Robotics Applications In Industry

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Subject: ROBOTICS ENGINEERING AND APPLICATIONS

Subject Code: ME 0002

Department ofMechanical Engineering

Note : Consider this PPT as reference only


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.

5. INDUSTRIAL APPLICATIONS

Application of robots With examples.

Material handling Constraints,Application Machine loading and unloading,

Assembly robot, assembly operation, RCC Devices, Benefits inspection robot,used in Quality Control,

Welding robot, Features, sensors, AdvantagesPainting Robot requirement , spray painting.Mobile robot,

Micro robots - .


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OUT LINE OF V UNIT

Application of robots

Material transfer applications

Processing Applications

Assembly applications

Inspection applications

Weldin robot Features sensors Advanta es

Painting Robot requirement , spray painting.

Mobile robot

Micro robots

Recent developments in robotics- safety considerations.


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Advantages , Disadvantages and shortcomings of Robots

Advantages :

Greater flexibility, reprogramability.

Reduced Costs.

Elimination of hazardous tasks.

.

Improved productivity.

Greater response time to inputs than humans.

Accidents reduction.

Automation less susceptible to work stoppages.

Maximum capital intensive equipment in multiple work shifts.


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Disadvantages :

Greater unemployment

Replacement if human labor.

Significant restraining cost for both unemployment and user of new technology.

Advertized technology does not always disclose some of the hidden disadvantages.

Payload to robot weight ratio is poor, often less tan 5 percent.

Robot structural configuration may limit joint movements.

Assembly dexterity does not match that of human beings, particularly where eye-

hand coordination is required .


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shortcoming:

Today's robots:

1. Do not think independently

2. Do not adapt quickly to the changes in their environment.

3. Cannot react to unknown situations.

4. Are not creative or innovative.

5. Have no consciousness.

6. Cannot make complicated decisions.

7. Don not learn from mistakes

8. Have no human feelings.


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APPLICATIONS OF ROBOTS

The various applications of robots include the following:

I. Industrial applications:

I. Material transfer applications

1. Part Placement2. Palletizing and/or Depalletizing3. Machine loading and/or unloading(Machine Tending)

a) Die casting machineb Plastic Moldin

c) Forging and related operationsd) Machining operations (CNC)e) Stamping press operations

4. Stacking and insertion operations

II.Processing Applications

1.Spot welding2.Continues Arc Welding3.Spray painting4.Other Processing Operations


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III. Assembly applications

I. The assembly taskII. Peg in hole assembly

IV. Inspection applications

I. Sensor based inspectionII. Vision based inspection

III. Testing

Non industrial applications

I. Home sector

II. Health careIII. Service sectorIV. Agriculture and farms

V. Research and exploration


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I. Material Handling Applications

Robots are commonly used for shifting an object from one location to another.

This category includes the following:

1. Part Placement

2. Palletizing and/or depalletizing

3. Machine loading and/or unloading(Machine Tending)

4. Stacking and insertion operations

General considerations in robot material handling

In planning an application in which the robot will be used to transfer parts, loadmachine, or other similar operations, there are several considerations that must be reviewed.

1. Part positioning and orientation2. Gripper design

3. Minimum distances moved4. Robot Work Volume5. Robot weight capacity6. Accuracy and repeatability7. Robot Configuration, DOF, and control8. Machine utilization problems


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Material-handling(contd.)

1. Part Placement

The basic operation in thiscategory is the relatively simplepick-and-place operation.

This application needs a low-

cylindrical coordinate type.

Only two, three, or four

joints are required for most of

the applications.

Pneumatically poweredrobots are often utilized.

Fig: Pick and place point

Pick point Place point


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2. Palletizing and/or Depalletizing

The applications require robot to stack parts one on top of the other, that is topalletizethem, or to unstack parts by removing from the top one by one, that is depalletize them.

Example:Process of taking parts from the assembly line and stacking them on a pallet or viceversa.

Many products are packaged in boxes of regular shape and stacked on standardpallets for shipping. Robots are commonly used to palletize and depalletize boxes because theycan be programmed to move through the array of box positions layer after layer.

Although palletizing is more common than depalletizing, there is no major functionaldifference in the manipulation requirements. Transport distances of several feet are common.Stack heights usually do not exceed 5 ft. Payload weight can be in excess of 100 lb.

When standard servo-driven joint actuators are used accuracy and repeatability willusually be far better than the required box positioning precision.

Palletizing typically requires four axes of controlled motion -three for translation and afourth for yaw to orient the box. Cylindrical coordinate robots are favored in palletizing

because they have large vertical lift and a compact footprint allowing more of the floor area inthe workspace for conveyors and pallets.

When larger workspace is needed gantry robots must be used. Continuous duty cyclesare not uncommon and robot power is important for maximizing throughput. The mosttechnically demanding aspect of system design is the gripper.


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Vacuum grippers(fig) are popular for lifting boxes by their tops, but other morecomplex gripping methods are sometimes needed. Payloads must be carefully positioned withrespect to the robots wrist and other links to balance gravitational and dynamic loading. Load

shifting during high acceleration moves can result in dropping or misallocating the box.

Palletizing position arrays are usuallytaught or programmed relative to a corner orkeystone box position as a reference so that the entire array can be shifted by redefining that oneposition. Programs are simple and easily modified to adapt to changes in box dimensions.

Monitoring is done by checking the state of discreteproximity and vacuum sensors.A proximity sensor mounted on a gripper will indicate if an object is at an expected location; or the

same simple proximity sensor may be used to stop the robot in the correct location to pick up abox from a stack of unknown height when the top of the box is encountered.

Vacuum pressure switches are often used to verify acquisition by suction cup. Asimple proximity switch can be used to signal the presence of an expected package at the pick-uppoint. With careful timing and additional sensor inputs, items can be transported to and frommoving conveyors.


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Fig: Palletizing/ Depalletizing of a robot


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3. Machine loading and/or unloading: (Machine Tending)

These applications are material handling operations in which the robot is used to service aproduction machine by transferring parts to and /or from the machine.

i.e., Robot transfers parts into and/or from a production machine.

Robots are commonly used for stock parts and load/unloading of finished parts on:a) Die casting machine

b) Plastic Molding

c) Forging and related operations

ac n ng operat ons

e) Stamping press operations

Testing machines


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There are three possible cases:

Machine loading in which the robot loads parts into a production machine, but theparts are unloaded by some other means.

Example: a press working operation, where the robot feeds sheet blanks into thepress, but the finished parts drop out of the press by gravity.

Machine loading in which the raw materials are fed into the machine without robot

assistance. The robot unloads the part from the machine assisted by vision or no

.

Example: Die casting, and plastic molding.

Machine loading and unloading that involves both loading and unloading of the

work parts by the robot. The robot loads a raw work part into the process andunloads a finished part.

Example: Machine operation.


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a) Die casting machine

It is manufacturing process in whichmolten metal is forced into the cavity of mold

under high pressure.The main die casting alloys are: zinc,

aluminium, magnesium, copper, lead, andtin; although uncommon, ferrous die casting isalso possible.

Flash A thin web or fin of metal on

a casting which occurs at die partings(trimming

pera on .

The die-casting machines havetraditionally been tended by human operators.

The work tends to hot, repetitive, dirty, andgenerally unpleasant for humans.

Unimate robot (1961). Gripper design important.

Here robot is used to simpleload/unloading applications which is run byprogramming.

Fig: Robot at Die casting machine


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b) Plastic Molding

It is a batch volume or high volume manufacturingprocess used to make plastic parts to final shape and size.

The term plastic molding covers as numberof processes, including compression molding,injection molding, thermoforming,blow molding, and extrusion.

It is similar to die casting except forthe differences in materials being processed.

A thermoplastic material( small pallets/

Hooper

Fig: Robot at plastic Molding Machine

Fig: Robot at BlowMolding Machine

granu ar orm s ea e n a ea ng c am er o o300O C to transform it into semi fluid (plastic state) andinjected into the mold cavity under high pressure.

Important process parameters: temperature,pressure, and the amount of material injected.

Here robots are used to remove (gravity/forced airstream) the parts from the mold.

The robot design is simple than the die-casting robot.


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c) Forging related operations:

Forging is a metal working process in which metal is pressed orhammered into the desired shape.

One of the oldest process.

It is most commonly used performed as a hot working processin which the metal is heated to a high temperature prior to forging.

These operation includesDie forging andUpset forging. (High Volume production process, EX:)

Forging, especially hot forging operations, is one of theworstindustrial jobs for humans. The environment is noisy and hot,withtemperatures at the workplaces well above 100O F for hot forging.

The air in the forge shop is generally filled with dirt,furnace fumes and lubricant mist & its repetitive.

The parts occasionallystickin the dies.

The gripper design :1. Resistance higher temperatures2. Resist to impact loads3. Accomodate substantial changes in shape

of the parts during the during successive hit in the forging cycle.

Video:Gripper design is similar to die casting robot.

Fig: Robot at Forging Machines


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Fig: Steel bloom enters the rolling millSTAGE :1

STAGE :2

Robot

Gripper

Example: Robots used in Extrusion process

F g: Powerful tongs lift an ingot from the soaking pit whereit was thoroughly heated to the rolling temperature

Fig: Structural shapes are rolled from blooms

on mills equipped with grooved rolls

Fig: Hot saw cuts rolled shapes to customer length

after delivery from the finishing rolling mill

STAGE :3

STAGE:4

Robot Tool (Grinding)


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d) Machining Operation

Machining is a metal working process in which the shape of the part is changed byremoving excess material with a cutting tool.

Ex: Drilling , milling, shaping , planning and grinding.

Robots have been successfully utilized toperform the loading and unloadingfunctions in machining operations.

The robots is typically used to load a raw work part into the machine tool to unloadthe finished part at the completion of the machining cycle.

e o ow ng ro o ea ures genera y con r u e o e success o e mac ne ooload/unload applications.

1. Dual Gripper2. Up to six joint motion

3. Good repeatability4. Palletizing and depalletizing capability5. Programming Features


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RobotCNC Machine

Control System

Operator

Robot Work Cell

Fig:ABB IRB 6640 Machine Loading/Unloading Cell

Conveyor

system (Input /

Output)


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e) Stamping Press operation

Stamping press operations are used to cut and form sheet metal parts. The processis performed by means of die set held in machine too called stamping press(Fig).

The sheet metal stock used as the raw material in the process comes in several forms,including coils, sheets and individual flat blank.

This application is often a dangerous one for human beings and so is ideally suitedfor a robots.

Robots are being used for handling parts in press working operations, largely as a resultof the safety issue. The typical task performed by the robot is to load at the flat blanks into the

press for the stamping operation. There are variations in the way this can be done.

In forming operations, the robot can be used to hold the blankduring the cycle sothat the formed part is readily removed from the press.

In the case of the many cutting operations, the robot loads the blank into the press, andthe parts fall though the die during the press cycle.

Another robot application in press working involves the transfer of parts of partsfrom one press to another to form an integrated press working cell.


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Sheet

Robot End effector

Fig: Robot perform the machine loading/unloading task at a stamping press.


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4. Stacking and insertion operation:

In the stacking process the robot places flat parts on top of each other, where the vertical

location of the drop-off position is continuously changing with cycle time.

In the insertion process robot inserts parts into the compartments of a divided carton.

stacking

Insertion

Fig: A robots in Stacking and Insertion operation:


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Processing Operations

Robot performs a processing procedure on the part.

The robot is equipped with some type of process tooling as its end effector. Manipulates the tooling relative to the working part during the cycle.

Industrial robot applications in the processing operations include:

1.Spot welding

2.Continues Arc Welding

3.Spray painting

II. Processing Operations

4.Other Processing Operations (Metal cutting and deburring operations, drilling,

grinding, laser and water jet cutting, and riveting ,Rotating and spindle operations,

Adhesives and sealant dispensing).

The hazards of arc welding include: intense ultraviolet, visual band and radio

frequency radiation, toxic fumes, and noise. And Spray coating usually means spray painting, an

operation that is accomplished by an unhealthy work environment for humans and therefore

represents a good opportunity for robots.


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Weld Defects/Imperfections

Awelding defect is any flaw that compromises the usefulness of the finished weldment.

According to theASMEwelding defect causes are broken down into the followingpercentages:

45% poor process conditions,32% operator error, Why Robots ?

12% wrong technique,

10% incorrect consumables and5% bad weld rooves.

Advantages of robotic welding Productivity

ProductivityQuality

Consumable costsLaborSafetyFlexibilityFloor space


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PorosityArc Blow

Inclusions( Slag, Tungsten)Incomplete FusionUndercut

Underfill

Weld Defects

ConcavityConvexityWeld reinforcement

SpattersCracks


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1.Spot welding

Process:Applications:

Advantages:

Limitations:

Robots in s ot weldin rocess:

Fig: Spot welding in automobile industry

A welding gun is attached as the end effector to each robots wrist, and the robot is

programmed to perform a sequence of welds on the product as it arrives at the workstation.

Some robot spot welding lines operate with several dozen robots all programmed to

perform different welding cycles on the product.

Problem of Manual Spot welding


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The robots used in spot welding must possess certain capabilities and features to perform theprocess.

The robot must be relatively large. It must have sufficientpayload capacity to readilymanipulate the welding gun for the application. The work volume must be adequate for the sizeof the product.

The robot must be able toposition and orient the welding gun in places on theproduct that might be difficult to access. This might be result in the need for an increasednumber ofDOF.

The controller memory must have enough memory must have enough capacity to .

The benefits that result from automation (Robot) of the spot welding process bymeans of robots are improved product quality, operator safety, better control over the productionoperation.

Improved quality in the form of more consistent welds and betterrepeatability in the location of the welds.

Improved safety results simply because the human is removed from a workenvironment where there are hazards from electrical shocks and burns.


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2. Continuous arc welding:

Arc welding is continues welding process as opposed to spot welding which might be

called discontinuous process.Continuous arc welding is used to make long welded joints in which an airtight seal is

often required between the two pieces of metal which are being joined.

Introduction of welding

Different process


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Fig: Technical problems in fabrication industries :


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The Typical Robot Arc Welding Application:

Fig: Robot Arc Welding Cell

Features of the welding robot:

An robot that performs arc welding must possess certain features and

capabilities. Some of the technical considerations in arc welding applications are :1. Work Volume and DOF2. Motion Control system3. Precision of motion4. Interface with other systems5. Programming


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Sensors in Robotic Arc Welding:

The Robotic arc welding sensor systems considered here all designed to track thewelding joint and provide information to the robot controller to help guide the welding path.

The approaches used for this purpose divided into two basic categories :1.Contact Arc Welding Sensors2. Non- Contact Arc Welding Sensors

Arc Sensing systemsVision-based systems

Fig: Joint tracking principle Fig: Sensor usage in SAW process


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Advantages and Benefits of Robot arc welding

A Robot arc welding cell for batch production has the potential for achieving a

number of advantages over a similar manual operations. These advantages includes thefollowing:

1.Higher productivity2.Improved safety and quality of Work Life3.Greater QUALITY of product4.Process rationalization

Robot Do not experience fatigue in the sense that human worker so.

A robot can continuous to operate during the entire shiftwithout the need forperiodic rest breaks.

Improved safety and quality of work environment. Results from removing thehuman operator from an uncomfortable . Fatigue and potentially dangerous work situations.

Greater product quality with greater accuracy and repeatability in robot arc weldingthan manual arc welding.


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Ex: Fanuc Robot (one case study Example)

Adaptive Pass Specific Welding Control:

Weld schedules Volts, Amps, WFS, Trim, Wave Control,

Travel Speed and Delay Time

Weave schedules Frequency, Amplitude, Right Dwell, Left Dwell and Angle

Multi-pass offsets X mm, Y mm, Z mm, Work Angle and Travel Angle

Run-in schedules Volts, Amps, WFS, Trim, Wave Control and Delay Time

Burn-back schedules Volts, Amps, WFS, Trim, Wave Control and Delay Time

Crater fill schedules Volts, Amps, WFS, Trim, Wave Control and Delay Time

Fig: Simulation of a welding Robot with Positioner

Work Fixture


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Basic Flow Diagram of Adaptive Process

Fig: FANUC ARC Mate series robot integrated to

Sensor: Scansthe Weld Joint

Sensor Measures:Gap, Area, MismatchUser Defined Variables

Is the jointwithin user

Flag User Error:Joint outside of

No

a Servo Robot MSPOT-90 laser joint scanner.

defined limits

Yes

Algorithm Calculates Changes:Volts, Trim Wire Feed Speed

Travel Speed Weave Amplitude,Frequency, Dwell TCP position

On-The-Fly Utility:Adjusts the weld path andprocess variables on the fly

Fig:Typical Weld Joints and Process Application


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Automotive industries

BIW

Paint shop

Chassis assembly section


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Spray coating :

Most products manufactured from metallic materials require some form ofpainted

finish before delivery to the customer. The technology for applying these finishes varies incomplexity from simple manual methods to highly sophisticated automatic techniques.

The common industrial coating techniques are divided into two categories:

1. Immersion and flow coating method .

Electro deposition.


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The spray coating methods, when accomplished manually, result in manyhealth hazards to the human operators.The hazards includes:

1. Fumes and mist in the air2. Noise from the nozzle3. Fire hazards4. Potential cancer hazards

2. Robots in spray coating

Fig: Spray coating Robot used in

painting of wind turbine.


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General, the requirement of the robot for spray coating applications are the following:1. Continuous path2. Hydraulic drive.

3. Manual lead through program4. Multiple program storage

Benefits of robot spray coating :1. Removal of operators from hazardous environment

2. Lower energy consumption.

4. Reduced coating material usage5. Greater Productivity


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Other Processing operations using Robots:

Riveting gun

Fig: Robotic Rivet Insertion

g: o o or asma, aser an

Fig: Robots with Grinding Fig: Robots withpolishing


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Fig:WJM Robot

Fig:Wire brushing RobotFig: Drilling Robot


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Assembly Operations:

The applications involve both material-handling and the manipulation of atool.

They typically include components to build the product and to performmaterial handling operations.

Are traditionally labor-intensive activities in industry and are highly

repetitive and boring. Hence are logical candidates for robotic applications.

Assembly Operations

Batch assembly: As many as one million products might be assembled.The assembly operation has long production runs.

Low-volume: In this a sample run of ten thousand or less productsmight be made.

The assembly robot cell should be a modular cell. One of the well suited area for robotics assembly is the insertion of odd

electronic components.

Figure illustrates a typical overall electronic assembly operation.


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Fig: Robots in Engine

assembly Operations


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Remote Center Compliance (RCC):

RCC is a mechanical device that facilitates automated assembly by preventingpeg-like objects from jamming when they are inserted into a hole with tight clearance.

In a naive design without an RCC, a robot might pick up a peg with its gripper, centerthe peg over the hole and then push the peg along the axis of the hole.

If the peg is perfectly aligned and centered, it would then slide into the hole. Howeverif the peg's alignment or centering is slightly off, the peg contacts one side of the hole first andthe peg's tip experiences a lateral force.

As the robot's gripper is not perfectly stiff, the peg will tend to rotate about an axis inthe plane of the gripper's fingers, called the center of compliance. Such a rotation furthermisaligns the peg, increasing the lateral force and causing more rotation, resulting in a jam thatprevents the insertion from being completed.

An RCC changes the way the peg responds to a lateral force at its tip. The RCC istypically placed between the robot's wrist and the gripper, though it can be built in to the gripper

itself.The RCC lets the gripper assembly move in the plane perpendicular to the peg's axis,

allowing the peg to rotate about an axis in the plane of the top of the hole, effectively moving thecenter of compliance from the gripper to the hole.

With the RCC, the forces generated by any misalignment move the peg in a way thatcorrects the problem, rather than exacerbate it.

Peg=Dowel, Hook, Bolt, Nail


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Peg

Hole

RCC

Robot wrist

Attachment ring

RCC

Gripper mechanism

Gripper fingers

Fig: Remote Center Compliance in operation Fig: Schematic of an RCC equipped robot


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Inspection Operation:

Some inspection operation require parts to be manipulated, and otherapplications require that an inspection tool be manipulated.

Inspection work requires high precision and patience, and human judgmentis often needed to determine whether a product is within qualityspecifications or not.

Inspection tasks that are performed by industrial robots can usually be

divided into the following three techniques:

Inspection Operations

By using a feeler gauge or a linear displacement transducer known as alinear variable differential transformer(LVDT), the part being measured

will come in physical contact with the instrument or by means of airpressure, which will cause it to ride above the surface being measured.

By utilizing robotic vision, matrix video cameras are used to obtain animage of the area of interest, which is digitized and compared to asimilar image with specified tolerance.

By involving the use of optics and light, usually a laser or infrared sourceis used to illustrate the area of interest.


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MOBILE ROBOTS


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Introductions:

A mobile robot is an automatic machine that is capable of movement in any givenenvironment.

Mobile robots have the capability to move around in their environment and are not fixed

to one physical location. In contrast, industrial robots usually consist of a jointed arm (multi-linkedmanipulator) and gripper assembly (or end effector) that is attached to a fixed surface.

Mobile robots are a major focus of current research and almost every major university hasone or more labs that focus on mobile robot research. Mobile robots are also found in industry,military and security environments. Domestic robots are consumer products, including entertainmentrobots and those that perform certain household tasks such as vacuuming or gardening.

Classification

The environment in which they travel:Land or home robots are usually referred to as Unmanned Ground Vehicles (UGVs).

They are most commonly wheeled or tracked, but also include legged robots with two ormore legs (humanoid, or resembling animals or insects).

Aerial robots are usually referred to as Unmanned Aerial Vehicles (UAVs)Underwater robots are usually called autonomous underwater vehicles (AUVs)Polar robots, designed to navigate icy, crevasse filled environments

The device they use to move, mainly:Legged robot : human-like legs (i.e. an android) or animal-like legs.

Wheeled robot.Tracks.


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APPLICATIONS

The robots have potential application in areas where a vehicle or a mechanicautomatic system may exist

Areas of application:

Support to medical services SERVICE ROBOTSTransportation of food, medication, medical exams,Automation of pharmacy service

Automatic cleaning of (large) areasSupermarkets, airports, industrial sites

Glass cleaningDomestic vacuum-cleaner

Client supportMuseum tours, exhibitions guides

AgriculturalFruit and vegetable picking, fertilization, planting

ForestsCleaning, fire preventing, tree cutting


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Hazard EnvironmentsInspection of hazard environments (catastrophic areas, volcano's,nuclear power plants, oil tanks)Inspection of gas or oil pipes, and power transmission linesOil tank cleaning

Construction and demolishing

SpaceSpace exploration

Remote inspection of space stations

Military

Surveillance vehiclesMonitoring vehicles

Material HandlingAGVs Automated guided vehicleSGVs Self-Guided Vehicle LGVs Laser Guided Vehicles

SafetySurveillance of large areas, buildings, airports, car parking lot


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Civil Transportation

Inspection of airplanes, trains,

Elderly and HandicappedAssistance to handicapped or elderly people, helping in transportation, health care,

Entertainment

Robot DogAibo Robot do from Son

Telepresence


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Planetary Robotics P

Fig: NASA JPL Rovers


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Robotic Antarctic Meteorite Search (RAMS)

Autonomous Helicopter Project


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Components of a Mobile Robot

Example:


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MICRO ROBOTS

In the field of robotics, a microrobot is defined as a miniaturized robotic system,

making use of micro- and, possibly, nanotechnologies. Generally speaking, many terms such asmicro-mechanisms, micro-machines and micro-robots are used to indicate a wide range ofdevices whose function is related to the concept of operating at a small scale.

The prefix micro in (almost) its strict sense, in order to address components,modules and systems with sizes in the order of micrometers up to few millimeters. Therefore,

with the term microrobot it will be considered a robot with a size up to few millimeters, where

typical integrated components and modules have features in the order of micrometers and have-

mass-assembly processes. Hence, the entire robot is completely integrated in a stack ofassembled chips.

Due to its size, the capabilities of the single unit are limited and, consequently, micro-robots need to work in very large groups, or swarms, to significantly sense or affect the

environment. Main inspiration for the swarm concept is bio-mimetic: nature offers plenty ofexamples of swarms (e.g., insects) capable of efficiently accomplish tasks, as surface explorationlooking for food, for example.


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Miniaturization allows a reduction of the required resources and, potentially, evenbetter performances. Micro- and nanotechnologies have demonstrated the capability tofabricate and assembly different types of micro and nano-devices in micro-systems, creating

advanced micro-instruments for specific applications.The concept of miniaturization and integration of devices and systems brings

mainly to the following advantages:

- Required resources (mass, volume, power, etc.) are dramatically reduced.- Integrated Micro-Electro-Mechanical-Systems (MEMS) and Nano-Electro-Mechanical-Systems (NEMS) can substitute many discrete components and devices.

- The system is produced with batch processes, and so with mass fabrication; this impliescosts reduction and possible redundancy of critical parts in order to achieve higher reliabilityduring operation.- Performances for cost and mass unit are higher, that means it is possible to decrease the costof the whole system, or at given overall costs, increasing performances.- Small facilities are requested to test the system.


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APPLICATIONS

Bio-Medical

-flow along human arteries to find out bad bacteria-scatter antibodies in human bodies to promote immunity

-sometimes sent to explore dangerous caves or tiny long tubes.

Space applications

In space terminology, however, the term micro (and nano)

rover, probe or satellite currently addresses a category ofre at ve y sma systems, w t a s ze rang ng rom a ew to severa tens o

centimeters, not necessarily including micro-and nanotechnologies (except for microelectronics).

Military

Security and safety technology


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APPLICATIONS


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RECENT DEVELOPMENTS IN ROBOTICS


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Recent developments in robotics-

New Techniques

walking robots co-operating arms or AGVs biomedical engineering teleoperation micro and nanorobotics

New Applications

Teleported robotics (space, surgery)

service robots (teaching, retail, fast food outlets, banktellers, garbage collection, security guards, cleaningvehicles etc etc)

UGVs and UAVs for hazardous environments


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Robug III

Robug III is the latest concept design at the University of Portsmouth; it is thenext generation Robug. It will be slightly smaller than Robug IIs but will still be quite large

for a climbing robot. It will have eight four-jointed legs and be capable of climbingvertical surfaces. It will also be teleoperated, but will include more on-board sensingfeatures and better surface adhesion than Robug IIs. Interest in the Robug project continuesonly because of the work done in wall climbing and surface adhesion .


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Remember high viscosity at Small scales makes a

corkscrew Motion of propulsion far moreEffective.

Swimming robotics bugs

Bugs that walk on water


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The Defense Advanced Research Projects Agency (DARPA) is an agency of the UnitedStates Department of Defense responsible for the development of new technologies for use bythe military. DARPA has been responsible for funding the development of many technologies

which have had a major effect on the world, including computer networking, as well as NLS,

which was both the first hypertext system, and an important precursor to the contemporaryubiquitous graphical user interface.


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The Cheetah robot is the fastest legged robot in the World, surpassing 29 mph, a new land speed

record for legged robots. The previous record was 13.1 mph, set in 1989 at MIT.The Cheetah robot has an articulated back that flexes back and forth on each step, increasing itsstride and running speed, much like the animal does. The current version of the Cheetah robotruns on a high-speed treadmill in the laboratory where it is powered by an off-board hydraulicpump and uses a boom-like device to keep it running in the center of the treadmill. The nextgeneration Cheetah robot, WildCat, is designed to operate untethered. WildCat recently entered

initial testing and is scheduled for outdoor field testing later in 2013. '

CHEETAH - Fastest Legged Robot

program.


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BigDog - The Most Advanced Rough-Terrain Robot on Earth

BigDog is a rough-terrain robot that walks, runs, climbs

and carries heavy loads.

BigDog is powered by an engine that drives a hydraulicactuation system.

BigDog has four legs that are articulated like an

animals, with compliant elements to absorb shock andrec cle ener from one ste to the next.

BigDog is the size of a large dog or small mule; about 3feet long, 2.5 feet tall and weighs 240 lbs.


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RiSE: The Amazing Climbing Robot

RiSE is a robot that climbs vertical terrain such as walls, trees and fences.RiSE uses feet with micro-claws to climb on textured surfaces.RiSE changes posture to conform to the curvature of the climbing surface and itstail helps RiSE balance on steep ascents. RiSE is 0.25 m long, weighs 2 kg, and travels0.3 m/s.


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SandFlea

Leaps Small Buildings in a Single Bound

Sand Flea is an 11 pound robot that driveslike an RC car on flat terrain, but can jump30 ft into the air to overcome obstacles. Thatis high enough to jump over a compound

wall, onto the roof of a house, up a set ofstairs or into a second story window.

e ro ot uses gyro sta zat on to stay eveduring flight, to provide a clear view fromthe onboard camera, and to ensure a smoothlanding. Sand Flea can jump about 25 timeson one charge. Boston Dynamics isdeveloping Sand Flea with funding from theUS Armys Rapid Equipping Force (REF).


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Atlas - The Agile Anthropomorphic Robot

Atlas is a high mobility, humanoid robot designedto negotiate outdoor, rough terrain. Atlas can walkbipedally leaving the upper limbs free to lift, carry,and manipulate the environment.

In extremely challenging terrain, Atlas is strong andcoordinated enough to climb using hands and feet,to pick its way through congested spaces.

Articulated, sensate hands will enable Atlas to usetools designed for human use. Atlas includes 28hydraulically-actuated degrees of freedom, twohands, arms, legs, feet and a torso


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Robots that fly, walk and hop.

Safety considerations


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Safety considerations

Safety: Method and technique used for avoiding accidents.

Includes the usual considerations of man, machine and workstations, environment,

and the interface behavior, but it must also consider software.

Causes of accidents

Engineering deficiency

Lack of proper proceduresInadequate programming

How ?

Emergency stop switches must appear on the control panel and also be added to

the pendant used in the teach mode where the operator or programmer may bemoving in the robots work envelope.

Comprehensive instruction and operation procedures must also be incorporatedthrough training programs.


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Safety guidelines (contd.)

4. Be aware if there is power actuators. Indicator lights will be on when there is power to the

actuators.

5. Teaching, programming, servicing, and maintenance are the only authorized reasons forentry into the work envelope.

6. Before activating power to the robot, employees should be aware of what it is programmedto do, that all safeguards are in place, and that no foreign materials are present with in the

work envelo e.

7. Notify supervision immediately when an unexpected interruption to the normal robot workcycle occurs.

8. Report any missing of defective safeguard to supervision immediately. Check all safeguards

at the beginning to each shift.


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Applications

S.N

o

Feature Part loading

and unloading

Material

handling

Spot Welding Arc Welding Spray Coating Electric Assembly

1 Structure Polar,Cylindrical

jointed arm

Jointed adaptablerobot arm

Polar, Jointedadaptable robot

arm

Polar, ModularCartesian with

adaptable

jointed arm

Jointed arm withadaptable robot

arm

Jointed adaptableCartesian modular

robotic arm

2 Degree of

freedom

4-5 multiple

arms

3-5 5-6 5-6 6 or More 3-6

3 Drive

System

Electronic

Servo motors

Servo motors Electric stepper

Motors

Direct drive

Servo motors

Hydraulic

Actuators

Stepper Motors

and direct drives

Summary of Features and applications of Future industrial robots

loads)

4 Program Programmable

Automation

control (PAC)

Programmable

Automation

control (PAC)

Programmable

logic

controllers(PLCs)

Programmable

logic

controller(PLC)

Programmable

logic

controllers(PLCs)

Programmable

Automation with

controller Area

Network(CAN)

5 ControlSystem Microcontrollers and

motion

controllers

with vision

MotionControllers With

sensor

technology

Micro controllerwith changeable

functions

Continuouspath motion

controllers with

sensors

technology

Continuous pathmotion

controllers

Micro controllersnodes with sensors

and end effectors

with vision

6 Nature of

task

Complicated

and safe

i

Safe/hazardous

complicated

Simple and safe Complicated

and unsafe

Simple and unsafe Complicated and

safe

Robotics Applications In Industry

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