Robot classification working and spesific uitilities of robot
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Transcript of Robot classification working and spesific uitilities of robot
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SEMINAR TOPIC:
GUIDED BY: SUBMITTED TO: SUBMITTED BY:
Prof. R.S.S. Rawat Prof.
R.S.S.RAWAT
ROBOT CLASSIFICATION,WORKING
AND SPESIFIC UTILITY OF ROBOTS
CHETAN YADAV
0601ME111018
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ROBOT CLASSIFICATION,WORKING AND SPESIFIC UTILITY OF ROBOTS
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Robotics
Sections:
1. Introduction
2. Elements of Robots
3. Classification of Robots
4. Utility of Robot
5. Advantages
6. Disadvantages
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Robot Defined
A robot is a reprogrammable,
multifunctional manipulator designed
to move material, parts, tools, or
specialized devices through variable
programmed motions for the
performance of a variety of tasks.
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Working of Robot and it’s Elements
A Robot is a system, consists of the following
elements, which are integrated to form a whole:
Manipulator / Rover : This is the main body of the
Robot and consists of links, joints and structural
elements of the Robot.
End-effector : This is the part that generally
handles objects, makes connection to other
machines, or performs the required tasks.
It can vary in size and complexity from a end
effector on the space shuttle to a small gripper.
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Robot Elements
Actuators : Actuators are the muscles of the manipulators. Common types of actuators are servomotors, stepper motors, pneumatic cylinders etc.
Sensors : Sensors are used to collect information about the internal state of the robot or to communicate with the outside environment. Robots are often equipped with external sensory devices such as a vision system, touch and tactile sensors etc which help to communicate with the environment
Controller : The controller receives data from the computer, controls the motions of the actuator and coordinates these motions with the sensory feedback information.
Controller
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CLASSIFICATION
:
DEGREES OF
FREEDOM: ROBOT
ARM
ROBOT WRIST.
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ARM
GEOMETRY:
Cylindrical
Spherical
Cylindrical
CLASSIFICATION
Spherical
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CLASSIFICATION:
POWER
SOURCES:
ELECTRICAL
HYDRAULIC
INTELLLIGENCE LEVEL:
LOW
TECHNOLOGY(NONSERVO)
HIGH-TECHONOLOGY(SERVO).
SERVO
battery
RADIOIS0TOPE THERMOELECTRIC
GENERATOR
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1.Preprogrammable
2 . Man controlled
3.Intelligent Robots
CLASSIFICATION:
Man controlled
Intelligent Robots
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Cartesian/Rectangular Gantry(3P) :
These Robots are made of 3 Linear
joints that orient the end effector,
which are usually followed by
additional revolute joints.
CLASSIFICATION:
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CLASSIFICATION:
Cylindrical (R2P): Cylindrical
coordinate Robots have 2
prismatic joints and one
revolute joint.
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CLASSIFICATION:
Spherical joint (2RP): They
follow a spherical coordinate
system, which has one linear and
two rotationary coordinates.
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CLASSIFICATION:
Articulated/anthropomorphic(
3R) :An articulated robot’s
joints are all revolute, similar
to a human’s arm.
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CLASSIFICATION:
Selective Compliance Assembly
Robot Arm (SCARA) (2R1P): They
have two revolute joints that are
parallel and allow the Robot to
move in a horizontal plane, plus an
additional prismatic joint that
moves vertically.
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Degrees of Freedom
Degrees of Freedom
refer to the
movement range
available for a
given piece of
equipment within
three dimensions.
©Emil Decker, 2009
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Robot Classification:
Degrees of Freedom
Diagram courtesy: Dr. Eberhard Bamberg Assistant Professor of Mechanical Engineering University of Utah
©Emil Decker, 2009
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Robot Classification:
The six degrees of a
rigid body are
often described
using nautical
terms:
Moving up and down
(heaving);
Moving left and right
(swaying); ©Emil Decker, 2009
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Robot Classification:
Moving forward and
backward
(surging);
Tilting forward and
backward
(pitching);
Turning left and right
(yawing);
Tilting side to side
(rolling). ©Emil Decker, 2009
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DEGREES OF FREEDOM (CONTD.)
THE THREE DEGREES OF FREEDOM LOCATED IN THE ARM OF A ROBOTIC SYSTEM ARE:
THE ROTATIONAL REVERSE: IS THE MOVEMENT OF THE ARM ASSEMBLY ABOUT A ROTARY AXIS, SUCH AS LEFT-AND-RIGHT SWIVEL OF THE ROBOT’S ARM ABOUT A BASE.
THE RADIAL TRAVERSE: IS THE EXTENSION AND RETRACTION OF THE ARM OR THE IN-AND-OUT MOTION RELATIVE TO THE BASE.
THE VERTICAL TRAVERSE: PROVIDES THE UP-AND-DOWN MOTION OF THE ARM OF THE ROBOTIC SYSTEM.
THE THREE DEGREES OF FREEDOM LOCATED IN THE WRIST, WHICH BEAR THE NAMES OF AERONAUTICAL TERMS, ARE
PITCH OR BEND: IS THE UP-AND-DOWN MOVEMENT OF THE WRIST.
YAW: IS THE RIGHT-AND-LEFT MOVEMENT OF THE WRIST.
ROLL OR SWIVEL: IS THE ROTATION OF THE HAND.
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POWER SOURCES
THE FOUR POWER SOURCES USED IN CURRENT ROBOTS ARE:
ELECTRIC: ALL ROBOTS USE ELECTRICITY AS THE PRIMARY SOURCE OF ENERGY.
ELECTRICITY TURNS THE PUMPS THAT PROVIDE HYDRAULLIC AND PNEUMATIC PRESSURE.
IT ALSO POWERS THE ROBOT CONTROLLER AND ALL THE ELECTRONIC COMPONENTS AND PERIPHERAL DEVICES.
IN ALL ELECTRIC ROBOTS, THE DRIVE ACTUATORS, AS WELL AS THE CONTROLLER, ARE ELECTRICALLY POWERED.
BECAUSE ELECTRIC ROBOT DO NOT REQUIRE A HYDRAULIC POWER UNIT, THEY CONSERVE FLOOR SPACE AND DECREASE FACTORY NOISE.
NO ENERGY CONVERSION IS REQUIRED.
PNEUMATIC: THESE ARE GENERALLY FOUND IN RELATIVELY LOW-COST MANIPULATORS WITH LOW LOAD CARRYING CAPACITY.
PNEUMATIC DRIVES HAVE BEEN USED FOR MANY YEARS FOR POWERING SIMPLE STOP-TO-STOP MOTIONS.
IT IS INHERENTLY LIGHT WEIGHT, PARTICULARLY WHEN OPERATING PRESSURES ARE MODERATE.
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HYDRAULIC: ARE EITHER LINEAR POSITION ACTUATORS OR A ROTARY VANE
CONFIGURATION.
HYDRAULIC ACTUATORS PROVIDE A LARGE AMOUNT OF POWER FOR A GIVEN
ACTUATOR.
THE HIGH POWER-TO-WEIGHT RATIO MAKES THE HYDRAULIC ACTUATOR AN
ATTRACTIVE CHOICE FOR MOVING MODERATE TO HIGH LOADS AT REASONABLE
SPEEDS AND MODERATE NOISE LEVEL.
HYDRAULIC MOTORS USUALLY PROVIDE A MORE EFFICIENT WAY OF ENERGY
TO ACHIEVE A BETTER PERFORMANCE, BUT THEY ARE EXPENSIVE AND
GENERALLY LESS ACCURATE.
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INTELLIGENCE LEVEL
THE INTELLIGENT CONTROL ROBOT IS CAPABLE OF PERFOMING SOME OF THE FUNCTIONS
AND TASKS CARRIED OUT BY HUMAN BEINGS.
IT CAN DETECT CHANGES IN THE WORK ENVIRONMENT BY MEANS OF SENSORY PERCEPTION.
INTELLIGENT ROBOT IS EQUIPPED WITH A VARIETY OF SENSORS AND SENSOR APPARATUS PROVIDING
VISUAL (COMPUTER VISION) AND TACTILE (TOUCHING) CAPABILITIES TO RESPOND INSTANTLY TO
VARIABLE SITUATIONS.
MUCH LIKE HUMANS, THE ROBOT OBSERVES AND EVALUATES THE IMMEDIATE ENVIRONMENT BY
PERCEPTION AND PATTERN RECOGNITION.
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SPECIFIC UTILITY OF
ROBOTS•Automobile
•Construction
•Entertainment
•Health care: hospitals, patient-
care, surgery , research, etc.
•Laboratories: science,
engineering , etc. •
•Manufacturing •Military:
demining, surveillance, attack,
etc.
•Mining, excavation, and
exploration •Transportation: air,
ground, rail, space,
Etc.
Entertainment
surgery
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Industrial
applications:•Material handling
•Material transfer
•Machine loading
and/or unloading
•Spot welding
•Continuous arc
welding
•Spray coating
•Assembly
•Inspection
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Human Robot
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Advantages of Robots• Safety (human, machine and product)
• Can work in Hazardous environment
• Accuracy
• Repeatability
• No environmental comfort needed
• Continuous work without fatigue and boredom .
Disadvantages of Robots• Unemployment ( major problem)
• Economic problem ( salary)
• Dissatisfaction and resentment among workers
• Lack capability to respond in emergencies
• Lack of decision making power
• Limitations ( DOFs, Dexterity, sensors, real time response etc.)
• High initial cost
• Need for periphirals, training, and programming