Post on 23-Dec-2015
Robot Technology Robot Technology Chapter 10Chapter 10
Robotics by Muhammad Moeen SultanRobotics by Muhammad Moeen Sultan
Robot IntroductionRobot Introduction General purposeGeneral purpose (perform a variety of (perform a variety of
functions independently)functions independently)
Programmable Programmable (Sequence, repetition, (Sequence, repetition, decision makingdecision making
AnthropomorphicAnthropomorphic characteristics characteristics
Perform specific functions like machinePerform specific functions like machineloading, spot welding, spray painting,loading, spot welding, spray painting,assembly, etc.assembly, etc.
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Definition of RobotDefinition of Robot
A robot is a programmable, multifunction A robot is a programmable, multifunction manipulator designed to move material, manipulator designed to move material, parts, tools, or special devices through parts, tools, or special devices through variable programmed motions for the variable programmed motions for the performance of a variety of tasks.performance of a variety of tasks.
Robotics by Muhammad Moeen SultanRobotics by Muhammad Moeen Sultan
Laws of RoboticsLaws of Robotics
• • Law 1: A robot may not injure a human being Law 1: A robot may not injure a human being
• • Law 2: A robot must obey orders given to it by Law 2: A robot must obey orders given to it by human beings, except where such orders would human beings, except where such orders would conflict with a higher order law conflict with a higher order law
• • Law 3: A robot must protect its own existence as Law 3: A robot must protect its own existence as long as such protection does not conflict with a long as such protection does not conflict with a higher order lawhigher order law
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Robot Physical ConfigurationsRobot Physical Configurations Industrial Robots come in a variety of shapes and sizesIndustrial Robots come in a variety of shapes and sizes
On this base they are distinguishedOn this base they are distinguished
Polar coordinate configurationPolar coordinate configuration
Cylindrical coordinate configurationCylindrical coordinate configuration
Joined arm configurationJoined arm configuration
Cartesian coordinate configurationCartesian coordinate configuration
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Polar coordinate configurationPolar coordinate configuration
Spherical coordinates (Partial sphere)Spherical coordinates (Partial sphere)• Rotary baseRotary base• Pivot used to raise and lower an armPivot used to raise and lower an arm• In-out movementIn-out movement
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Cylindrical coordinate configurationCylindrical coordinate configuration
Swivels about a vertical axisSwivels about a vertical axis
Up-down movementUp-down movement
In-out movementIn-out movement
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Jointed Arm configurationJointed Arm configuration
Similar in appearance to Similar in appearance to human armhuman arm
Rotated base, shoulder Rotated base, shoulder joint, elbow joint, wrist joint, elbow joint, wrist joint.joint.
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Cartesian coordinate configurationCartesian coordinate configuration
Three orthogonal slidesThree orthogonal slides
Slides are parallel to the Slides are parallel to the x,y,z axis.x,y,z axis.
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Purpose of a RobotPurpose of a Robot
Purpose of a robot is to perform Purpose of a robot is to perform useful taskuseful task
End-effectorEnd-effector The tool, gripper, or other device mounted at the end ofThe tool, gripper, or other device mounted at the end of
a manipulator, for accomplishing useful tasks a manipulator, for accomplishing useful tasks
HandHand
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DegreeDegrees-s-oof-Ff-Freedoreedom (DOF):m (DOF):
The number of independent motions a The number of independent motions a device can make. (Also called device can make. (Also called mobilitmobility) y)
five degrees of freedom
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Degree of FreedomDegree of Freedom
Six basic motions for a robot to move Six basic motions for a robot to move in a required sequence of motionsin a required sequence of motions
Not all robots are equipped with itNot all robots are equipped with it Three arm and body movement and Three arm and body movement and
three wrist movements.three wrist movements.
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Six Degree of FreedomSix Degree of Freedom
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Motion SystemsMotion Systems
Point-to-point (PTP)Point-to-point (PTP)
Moves from one point location to Moves from one point location to another. Can adopt any path.another. Can adopt any path.
Examples: Examples: loading unloading, pick and place, loading unloading, pick and place, spot weldingspot welding
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Motion SystemsMotion Systems
Contouring (Continuous Path)Contouring (Continuous Path)
Move on a Smooth compound curveMove on a Smooth compound curve
Complete path is rememberedComplete path is remembered
Examples:Examples:
Paint spray, continuous welding.Paint spray, continuous welding.
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Other technical featuresOther technical features
Determine its efficiency, effectivenessDetermine its efficiency, effectiveness Some of the technical features areSome of the technical features are
• Work volumeWork volume• Precision of movementPrecision of movement• Speed of movement Speed of movement • Weight carrying capacityWeight carrying capacity• Types of drive systemTypes of drive system
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Technical featuresTechnical features
Work volumeWork volume• Space within which a robot can operate.Space within which a robot can operate.• Determined by its configuration, size Determined by its configuration, size
and the limits of its arms.and the limits of its arms. Polar coordinates Polar coordinates – – partial spherepartial sphere Cylindrical coordinates – Cylindrical coordinates – cylindrical cylindrical Cartesian Cartesian - - rectangularrectangular Jointed arm Jointed arm - - irregularirregular
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Technical featuresTechnical features
Precision of movementPrecision of movement The precision with which the robot can The precision with which the robot can
move the end of its wrist.move the end of its wrist.
1.1. Spatial resolutionSpatial resolution
2.2. AccuracyAccuracy
3.3. RepeatabilityRepeatability
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Technical featuresTechnical features
Spatial resolutionSpatial resolution• Smallest increment of motionSmallest increment of motion• Depends on the control system and Depends on the control system and
feedbackfeedback
Control resolution= Control resolution= rangerange
control control incrementsincrements
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Technical featuresTechnical features AccuracyAccuracy
• The ability of a robot to go to the specified The ability of a robot to go to the specified position without makingposition without making a mistake. a mistake.
• Closely related to spatial Closely related to spatial resolutionresolution
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Technical featuresTechnical features
RepeatabilityRepeatability• Ability to position a wrist back to the Ability to position a wrist back to the
previously visited point.previously visited point.
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Technical featuresTechnical features
Speed of movementSpeed of movement• The amount of distance per unit time at The amount of distance per unit time at
which the robot can move.which the robot can move.• Speed of the end effectorsSpeed of the end effectors• Determined by the weight of the objectDetermined by the weight of the object
Weight carrying capacityWeight carrying capacity• Lifting over 1000 lbLifting over 1000 lb
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Types of Drive systemTypes of Drive system
Hydraulic Hydraulic (mechanical, high strength)(mechanical, high strength)
Electric motor Electric motor (stepper, servo, less (stepper, servo, less strength, better accuracy and repeatabilitystrength, better accuracy and repeatability
Pneumatic (quick, less strength)Pneumatic (quick, less strength)
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End effectorsEnd effectors
GrippersGrippers
ToolsTools
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GrippersGrippers
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Tools as end effectorsTools as end effectors
Spot weldingSpot welding Spray paintingSpray painting DrillingDrilling GrindersGrinders Heating torchesHeating torches
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Robotic sensorsRobotic sensors
VisionVision Tactile and proximityTactile and proximity voicevoice
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Programming The RobotProgramming The Robot
Programming MethodsProgramming Methods
• Manual MethodManual Method• Walkthrough MethodWalkthrough Method• Lead through MethodLead through Method• Off-line ProgrammingOff-line Programming
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Manual MethodManual Method
Mechanical stops, cams, switches or Mechanical stops, cams, switches or relaysrelays
Uses: Uses: short work cycle like pick and place short work cycle like pick and place operationoperation
videovideo
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Walkthrough MethodWalkthrough Method
• Manually moves the robot armManually moves the robot arm• Each movement is recordedEach movement is recorded• No worry about the cycle timeNo worry about the cycle time• Getting the position and sequence Getting the position and sequence
correctcorrect
UsesUses: spray painting, arc welding: spray painting, arc welding
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videovideo Robotics by Muhammad Moeen SultanRobotics by Muhammad Moeen Sultan
Lead through MethodLead through Method
• Use of small hand held devicesUse of small hand held devices• Switches, dialsSwitches, dials• Each motion is recorded in memoryEach motion is recorded in memory
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Off-line programmingOff-line programming
• Similar to NCSimilar to NC• Computer terminalComputer terminal• No loss of production time (no teaching)No loss of production time (no teaching)• Can be programmed when still in Can be programmed when still in
productionproduction
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Work Cell ControlWork Cell Control
Work with other thingsWork with other things• Processing equipments, work parts, conveyors, Processing equipments, work parts, conveyors,
tools and human operatorstools and human operators Coordinating all the activities within the Coordinating all the activities within the
robot workstationrobot workstation Sequencing and simultaneous activitiesSequencing and simultaneous activities Work cell controllerWork cell controller
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Work Cell ControlWork Cell Control
ExampleExample
• Robotic armRobotic arm
• Machine toolMachine tool
• Two conveyorsTwo conveyors
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Work Cell ControlWork Cell Control
Operate SequentiallyOperate Sequentially
Certain steps are completed before Certain steps are completed before next operationnext operation
• Picking, proper location of the piecePicking, proper location of the piece• Start, by Loading the work pieceStart, by Loading the work piece• Machining completeMachining complete
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InterlocksInterlocks
Sequence continues until a certain Sequence continues until a certain condition or set of conditions has condition or set of conditions has been satisfiedbeen satisfied
IncomingIncoming
OutgoingOutgoing
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InterlocksInterlocks
Limit switchesLimit switches
Pressure switchesPressure switches
Photoelectric devicesPhotoelectric devices
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