved in or out
relative to the column
Cartesian Coordinate
Body-and-Arm Assembly

 Notation LOO:

 Consists of three sliding joints,


two of which are orthogonal
 Other names include rectilinear
robot and x-y-z robot
Jointed-Arm Robot

 Notation TRR:
SCARA Robot

 Notation VRO
 SCARA stands for Selectively
Compliant Assembly Robot
Arm
 Similar to jointed-arm robot
except that vertical axes are
used for shoulder and elbow
joints to be compliant in
horizontal direction for vertical
insertion tasks
Wrist Configurations

 Wrist assembly is attached to end-of-arm


 End effector is attached to wrist assembly
 Function of wrist assembly is to orient end effector
 Body-and-arm determines global position of end
effector
 Two or three degrees of freedom:
 Roll
 Pitch
 Yaw
 Notation :RRT
Example

 Sketch following manipulator configurations


 (a) TRT:R, (b) TVR:TR, (c) RR:T.

Solution:
R
R
T T R
R T
R
R V

T T

(a) TRT:R (b) TVR:TR (c) RR:T


Joint Drive Systems

 Electric
 Uses electric motors to actuate individual joints
 Preferred drive system in today's robots
 Hydraulic
 Uses hydraulic pistons and rotary vane actuators
 Noted for their high power and lift capacity
 Pneumatic
 Typically limited to smaller robots and simple material
transfer applications
Robot Control Systems
 Limited sequence control – pick-and-place
operations using mechanical stops to set positions
 Playback with point-to-point control – records
work cycle as a sequence of points, then plays
back the sequence during program execution
 Playback with continuous path control – greater
memory capacity and/or interpolation capability to
execute paths (in addition to points)
 Intelligent control – exhibits behavior that makes
it seem intelligent, e.g., responds to sensor inputs,
makes decisions, communicates with humans
Robot Control System

Cell
Cell Level 2
Supervisor
Supervisor

Controller
Controller Level 1
&& Program
Program

Joint
Joint 11 Joint
Joint 22 Joint
Joint 33 Joint
Joint 44 Joint
Joint 55 Joint
Joint 66 Sensors
Sensors Level 0
End Effectors
 The special tooling for a robot that enables it to
perform a specific task
 Two types:
 Grippers – to grasp and manipulate objects (e.g.,
parts) during work cycle
 Tools – to perform a process, e.g., spot welding,
spray painting
Grippers and Tools
Working Envelope
Industrial Robot Applications

1. Material handling applications


 Material transfer – pick-and-place, palletizing
 Machine loading and/or unloading
2. Processing operations
 Welding
 Spray coating
 Cutting and grinding
3. Assembly and inspection
Robotic Arc-Welding Cell

 Robot performs
flux-cored arc
welding (FCAW)
operation at one
workstation while
fitter changes
parts at the other
workstation
Robot Programming

 Leadthrough programming
 Work cycle is taught to robot by moving the
manipulator through the required motion cycle and
simultaneously entering the program into controller
memory for later playback
 Robot programming languages
 Textual programming language to enter
commands into robot controller
 Simulation and off-line programming
 Program is prepared at a remote computer
terminal and downloaded to robot controller for
execution without need for leadthrough methods
Leadthrough Programming

1. Powered leadthrough
 Common for point-to-
point robots
 Uses teach pendant
2. Manual leadthrough
 Convenient for
continuous path control
robots
 Human programmer
physical moves
manipulator
Leadthrough Programming
Advantages
 Advantages:
 Easily learned by shop personnel
 Logical way to teach a robot
 No computer programming
 Disadvantages:
 Downtime during programming
 Limited programming logic capability
 Not compatible with supervisory control
Robot Programming

 Textural programming languages


 Enhanced sensor capabilities
 Improved output capabilities to control external equipment
 Program logic
 Computations and data processing
 Communications with supervisory computers
Coordinate Systems

World coordinate system Tool coordinate system


Motion Commands

MOVE P1
HERE P1 - used during lead through of manipulator
MOVES P1
DMOVE(4, 125)
APPROACH P1, 40 MM
DEPART 40 MM
DEFINE PATH123 = PATH(P1, P2, P3)
MOVE PATH123
SPEED 75
Interlock and Sensor Commands

Interlock Commands
WAIT 20, ON
SIGNAL 10, ON
SIGNAL 10, 6.0
REACT 25, SAFESTOP
Gripper Commands
OPEN
CLOSE
CLOSE 25 MM
CLOSE 2.0 N
Simulation and Off-Line Programming
Example

A robot performs a loading and unloading operation for a


machine tool as follows:
 Robot pick up part from conveyor and loads into machine (Time=5.5 sec)
 Machining cycle (automatic). (Time=33.0 sec)
 Robot retrieves part from machine and deposits to outgoing conveyor.
(Time=4.8 sec)
 Robot moves back to pickup position. (Time=1.7 sec)
Every 30 work parts, the cutting tools in the machine are
changed which takes 3.0 minutes. The uptime efficiency of
the robot is 97%; and the uptime efficiency of the machine
tool is 98% which rarely overlap.
Determine the hourly production rate.
Solution

Tc = 5.5 + 33.0 + 4.8 + 1.7 = 45 sec/cycle


Tool change time Ttc = 180 sec/30 pc = 6 sec/pc
Robot uptime ER = 0.97, lost time = 0.03.
Machine tool uptime EM = 0.98, lost time = 0.02.
Total time = Tc + Ttc/30 = 45 + 6 = 51 sec = 0.85 min/pc
Rc = 60/0.85 = 70.59 pc/hr

Accounting for uptime efficiencies,


Rp = 70.59(1.0 - 0.03 - 0.02) = 67.06 pc/hr

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