This document discusses industrial robots including their definition, components, motions, configurations, and applications. It describes that a robot is a re-programmable manipulator designed to move parts and tools for various tasks. The key components are the manipulator, end effector, power supply, and control system. Common robot configurations include Cartesian, cylindrical, SCARA, and jointed arm. Industrial robots are widely used for automation in various industries.
2. An Electro Mechanical device
Performs Various Tasks
Controlled by
1) Human (or)
2) Automated
robot
3.
A Robot is a Re-programmable, Multi Functional
Manipulator Designed To Move Materials, parts,
Tools, Or Any Devices Through Various
Programmed Motions For The Performance Of A
Variety Of Tasks
ROBOT DEFINITION:
4.
S.NO HUMAN ROBOT AUTOMATIONS
1 BRAIN PROCESSORS
COMPUTER CHIPS &
SOFTWARE
2
SKIN,EARS,
NOSE
SENSORS LIGHTS & SOUNDS
3 EYES VISION SYSTEMS
WORKS WITH OPTICAL
CABLES (TV,CAMERA)
4
ARMS &
HANDS
EFFECTORS
MANIPULATE & SUPPORT
TOOLS
5 FEET
TRANSPORTATION
SYSTEMS
MEVEMENT MECHANISMS
Comparisons of human & robot
5.
Components of Robot
Manipulator - It is also called as Arm & Wrist
End Effector - The end of the wrist in a robot is
equipped with an end effector, also called as End of
the Arm Tooling
Power supply – It is the source of the energy to move
& regulate the robot drive mechanisms
Control system – It is known as controller, It is the
brain & nerves of the robot
8.
Rotational transverse - Movement about a vertical
axis
Radial transverse – Extension & retraction of arm
Vertical transverse – Up & Down motion
Pitch - Up & Down movement of wrist
Yaw – Side to Side movement of wrist
Roll – rotation of wrist
Six basic robot motions are
10.
Robot Anatomy is concerned with the physical
construction of the Manipulator (body, Arm & wrist
of the machine).
The entire Assembly of the body, Arm & wrist of the
machine of called as a Manipulator.
The attachment of robot’s wrist is a hand or a tool
called the End Effectors.
Robot Anatomy
11.
Robot Anatomy
Manipulator consists of joints and links
Joints provide relative motion
Links are rigid members between joints
Various joint types: linear and rotary
Each joint provides a “degree-of-
freedom”
Most robots possess five or six degrees-
of-freedom
Robot manipulator consists of two sections:
Body-and-arm – for positioning of
objects in the robot's work volume
Wrist assembly – for orientation of
objects
20.
Polar configurations
Cylindrical configurations
Cartesian co-ordinate configurations
Jointed arm configurations
SCARA
Four common
configurations
21.
Polar Coordinate
Body-and-Arm Assembly
Notation TRL:
Consists of a sliding arm (L joint) actuated relative to the
body, which can rotate about both a vertical axis (T joint)
and horizontal axis (R joint)
24.
Cylindrical Body-and-Arm
Assembly
Notation TLO:
Consists of a vertical column,
relative to which an arm
assembly is moved up or down
The arm can be moved in or out
relative to the column
33.
INDUSTRIAL ROBOTS
LABORATORY ROBOTS
EXPLORER ROBOTS
HOBBYIST ROBOTS
CLASS ROOM ROBOTS
EDUCATIONAL ROBOTS
TELE ROBOTS
Types of robots
34.
PHYSICAL CONFIGURATIONS
CONTROL SYSTEMS
MOVEMENTS
DRIVE SYSTEMS
APPLICATIONS
DEGREE OF FREEDOMS
SENSOR SYSTEMS
CAPABILITIES OF ROBOT SYSTEMS
CLASSIFICATION OF
ROBOTS
35.
A control system refers to a group of
physical component connected or
related in such a manner as to
command direct or regulate itself or
another system.
Control systems
36.
HYDRAULIC DRIVE
ELECTRIC DRIVE
PNEUMATIC DRIVE
ADVANCED ACTUATORS
Types of drive systems
37.
SEQUENCE ROBOT
PLAY BACK ROBOT
INTELLIGENT ROBOT
REPEATING ROBOT
TYPES OF INDUSTRIAL
ROBOTS
38.
Its sophisticated for robots
Associated in large robots
This drive is only for rotational drive or linear drive
HYDRAULIC DRIVE
39.
It do not provide as much speed & power
Associated in small robots
Accuracy & repeatability is better
Actuated by dc motor or stepper motor
This drive is only for rotational drive, by drive train
& gear systems
Perform linear systems by pulley systems
ELECTRIC DRIVE
40.
For smaller systems with less d.O.F
Performs pick & place operations only with fast
cycles
This system having compliance or ability to absorb
some shock
This is only for rotary operations.
PNEUMATIC DRIVE
41.
The controller act as a brain of the robot
This is a information processing device.
The inputs are both desired and measured positions.
Velocity (or) other variables in a process whose o/p
systems are drive signals to control the motors or
actuators
Robot control
42.
Open loop control system
Closed loop or feedback control
system
TYPES OF CONTROL
SYSTEM
43. It is also called as non-servo control
It do not have a feedback capability
It is controlled by a system of mechanical stops
& limit switches
Open loop control system
44.
Element of open loop control systems
Bread toaster (open loop ) control system
45. Closed loop system uses on a feed back loop to control
the operation of the system.
The sensors that continually monitor the robots axes and
associated components for position and velocity
Closed loop control
system
48.
It is a device that is attached to the end of the wrist
It act as a hand for robot
It may be a Gripper, Vacuum Pump, tweezers,
scalpel, blow-torch
Some robots can change end effectors and be
reprogrammed for different set of tasks
End Effectors
49.
It have several fingers, joints, & more DOF
Any combination of these factors gives different grip
modalities to the end effector
Consideration of End
Effector Design
50.
The end effectors can be classified under 2 category
1. Grippers
2. End of arm tooling
Classification of End Effectors
51.
It is like the arm of an operator that
establishes the connection between the work
piece and robot
It generally consist of a no of fingers which
are kinematically linked and provided with
motion to perform the gripping , opening or
closing actions
Grippers
56.
It is an End effector that uses mechanical
finger actuated by mechanism to grasp the
objects
The mechanical grippers are actuated by
hydraulic/ pneumatic/ solenoids/
motors, are designed based on strength
considered
Mechanical finger
Gripper
60.
It generally have 2 opposite fingers or 3 fingers in
120o degree
All these fingers are driven together, un till the object
are gripped
The 2 finger gripper can be further split as parallel
motion or angular motion fingers
Finger Grippers
74.
The robot is required to manipulate a tool rather
than a work part. So the tool is used as the end
effectors
End of Arm Tooling
75.
According to method to hold part in the gripper
Mechanical gripper
Vacuum gripper
Magnetic gripper
According to Special purpose tools
Drills
Welding guns
Paint sprayers
Grinders (cont)
Classification of End of
Arm Tooling
76.
According to Multi-function capability of gripper
Remote center compliance
Special purpose grippers
cont
85.
It has 5 senses as human like Touch,
Sight, Sound, Smell, Taste.
It measures environment data like
touch, distance, light, sound, strain,
rotation, magnetism,, smell,
temperature, inclination, pressure.
Robot Sensor Systems
86.
Sensors are used for the elements which
produces a signal relating to the quality
being measured.
FEATURES OF SENSORS
Accuracy , Precision , Operating Range
Speed, Cost, Ease of operation Reliable
Purpose of Sensors
87.
Self protection
Programmable Automation
Assembly operations
Obstacles avoidances
Need of sensors
89.
Robot Programming
Lead through programming
Work cycle is taught to robot by moving the manipulator
through the required motion cycle and simultaneously
entering the program into controller memory for later
playback
Robot programming languages
Textual programming language to enter commands into
robot controller
Simulation and off-line programming
Program is prepared at a remote computer terminal and
downloaded to robot controller for execution without need
for lead through methods
90.
Leadthrough
Programming
1. Powered leadthrough
Common for point-to-
point robots
Uses teach pendant
2. Manual leadthrough
Convenient for
continuous path control
robots
Human programmer
physical moves
manipulator
91.
Lead through Programming
Advantages
Advantages:
Easily learned by shop personnel
Logical way to teach a robot
No computer programming
Disadvantages:
Downtime during programming
Limited programming logic capability
Not compatible with supervisory control
92.
Robot Programming
Textural programming languages
Enhanced sensor capabilities
Improved output capabilities to control external equipment
Program logic
Computations and data processing
Communications with supervisory computers
94.
Motion Commands
MOVE P1
HERE P1 - used during lead through of manipulator
MOVES P1
DMOVE(4, 125)
APPROACH P1, 40 MM
DEPART 40 MM
DEFINE PATH123 = PATH(P1, P2, P3)
MOVE PATH123
SPEED 75
97.
Example
A robot performs a loading and unloading operation for a
machine tool as follows:
Robot pick up part from conveyor and loads into machine (Time=5.5
sec)
Machining cycle (automatic). (Time=33.0 sec)
Robot retrieves part from machine and deposits to outgoing conveyor.
(Time=4.8 sec)
Robot moves back to pickup position. (Time=1.7 sec)
Every 30 work parts, the cutting tools in the machine are
changed which takes 3.0 minutes. The uptime efficiency
of the robot is 97%; and the uptime efficiency of the
machine tool is 98% which rarely overlap.
Determine the hourly production rate.
98.
Solution
Tc = 5.5 + 33.0 + 4.8 + 1.7 = 45 sec/cycle
Tool change time Ttc = 180 sec/30 pc = 6 sec/pc
Robot uptime ER = 0.97, lost time = 0.03.
Machine tool uptime EM = 0.98, lost time = 0.02.
Total time = Tc + Ttc/30 = 45 + 6 = 51 sec = 0.85 min/pc
Rc = 60/0.85 = 70.59 pc/hr
Accounting for uptime efficiencies,
Rp = 70.59(1.0 - 0.03 - 0.02) = 67.06 pc/hr
