Introduction to Robotics i n CIM Systems Chapter 2 James A. Rehg Introduction to Robotics in CIM...

Introduction to RoboticsIntroduction to Roboticsiinn

CIM SystemsCIM Systems

Chapter 2Chapter 2

James A. RehgJames A. RehgIntroduction to Robotics in CIM Introduction to Robotics in CIM Systems 5Systems 5thth edition edition

Copyright ©2003 by Pearson Education, Inc.Upper Saddle River, New Jersey 07458

All rights reserved.

Chapter Goals [abbr.]Chapter Goals [abbr.]

Classify Robot based on characteristicsClassify Robot based on characteristicsMotion & coord sys of various arm configs.Motion & coord sys of various arm configs.Various robot pwr sourcesVarious robot pwr sourcesTorque calculationTorque calculationOpen & Closed Loop operationOpen & Closed Loop operation




Chapter Goals [abbr.]Chapter Goals [abbr.]

Calculate transfer fcn & other params for Calculate transfer fcn & other params for positional feedback devices.positional feedback devices.

Internal positioning devicesInternal positioning devicesFour types of path controlFour types of path controlRobot selection & survey in automation Robot selection & survey in automation

work cell designwork cell design




Figure 2-1Figure 2-1




Compared to OpticalCompared to Optical

DisadvantageDisadvantage More expensiveMore expensive Requires an AC reference Requires an AC reference

voltagevoltage Expensive electronic Expensive electronic

componentscomponents


AdvantageAdvantage Less dependent on Less dependent on

mechanical precisionmechanical precision Electronics more protected Electronics more protected

due to remote usedue to remote use More robust (i.e. doesn’t More robust (i.e. doesn’t

have delicate sense element)have delicate sense element) Physically smaller at higher Physically smaller at higher

resolutionresolution Less cablingLess cabling Always provide Absolute Always provide Absolute

positioningpositioning



Robot Selection CriteriaRobot Selection Criteria

Jami DaleJami DaleIntroduction to Robotics in CIM Introduction to Robotics in CIM Systems 5Systems 5thth edition edition

Is a collection of parameters about the Is a collection of parameters about the work environment, the manufacturing work environment, the manufacturing process requirements, workforce skills process requirements, workforce skills cost and future planning.cost and future planning.

Information is correlated to various Information is correlated to various equipment parameters and used as a equipment parameters and used as a basis for comparison and selection.basis for comparison and selection.



Robot SurveyRobot Survey

Jami DaleJami DaleIntroduction to Robotics in CIM Introduction to Robotics in CIM Systems 5Systems 5thth edition edition

Is a set of questions designed to help in Is a set of questions designed to help in determining if an operation would be determining if an operation would be improved by implementing robotics.improved by implementing robotics.



Figure 2-examplesFigure 2-examples


Example 2-1

Example 2-2




James A. RehgJames A. RehgIntroduction to Robotics in CIM Systems 5Introduction to Robotics in CIM Systems 5thth edition edition

Example 2-3

Example 2-4





Example 2-5

Example 2-6

Example 2-7





Example 2-8

Example 2-9

Example 2-10

Example 2-11

Example 2-12





Example 2-13

Example 2-14

Example 2-15



AssignmentsAssignments

Chapter 2Chapter 2Homework: Homework:

Questions: 1, 2, 6, 9, 10, 17, 18, 19, 25, 37(1 ex. Questions: 1, 2, 6, 9, 10, 17, 18, 19, 25, 37(1 ex. ea. [5 pts. Ea.]ea. [5 pts. Ea.]

Problems: 1, 3, 5, 8, 10, 11, 13, 18 [10 pts. Ea.]Problems: 1, 3, 5, 8, 10, 11, 13, 18 [10 pts. Ea.]Projects: N/AProjects: N/A

Chapter 3 - Read for next classChapter 3 - Read for next class


Introduction to Robotics i n CIM Systems Chapter 2 James A. Rehg Introduction to Robotics in CIM...

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