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Lecture 4

The document discusses the three main drive systems for industrial robots: hydraulic, electric, and pneumatic. It provides details on the advantages and disadvantages of each. Hydraulic drives provide high speed and strength but take up more space. Electric drives are more accurate but provide less speed and strength. Pneumatic drives are generally used for smaller, simpler pick-and-place operations and are less expensive than other options. The document also outlines a hierarchical robot control system from basic limited sequence control to intelligent control with decision making capabilities.

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mahad adam Omari
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32 views14 pages

Lecture 4

The document discusses the three main drive systems for industrial robots: hydraulic, electric, and pneumatic. It provides details on the advantages and disadvantages of each. Hydraulic drives provide high speed and strength but take up more space. Electric drives are more accurate but provide less speed and strength. Pneumatic drives are generally used for smaller, simpler pick-and-place operations and are less expensive than other options. The document also outlines a hierarchical robot control system from basic limited sequence control to intelligent control with decision making capabilities.

Uploaded by

mahad adam Omari
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 PPTX, PDF, TXT or read online on Scribd
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DRIVE SYSTEMS OF IR

The three types of drive systems that are generally used for industrial
robots are:
(i)Hydraulic drive
(ii)Electric drive
(iii)Pneumatic drive
DRIVE SYSTEMS OF IR

i) Hydraulic drive
 It gives a robot great speed and strength. They provide high speed
and strength, hence they are adopted for large industrial robots.
 This type of drives are preferred in environments in which the use of
electric drive robots may cause fire hazards
 Example: In spray painting.
DRIVE SYSTEMS OF IR
Disadvantages of a hydraulic robot:
 Occupy more floor space for ancillary equipment (secondary
importance equipment) in addition to that required by the robot.
There are housekeeping problems such as leaks.
DRIVE SYSTEMS OF IR
ii) Electric drive
 This provides a robot with less speed and strength. Electric drive
systems are adopted for smaller robots.
 Robots supported by electric drive systems are more accurate,
exhibit better repeatability.
Electrically driven robots are the most commonly available .
Electrically driven robots can be classified into two broad categories.
(i)Stepper motor driven. (ii)Direct Current (DC) servo-motor driven.
DRIVE SYSTEMS OF IR
iii) Pneumatic drive
Generally used for smaller robots.
Have fewer axes of movement.
 Carry out simple pick-and-place material-handling operations, such as
picking up an object at one location and placing it at another location.
These operations are generally simple and have short cycle times.
 Here pneumatic power can be used for sliding or rotational joints.
 Pneumatic robots are less expensive than electric or hydraulic robots.
ROBOT CONTROL SYSTEMS

The Joint movements must be controlled if the robot is to perform as


desired.
Micro-processor-based controllers are regularly used to perform this
control action.
 Controller is organised in a hierarchical fashion, as illustrated in
Figure.
ROBOT CONTROL SYSTEMS

Hierarchical control structure


(a) Limited Sequence Control
 Elementary control type, it is used for simple motion cycles, such as pick
and place operations.
 It is implemented by fixing limits or mechanical stops for each joint and
sequencing the movement of joints to accomplish operation.
 Feedback loops may be used to inform the controller that the action has
been performed, so that the programme can move to the next step.
 No servo-control exists for precise positioning of joint. Many
pneumatically driven robots are this type.
ROBOT CONTROL SYSTEMS

Hierarchical control structure


(b) Playback with Point to Point Control
Playback control uses a controller with memory to record motion sequences in a
work cycle, as well as associated locations and other parameters and then plays
back the work cycle during programme execution.
Point to point control means individual robot positions are recorded in the
memory.
 These positions include both mechanical stops for each joint and the set of
values that represent locations in the range of each joint.
 Feedback control is used to confirm that the individual joints achieve the
specified locations in the programme.
ROBOT CONTROL SYSTEMS
Hierarchical control structure
(c) Playback with Continuous Path Control
 Playback is as described above. Continuous path control refers to a
control system capable of continuous simultaneous control of two or
more axes.
Greater storage capacity—the number of locations that can be stored
is greater than in point to point and interpolation calculations may be
used, especially linear and circular interpolations.
ROBOT CONTROL SYSTEMS

Hierarchical control structure


(d) Intelligent Control
 An intelligent robot is one that exhibits behaviour that makes it seem
intelligent.
For example, capacities to interact with its ambient surroundings,
decision-making capabilities, communication with humans.
 They may also possess the playback facilities of the above two instances.
 Requires a high level of computer control and an advanced programming
language to input the decision-making logic and other ‘intelligence’ into
the memory.

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