Robotics (2.008x Lecture Slides)
-
Upload
a-john-hart -
Category
Engineering
-
view
863 -
download
13
Transcript of Robotics (2.008x Lecture Slides)
![Page 1: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/1.jpg)
2.008-F16 | 1
Robotics (and automation)
MIT 2.008 / 2.008x – Prof. John Hart
![Page 2: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/2.jpg)
2.008-F16 | 2
What is automation?
What is an industrial robot?
![Page 3: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/3.jpg)
2.008-F16 | 3
Automation:
automatically controlled operation of an apparatus,
process or system by mechanical or electronic
devices that take the place of human labor*
*Wilson, Implementation of Robot Systems
![Page 4: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/4.jpg)
2.008-F16 | 4
Automation in manufacturing systems
Machines
Material flow and handling
Robotic manipulation
Local controllers (machines / workcells)
Factory network controllers (supervision, optimization)
Requirements for implementation
Coordination of process rates
Robustness against faults
Online monotoring / control
![Page 5: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/5.jpg)
2.008-F16 | 5
Automation: filling water bottles
https://www.youtube.com/watch?v=EjkOiBXI14o
Bottle molding: 2,250/hr https://www.youtube.com/watch?v=soiGsZj7hn0&list=PL167A9254F5245075&index=33
All videos from Krones: https://www.youtube.com/playlist?list=PL167A9254F5245075
![Page 6: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/6.jpg)
2.008-F16 | 6
Automation:
automatically controlled operation of an apparatus,
process or system by mechanical or electronic
devices that take the place of human labor
Industrial robot:
an automatically controlled, re-programmable,
multipurpose manipulator programmable in three or
more axes, which may be either fixed in place or
mobile for use in industrial automation applications
(according to the international federation of robotics)
from Wilson, Implementation of Robot Systems
![Page 7: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/7.jpg)
2.008-F16 | 7from Wilson, Implementation of Robot Systems
The first industrial robot, the ‘Unimate’
Invented/built by Joseph Engelberger and
George Devol (company formed 1956)
Hydraulically driven arm with instructions
read from magnetic drum
Initial use to stack die cast parts at General
Motors plant in New Jersey
First major industrial robot installation (1969)
Went from 40% to 90% automated spot welding
3000 robots in use by 1973 (mfg partnership
between Unimation and Kawasaki of Japan)
![Page 8: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/8.jpg)
2.008-F16 | 8
Today’s agenda
Why automation and robotics in manufacturing?
Common robotic manipulators used in manufacturing:
articulated, selective compliance (SCARA), delta
Geometry and workspace
Applications
Comparing performance and capability tradeoffs
Grippers (‘end effectors’)
Emerging trends and technologies
![Page 9: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/9.jpg)
2.008-F16 | 9
Why use robotics and automation in
manufacturing?
![Page 10: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/10.jpg)
2.008-F16 | 10
Why use robotics and automation in mfg?
from Wilson, Implementation of Robot Systems
(Potentially)
Improve product quality and consistency
Improve worker safety/satisfaction (by doing heavy or
dangerous jobs)
Increase production rate
Increase production flexibility
Reduce manufacturing cost
Reduce waste
Save space in high value areas
Some of the above are coupled; rarely are all true
Robots generally not good for operations requiring both
high force and high accuracy (e.g., machining); also takes
time to program and establish accurate path (calibration)
![Page 11: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/11.jpg)
2.008-F16 | 11
How can we measure whether a process (or industry in
general) is appropriate for use of robotics?
?
?
![Page 12: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/12.jpg)
2.008-F16 | 12
BCG ‘The Robotics Revolution’ https://www.bcgperspectives.com/content/articles/lean-manufacturing-innovation-robotics-revolution-next-great-leap-
manufacturing/
![Page 13: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/13.jpg)
2.008-F16 | 13
Artaic: robotic assembly of custom mosaic tile
ARTAIC: https://artaic.com/
![Page 14: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/14.jpg)
2.008-F16 | 14
![Page 15: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/15.jpg)
2.008-F16 | 15
![Page 16: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/16.jpg)
2.008-F16 | 16
Now >2 million industrial robots in use worldwide
from Wilson, Implementation of Robot Systems
Total number of robots in use: Asia:Europe:Americas = 3:1.5:1
![Page 17: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/17.jpg)
2.008-F16 | 17
Predicted growth (source: Boston Consulting Group)
BCG ‘The Rise of Robotics’
https://www.bcgperspectives.com/content/articles/business_unit_strategy_innovation_rise_of_robotics/
![Page 18: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/18.jpg)
2.008-F16 | 18
![Page 19: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/19.jpg)
2.008-F16 | 19
Robotic manipulators
![Page 20: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/20.jpg)
2.008-F16 | 20
Articulated robot
Sciavicco, L.; Siciliano, B. Modelling and Control of Robot Manipulators; Advanced Textbooks in Control and Signal Processing;
Springer London: London, 2000; Burckhardt C. Industrial Robots : Proceedings = Robots Industriels : Comptes Rendus = Industrie-
Roboter : Tagungsberichte [e-book]. Basel : Birkhäuser Verlag, 1975
Spherical wrist for end-effector
Waist joint
Shoulder joint
Elbow joint
Wrist
The articulated arm provides the most dexterity within the
working volume.
Errors are cumulative due to the series architecture.
Typical robot sizes range from a reach of 0.5 to over 3.5 m
and carrying capacities from 3 to over 1000 kg.
The end-effector orientation can be independent of position
using a spherical wrist.
![Page 21: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/21.jpg)
2.008-F16 | 21
Workspace of articulated manipulator
Sciavicco, L.; Siciliano, B. Modelling and Control of Robot Manipulators; Advanced Textbooks in
Control and Signal Processing; Springer London: London, 2000.
Working envelope End-
effector
![Page 22: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/22.jpg)
2.008-F16 | 22
Kuka articulated robot arm
Heavy-duty robot
![Page 23: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/23.jpg)
2.008-F16 | 23
Verifying the workspace [: don’t try this with
your robot]
https://www.youtube.com/watch?v=bxbjZiKAZP4 (see description)
There’s a real ride: https://www.youtube.com/watch?v=bSdA_oq1EgU
![Page 24: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/24.jpg)
2.008-F16 | 24
Axes 1, 2, and 3
Motors
![Page 25: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/25.jpg)
2.008-F16 | 25
Planetary gear
in Axis 6
Power transmission
belts for axes 4, 5, & 6
Motors and Transmissions of Axes 4, 5, and 6
MotorsTransmission
![Page 26: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/26.jpg)
2.008-F16 | 26
Brushless AC Servomotor
• Rotor has a rotating permanent magnet and a fixed
armature
• Electronic controller replaces the brush/commutator
assembly of the brushed motor
• High torque to weight ratio, high efficiency and
reliability (compared to brushed motors)
• With windings in the housing, cooling is done by
conduction
AC Servomotor
(Kollmorgen AKM series used in KUKA robots)
Torque is kept (nearly)
constant with speed and
load changes
Reference
![Page 27: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/27.jpg)
2.008-F16 | 27
Wave Generator
Flex Spline
Circular Spline
Strain Wave Gear Components
• Motor is connected to the Wave generator
• When the wave generator rotates CW by 3600, Flex Spline
rotates CCW by 2 teeth w.r.t. the Circular Spline (fixed)
• High gear reduction ratios in a small volume (30:1 to 320:1 is
possible Vs 10:1 from planetary gears)
• High positioning accuracy and repeatability (+/- 3 arc
seconds) [1 arc second = 1/3600th of a degree]
• High torque capacity and torsional stiffness
• Low tooth friction losses and wear longer life and high
reliability
Strain wave gear
Operating Principle
Video : Strain Wave Gear Principle
Reference
![Page 28: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/28.jpg)
2.008-F16 | 28
How is the robot structure made?
![Page 29: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/29.jpg)
2.008-F16 | 29
Maintaining an accurate 3D path
True (exact) value
Repeatability
AccuracyP
robabili
tydensity
Consider discrete vs.
continuous toolpaths (what are
some applications of each?)
![Page 30: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/30.jpg)
2.008-F16 | 30
Serial kinematics by HTM (Homogeneous Transformation Matrices)
úúúú
û
ù
êêêê
ë
é -
1000
0100
100001
200010
Y z
y
x
Z
X
200
100
nHn+1
=Rn
n+1pn+1
n
01 3
1
é
ë
êê
ù
û
úú
T = 1H0
2H1....G
![Page 31: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/31.jpg)
2.008-F16 | 31
What influences accuracy and repeatability of end
effector position? Structural design (stiffness)
Actuator performance: accuracy, repeatability, stiffness
Manufacturing and assembly tolerances
Calibration
Use case: loads, toolpath dynamics
![Page 32: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/32.jpg)
2.008-F16 | 32
Small robot Heavy-duty robot
![Page 33: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/33.jpg)
2.008-F16 | 33
Robot calibration using a laser tracker
https://www.youtube.com/watch?v=SLnFq431mJg
![Page 34: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/34.jpg)
2.008-F16 | 34
Robot calibration using a laser
tracker
Corner cube
retroreflector: paths of
entry and exit always
parallel
Video: https://www.youtube.com/watch?v=SLnFq431mJg
![Page 35: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/35.jpg)
2.008-F16 | 35
Articulated robots for spot welding
FANUC display at IMTS 2014
![Page 36: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/36.jpg)
2.008-F16 | 36FANUC display at IMTS 2014
‘Learning’ vibration control (LVC) robot: uses sensor to adapt trajectory
for speed and accuracy
![Page 37: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/37.jpg)
2.008-F16 | 37
A coordinated 3D path
![Page 38: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/38.jpg)
2.008-F16 | 38
Lightweighting using 3D printing
http://spectrum.ieee.org/automaton/robotics/humanoids/boston-
dynamics-marc-raibert-on-nextgen-atlas
![Page 39: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/39.jpg)
2.008-F16 | 39
SCARA (Selective Compliance Assembly Robot Arm)
Sciavicco, L.; Siciliano, B. Modelling and Control of Robot Manipulators; Advanced Textbooks in Control and Signal Processing; Springer
London: London, 2000; Burckhardt C. Industrial Robots : Proceedings = Robots Industriels : Comptes Rendus = Industrie-Roboter :
Tagungsberichte [e-book]. Basel : Birkhäuser Verlag, 1975
Four-axis arm: positioning in x,y,z and rotation about z
Very rigid in the vertical direction and with compliance in the horizontal plane;
useful for high accuracy positioning in x-y plane (e.g., part insertion)
Planar rotary motion 1
Planar rotary motion 2
Vertical motion
Working envelope
Base rotation
![Page 40: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/40.jpg)
2.008-F16 | 40
SCARA for precision assembly and fastening
![Page 41: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/41.jpg)
2.008-F16 | 41
Delta (parallel kinematics) robot
http://www.ohio.edu/people/williar4/html/pdf/DeltaKin.pdf; http://www.adept.com/products/robots/parallel/quattro-s650h/intro
Working envelope (example
The parallel or delta configuration
differs from the articulated arm
because the constraints (or
degrees of mobility) are in parallel.
3 degrees of freedom; typically
low payload capacity.
Errors are non-cumulative unlike
the case of series constraint in the
kinematic arm. Also provides high
stiffness (relative to weight) and
high speed.
Mainly used in pick and place
operations, especially in the food
industry and also in some
assembly applications.
Rotations
controlled by
actuators
![Page 42: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/42.jpg)
2.008-F16 | 42
Delta robot
Pancakes: https://www.youtube.com/watch?v=v9oeOYMRvuQ
Salami snacks: https://www.youtube.com/watch?v=aPTd8XDZOEk
![Page 43: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/43.jpg)
2.008-F16 | 43
How do the speed and
repeatability compare to an
articulated robot?
![Page 44: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/44.jpg)
2.008-F16 | 44
0
20
40
60
80
100
120
140
0 2 4 6 8 10 12
Re
pe
atab
ility
(µ
m)
Speed (m/s)
Speed vs Repeatability by Arm Type
6 DOF avg
SCARA avg
Delta avg
Speed vs repeatability
Articulated
SCARA
Delta picker
![Page 45: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/45.jpg)
2.008-F16 | 45
Stiffness: serial versus parallel
Slocum
![Page 46: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/46.jpg)
2.008-F16 | 46
Cartesian robots: Gantry (serial or parallel)
http://blenderartists.org/forum/attachment.php?attachmentid
=371530&d=1428277647&thumb=1
Shipbuilding crane
http://www.rockymountainwaterjet.com/small_jet.jpg
OMAX waterjet Stacking system
http://seamco.be/machine/
cartesian-robot-rc-600/137
Translation along
three axes
FDM printers
![Page 47: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/47.jpg)
2.008-F16 | 47
Single-point metal forming (Ford) Pair of stiff parallel robots iteratively
deform sheet metal parts (= prototyping
method)
Operation
CAM software
Video: https://www.youtube.com/watch?v=iNQ40MYwZqw
![Page 48: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/48.jpg)
2.008-F16 | 48
Standard grippers for material handling
http://www.ardelis.co.za/products-grippers/
http://www.motoman.com/products/peripherals/
adaptive-gripper.php
http://us.schmalz.com/aktuelles/produkte/vaku
umgreifsysteme/00932/
Conventional clamp Three-finger gripperVacuum suction pads
![Page 49: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/49.jpg)
2.008-F16 | 49
Material handling: Nachi 2-armed robot
exhibit at IMTS 2014
![Page 50: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/50.jpg)
2.008-F16 | 50
Tooling cost
+
Equipment cost
+
Material cost
+
Overhead cost
How would we determine cost of adding robots?
n
CC oh
4
[$/part]
C3=mC
m
1- f( )
CT
=C1+C
2+C
3+C
4
t
t
n
N
N
CC Roundup1
![Page 51: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/51.jpg)
2.008-F16 | 51
BCG ‘The Robotics Revolution’ https://www.bcgperspectives.com/content/articles/lean-manufacturing-innovation-robotics-revolution-next-great-leap-
manufacturing/
![Page 52: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/52.jpg)
2.008-F16 | 52
The future?
![Page 53: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/53.jpg)
2.008-F16 | 53
Picking and stocking warehouse shelves (see ‘Amazon Picking Challenge’)
http://spectrum.ieee.org/automaton/robotics/industrial-
robots/team-delft-wins-amazon-picking-challenge
![Page 54: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/54.jpg)
2.008-F16 | 54
http://spectrum.ieee.org/automaton/robotics/artificial-intelligence/google-wants-robots-to-acquire-
new-skills-by-learning-from-each-other
https://research.googleblog.com/2016/03/deep-learning-for-robots-learning-from.html
![Page 55: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/55.jpg)
2.008-F16 | 55
Flexible automation: Rethink Robotics “Baxter”
Programmable manually (‘teach’ by holding the robot’s end effector and
moving it through the path)
Tolerant to variabilities e.g. in part position on conveyor
Force feedback enabling the robot to adapt to variations without damage but LOW
STIFFNESS
Working radius = 1210 mm; maximum payload (including end-effector) = 2.2 kg
7 degrees of freedom per arm Degrees of mobility = 7 per arm
Embedded vision system
http://www.rethinkrobotics.com
https://www.youtube.com/watch?v=DKg-GvPyNLc
https://www.youtube.com/watch?v=KpqaBKyZGeE&feature=youtu.be
![Page 56: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/56.jpg)
2.008-F16 | 56exhibit at IMTS 2014
![Page 57: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/57.jpg)
2.008-F16 | 57
![Page 58: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/58.jpg)
2.008-F16 | 58
References
1 Introduction
Tesla factory: Photo #54521 Copyright NOTCOT INC 2006-2016
iRobot Roomba cleaning robot image © Molaunhuevo.com
Clearpath robot with boxes: photo © Clearpath Robotics, 2015
Big saw robot: Photo © 2016 MIT. All rights reserved.
MIT campus Sean Collier memorial: Photo © John Hart. Used with permission.
Brick assembly robot: Photo from MIT Technology Review © MIT.
Automated Dynamics fiber placement machine: Image from Automated Dynamics ©
Agarik SAS.
Humanoid robot: Screenshot image © Copyright 2016 IEEE Spectrum
2 Automated Water Bottling
Krones water production video + product pictures © Krones AG 2016
![Page 59: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/59.jpg)
2.008-F16 | 59
References
3 Why Automate
Early robot: Photo © 2016 Maplegate Media
Early car production plant: Photo © 2016 Maplegate Media
Robotics impact on industries graphic: Image Copyright © 2016 The Boston Consulting
Group. All rights reserved
Artaic mosaic robot © Copyright 2016 - Artaic LLC. Artaic® is a registered service mark
of Artaic LLC.
Automation potential graphic © 1996-2016 McKinsey & Company
Worldwide spending on robotics: Image Copyright © 2016 The Boston Consulting Group.
All rights reserved
Tesla Advanced Automation blog post © Tesla Motors, 2016
![Page 60: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/60.jpg)
2.008-F16 | 60
References
4 Articulated Robots
Articulated Robot: Sciavicco, L.; Siciliano, B. Modelling and Control of Robot
Manipulators; Advanced Textbooks in Control and Signal Processing; Springer London:
London, 2000
Articulated Robot: Burckhardt C. Industrial Robots : Proceedings = Robots Industriels :
Comptes Rendus = Industrie-Roboter : Tagungsberichte [e-book]. Basel : Birkhauser
Verlag, 1975 2.008-F16 | 20
Kuka robot: Photo © Kuka AG 2013
Robotic workspace: Sciavicco, L.; Siciliano, B. Modelling and Control of Robot
Manipulators; Advanced Textbooks in Control and Signal Processing; Springer London:
London, 2000
Kuka robot datasheet © Kuka AG 2016
Kuka robot ride recording: Video © Youtube user Iain Hendry, 2009
Axes pictures © YouTube user thegeekgroup, 2016. (CC BY) 3.0
Images of robot taken apart © YouTube user thegeekgroup, 2016. (CC BY) 3.0
![Page 61: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/61.jpg)
2.008-F16 | 61
References
5 Accuracy and Calibration
Kuka robot: Photo © Kuka AG 2013
Image of servomotor assembly © Kollmorgen. All Rights Reserved
Graph of servomotor speed vs. torque © 2016 ORIENTAL MOTOR U.S.A. CORP. All
Rights Reserved.
Harmonic drive gear components: M. MasoumiH. Alimohammadi, An investigation into
the vibration of harmonic drive systems, Frontiers of Mechanical Engineering, 2013, Vol.
8, Issue 4, 409-419; Copyright 2014, The Institution of Engineering and Technology
Harmonic drive gear schematic drawing Image © Keiji Ueura, Rolf Slatter, "Development
of the Harmonic Drive Gear for Space Applications", ESMATS 1999
Microscope cam: Photo © John Hart. Used with permission.
Laser tracker calibration video Video © FARO Technologies / Youtube user FAROGB,
2013
Laser robot tracking schematic: Image © FARO Technologies
FARO laser tracker Image © FARO Technologies
![Page 62: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/62.jpg)
2.008-F16 | 62
References
Corner cube retroreflector schematic: Image by User: chetvorno on Wikimedia. This work
is in the public domain.
Faro SMR: Image © FARO Technologies
Fanuc display at IMTS 2016: Photo © John Hart. Used with permission.
Fanuc vibration compensation schematic: Image © FANUC America Corporation
Four Fanuc robots welding shaft: Image © FANUC America Corporation
Boston Dynamics humanoid robots: Image © Boston Dynamics 2016
6 Scara, Delta, and Gantry Robots
Scara robot workspace: Sciavicco, L.; Siciliano, B. Modelling and Control of Robot
Manipulators; Advanced Textbooks in Control and Signal Processing; Springer London:
London, 2000; Burckhardt C. Industrial Robots : Proceedings = Robots Industriels :
Comptes Rendus = Industrie-Roboter: Tagungsberichte [e-book]. Basel : Birkhauser
Verlag, 1975
Old Kuka scara robot: Photo © Kuka AG
![Page 63: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/63.jpg)
2.008-F16 | 63
References
Epson scara robot: Photos Copyright © 2000-2016 Epson America, Inc., All Rights
Reserved
Delta kinematic: Image © Robert Williams, Ohio University, 2016
Adept Quattro S650h delta robot: Image © OMRON ADEPT Technologies Inc
Flexpicker delta robot pankaces pick'n'place demo © Andrew Jones, 2009, via YouTube
Flexpicker delta robot salami pick'n'place demo: Video © ABB / Youtube user
ABBRobotics, 2010
Gantry machine: Image © ATERA MANUFACTURERS GROUP, S.A.
Conventional mill: Photo © John Hart. Used with permission.
Gantry schematic: Sciavicco, L.; Siciliano, B. Modelling and Control of Robot
Manipulators; Advanced Textbooks in Control and Signal Processing; Springer London:
London, 2000; Burckhardt C. Industrial Robots : Proceedings = Robots Industriels :
Comptes Rendus = Industrie-Roboter : Tagungsberichte [e-book]. Basel : Birkhäuser
Verlag, 1975
Harbour freight gantry: Photo Courtesy of Newport News Shipbuilding of the U.S. Navy.
This work is in the public domain.
![Page 64: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/64.jpg)
2.008-F16 | 64
References
OMAX Waterjet: Image © OMAX 2010
FDM printer: Photos © UIC 2015 via YouTube
Seamco cartesian robot: Image © Seamco NV
Single-point metal forming video screenshots: Screenshots © 2016 SAE International. All
rights reserved.
7 Gripping and Manipulators
Robotiq grippers: Image © Robotiq 2016
Schmalz vacuum grippers: Image © J. Schmalz GmbH 2016
Nachi IMTS 2016 exhibit: Photo © John Hart. Used with permission.
Robotics vs human labor by industry: Copyright © 2016; The Boston Consulting Group.
All rights reserved
Start Wars image of humanoid robots: Image © Disney
![Page 65: Robotics (2.008x Lecture Slides)](https://reader033.fdocuments.us/reader033/viewer/2022061520/586f7e311a28ab10258b817b/html5/thumbnails/65.jpg)
2.008-F16 | 65
References
Amazon Picking Challenge screenshots screenshots from Amazon Picking Challenge
2016; © Copyright 2016 IEEE — All rights reserved.
Google Research Blog: Deep learning for robots: Screenshots © Google Research Blog
2016
Rethink Robotics Baxter montage video Video © 2008–2016 Rethink Robotics. All rights
reserved.
Baxter IMTS 2016 exhibit: Photo © John Hart. Used with permission.
Google Research Blog: Deep learning for robots: Screenshots © Google Research Blog
2016
Rethink Robotics Baxter montage video Video © 2008–2016 Rethink Robotics. All rights
reserved.
Baxter IMTS 2016 exhibit: Photo © John Hart. Used with permission.