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Evolution Of Industrial
Robots
IntroductionIndustrial robots are mechanical systems,
which reproduce the human beings movements
with a certain precision. They are used whenever
necessary in order to reduce the human exposure to
danger, in order to supply more power or precision
when a repetitive action is required.
Many people associate robots with the Cyborgs
from science-fiction movies or from scientific litera-
ture. Until we achieve of the necessary technology
for manufacturing such machineries, current tech-
nologies (Even not technology, but design on the
conception phase of the product lifecycle, is respon-
sible of the creation and the programmed intelli-
gence of the Robots) make industrial robots in a
relatively simple structure. However, movements
that we deem ordinary, such as lifting a coin fromthe table, are much more complicated for a robot.
Robots are developed within Robotics, which is
a branch of Automatics. Automatics leads to
knowledge as well as to develop of machines and
computers in order to compensate the human activ-
ity in the process of obtaining material goods.
HistoryThe term robot
proceeds from the
Slavonic word ro-bota, which means
hard work. The
term appeared for
the first time dur-
ing 1921, in the
play Rossums
Universal Robotswritten by the
Czech playwright
Karel apek. Inthe play, humanoid robots are described,which destroy their human creators to its
greatest part, this scenario is met in science fic-
tion movies.
Evolutia Robotilor
Industriali
Introducere
Roboii industriali sunt sisteme mecanicecare reproduc cu o anumit precizie micarileomului. Ei sunt folosii ori de cte ori estenevoie de a reduce expunerea omului la
pericole, pentru a furniza mai mult putere sau precizie sau cnd este necesar o aciunerepetitiv.
Muli oameni asociaza roboii cu cyborg-iidin filmele science-fiction sau din literatura
tiinific. Pn cnd vom dispune detehnologia necesar pentru a produce asemeneama inrii, tehnologiile actuale realizeazroboi industriali ntr-o structur relativsimpl. Totu i, micri pe care noi leconsiderm banale, cum ar fi ridicarea unei
monede de pe mas, pentru un robot, sunt multmai complicate.Roboii sunt dezvoltai n cadrul roboticii,
care este o ramur a automaticii. Automaticafolose te cuno tinele, ma inile i calculatoarele
pentru a compensa activitatea omului n procesulde obinere a bunurilor materiale.
IstoricTermenul de robot
provine din cuvntul
slav robota carenseamna muncgrea. Termenul aaprut pentru primaoara n 1921 n piesa
Roboii universali ailui Rossum scris dedramatistul ceh Karel
Capek. n pies, suntd e s c r i i r o b o iumanoizi care idistrug creatorii lor umani n mare parte acestscenariu este ntlnit n filmele de science fiction.
n anul 1938 a fost proiectat primul mecanism devopsit de ctre americanii Willard Pollard i
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Karel apec (1890-1938) Isaac Asimov (1920 - 1992)
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During the year 1938, the first mechanism for painting was designed by the Americans Willard
Pollard and Harold Roselund, for the company De
Vilbiss.
In 1941, the writer Isaac Asimov used for the
first time the word robotics, so as to describe the
technology of the robots and this way he predicted
the birth of a new industrial branch.
In France, during the year1951, Raymond Go-
ertz designed the first articulated arm for the
Atomic Energy Commission.
During the year 1954, George Devol designed
the first programmable robot and this way laid the
bases of the company Unimation.
In the year1962, the company General Motors
took over the first robot from Unimation and manu-
factured it in serial production.
In the year
1984 , Joseph
Engelberger set
up the company
Transition Robot-ics, subsequently
n a m e d Help-
mates, which de-
velops service for
the robots.
In the year 1986,
Kawasaki devel-
oped and produced
its own line of
electrical robots.
ComponentsThe component parts of an industrial robot are:
Effector
Arm
Motor
Sensors
ControllerEffector functions as a hand. It is connected as
an arm extension. This part comes in direct contact
with the material that it manipulates.
Arm of the robot is the part which places theeffector in position. Its components are the articula-
tion, the shoulder and the joint. It may vary accord-
ing to size and shape.
Harold Roselund, pentru Compania DeVilbiss.n anul 1941 scriitorul Isaac Asimov a folosit
pentru prima dat cuvtul robotica, pentru a descrietehnologia roboilor, i astfel a prezis naterea unei
noi ramuri industriale.
n Frana, n anul 1951, Raymond Goertz proiecteaz primul bra articulat pentru ComisiaAtomic de Energie.
n anul 1954 George Devol proiecteaz primulrobot programabil i astfel pune bazele companieiUnimation.
n anul 1962 firma General Motorspreiaprimulrobot de la Unimation i l produce n serie.
n anul 1984 Joseph Engelbergernfiineaz compania Transition Robotics,numit mai trziu Helpmates, firm ce dezvoltservice pentru roboi.
n anul 1986 Kawasaki dezvolt i producepropria sa linie de roboi electrici.
ComponenteParile componente ale unui robot industrial sunt:
Efector
Bra Motor
Senzori
Controler.Efectorul funcioneaz ca o mn. Se
conecteaz n prelungirea braului. Aceast partevine n contact direct cu materialul pe care l
manipuleaz.Braul robotului este partea care pozitioneaz
efectorul. Are drept componente articulaia, umrul incheietura.El poate varia n funcie de mrime i form.
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Unimate robot
Robot in action
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Motor sets the mobile parts into operation.Sensors take over information from the working envi-
ronment and electronically send them to the controller.
Controller is the brain of the robot and coordi-
nates its movements so that the component parts
should function together.
Performances of industrial robotsFirst generation
From the tech-
nical standpoint,
the first genera-
tion of robots
was very useful,
it is a tool of the
mechanical arm
type, which re-
peats the posi-
tion and the pos-ture learnt be-
fore the beginning of the technological operation.
The robots are based on the use of internal sensors
and servo-technology. Such systems appeared dur-
ing in 1962 in the USA and during 1967, in Japan.
Versatran and Unimate were the first robots manu-
factured for industry.
Second generation
Second generation approaches usual practice,
through the endowment with external sensors and
microprocessors. The most important sensors are thevisual and tactile ones. They were practically used
in sticking the wires of the semiconductors assem-
bled within various fields.
Motorulpune n micare prile mobile.Senzorii preiau informaii din mediul de lucru i
le trimit electronic controlorului.
Controler-ul este creierul robotului i
coordoneaz micrile pentru ca prile componentes funcioneze mpreun.
Performanele roboilor industrialiPrima generaieDin punct de vedere tehnic, prima generaie de
roboia fost foarte folositoare. Este o unealt detip bra mecanic, care repet poziia i posturanvat nainte de nceperea opera ieitehnologice. Aceti roboi au la baz folosirea desenzori interni i servo-tehnologie. Astfel de
sisteme au aparut n 1962 n SUA, i n Japonian 1967. Versatran i Unimate au fost primiiroboi realizai pentru industrie.
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Effector Robot Arm Controller Sensor
First generation of robots
Second generation of robots47
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Third generationThe third generation ofrobots is provided with
advanced measuring, control and driving systems.
The main characteristic of a third generation ro-
bot may be more easily understood by studying the
relation between boss and subordinate employee.
When he does not understand the command, the
subordinate employee will ask his superior several
questions, until thoroughly understanding the com-
mand, and he will start operating only at that mo-
ment.
To conclude, from the standpoint of the func-
tionality, for the third generation robots there are
still issues to solve as regards handling and move-
ment coordination.
ConclusionsIndustrial robots, as the computers, are strong
machineries, which open new horizons for people
and raise their possibilities and the power of their
actions.
Ever increasingly, the robots may affect diffi-cult operations, beyond the human beings possi-
bilities. The robots do not spread microbes and
dust, and their movements may be controlled with
no errors. They do not get tired and they may resist
to unfavourable environment conditions, which hu-
manscannot bear: extreme temperatures, vibrations
and radiations.
Current and next day robots are deemed pro-
grammable scientific instruments.
BibliographyDumitriu, A., Ionescu, E., Dudita, F., Diaconescu,
D.,Automatic control and maintenanceIndus-trial Robots, Transilvania University PrintingHouse, Brasov, 1986.
Draganescu, M., Second industrial revolution, Edi-tura Tehnic, Bucureti, 1980.
Drimer, D., s.a.Industrial Robots and Manipula-tors, Editura Tehnic, Bucuresti, 1985.
Tachi, S.,Rehabilitative robotics, computer scienceand technology, Japan Annual Reviews in Elec-
tronics, Computer and Telecommunication, 12,1984, pp.22-24.
Edelson, E.,Robo Surgeons., Popular Science, April
1995, pp. 62-65, 90.
Generaia a douaGeneraia a doua se apropie de practica uzual, prin
dotarea cu senzori externi i microprocesoare. Senzorii cei
mai importani sunt cei vizuali i tactili. Practic, au fost
utilizai n lipirea terminalelor dispozitivelorsemiconductoare, asamblate pentru diverse domenii.
Generaia a treia
Generaia a treia de roboti este dotat cu sistemeavansate de msurare, control i acionare. Caracteristica
principal a unui robot din a treia generaie poate fineleas mai uor cnd se urmrete relaia dintre un efi un subaltern. Cnd nu ntelege comanda, subordonatuli va ntreba superiorul pn va ntelege ce i se cere iabia apoi va porni operaia. n concluzie, din punctul devedere al funcionalitii, pentru roboii din generaia atreia sunt nc probleme de rezolvat privindmanevrabilitatea i coordonarea micrilor.
ConcluziiRoboii industriali, ca i calcultoarele, sunt
mainrii puternice care deschid orizonturi noi
oamenilor i cresc posibilitile i puterea lor deaciune.Din ce n ce mai mult, roboii pot efectua operaii
dificile, dincolo de posibilitile oamenilor. Roboii numprtie microbi i praf, iar micrile lor pot ficontrolate fr erori. Ei nu obosesc i pot rezistacondiiilor vitrege de mediu, pe care oamenii nu le pot
suporta: temperaturi, vibraii i radiaii extreme.
Roboii de azi i de mine sunt consideraiinstrumente tiinifice programabile.
Iconographywww.authenticsociety.com/about/IsaacAsimov
www.bootsandsabers.com/index.php/weblog/
permalink/unimate/
uk.ask.com/wiki/Industrial_robot_end_effector
www.control.isy.liu.se/~mino/research.html
www.directindustry.com/prod/abb-robotics/robot-
controllers-30265-169114.html
technabob.com/blog/2007/02/04/robotic-dee-jays-
spin-some-vinyl/
www.kuka-robotics.com/en/products/
industrial_robots/special/clean_room_robots/kr500_2_cr/
www.robots.com/robot-education.php?page=history
en.wikipedia.org/wiki/Karel_%C4%8Capek
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