Scribd Logo
Upload

Welcome to Scribd!

  • 138 views

    Robotics Unit2

    Uploaded by

    harikiran3285
    This lecture introduces industrial robots. It discusses why robots are used (e.g. to reduce costs and improve production), and why they may not be suitable (e.g. high initial costs). The lecture defines robots and outlines their history. It describes common robot configurations like Cartesian, cylindrical, SCARA, and articulated robots. The lecture also covers robot components, degrees of freedom, work space, and joint types.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd

    Robotics Unit2

    Uploaded by

    harikiran3285
    138 views8 pages
    This lecture introduces industrial robots. It discusses why robots are used (e.g. to reduce costs and improve production), and why they may not be suitable (e.g. high initial costs). The lecture defines robots and outlines their history. It describes common robot configurations like Cartesian, cylindrical, SCARA, and articulated robots. The lecture also covers robot components, degrees of freedom, work space, and joint types.

    Copyright

    © Attribution Non-Commercial (BY-NC)

    Available Formats

    PDF, TXT or read online from Scribd

    Did you find this document useful?

    Is this content inappropriate?

    This lecture introduces industrial robots. It discusses why robots are used (e.g. to reduce costs and improve production), and why they may not be suitable (e.g. high initial costs). The lecture defines robots and outlines their history. It describes common robot configurations like Cartesian, cylindrical, SCARA, and articulated robots. The lecture also covers robot components, degrees of freedom, work space, and joint types.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    138 views8 pages

    Robotics Unit2

    Uploaded by

    harikiran3285
    This lecture introduces industrial robots. It discusses why robots are used (e.g. to reduce costs and improve production), and why they may not be suitable (e.g. high initial costs). The lecture defines robots and outlines their history. It describes common robot configurations like Cartesian, cylindrical, SCARA, and articulated robots. The lecture also covers robot components, degrees of freedom, work space, and joint types.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 8

    Robotics and Automation

    MFET5023

    Lecture 2-1

    Dr. Sang-Heon LEE

    School of Advanced Manufacturing and Mechanical Engineering University of South Australia

    Introduction to industrial robots

    Lecture outline
    This lecture will cover 1. Why robots and why not 2. Definition of robot 3. Brief history of robot 4. Some terms of robot 5. Configuration of industrial robots

    Introduction
    Automation and Robots are two closely related technologies Robot is a mechanical device that assists industrial automation Robots are typically used in processing, transport, assembly and other areas of automation The sensory capability and interaction of a robot with its environment are two key areas to be improved for the wider applications of robots.

    Why robot?
    Reduce labour cost Eliminate dangerous jobs Increase output rate reduce production cost. Improve production quality Reduce material waste Longer useful time Do not tire or grumble no health claims (except some maintenance). Work 24 hours each day.

    Why not robot?


    Replace humans in workforce (?) low skilled workers Initial investment cost is quite high for small firms Limited technology: sensors and grippers etc. Difficult to adapt to new problems and environments. Impossible to make decisions, and define goals on its own.

    Why robot & why not?


    Automatic harvesting system examples M i 1 (O Movie (Orange harvesting) h ti ) Movie 2 (Robot harvesting)

    Definition of (industrial) robot


    The robot institution of America An industrial robot is a reprogrammable device to both manipulate and transport parts, tools or specialised manufacturing implementation through variable programmed motions for the performance of specific manufacturing tasks.

    What is a robot?
    Robots in the real world

    What is a robot?
    Robots in our imagination

    BigDog

    tEODor (bomb disposal)

    What is a robot?
    However, there is no sharp boundaries no widely accepted definition of what a robot is.

    Some history of Robots


    Mechanical Duck (J. De Vaucanson, 1738) The Jacquard Loom (J. M. Jacquard, 1801) - Punch card technique

    Hubo1.wmv

    Mechanical duck

    Punch card technique

    Some history of Robots


    Maillardet's Automaton (H. Maillardet, 1805) Mechanical Horse (L. Rygg, 1893)

    The origin of term Robots


    Karel Capek, 1921
    The origin of the Word robot from the play R.U.R. (Rossums Universal Robots). Robot is from Czech word worker Robot is built to save mankind from work but used in a war to kill people Eventually, robot wipe out all humans. Made robot become the bad guy.

    autom.wmv

    The origin of Robots


    Isaac Asimov, 1950 A novel titled I Robot. The origin of the Word robotics A more positive attitude towards technology The definition of robot in this book: an active, artificial agent to help people in the physical world.

    The origin of Industrial Robots


    1961 UNIMATE: the first industrial robot Began work at GM with heated die casting machine die-casting following step-by-step tasks stored on a magnetic drum. With 6 axes to stack hot pieces of die-cast metal.
    Unimate.mpg

    industrial robot: in real world


    Applications of robots in industry has been expanded a lot. Still, an industrial robot is a one-armed, blind idiot machine with limited memory which cannot speak, see or hear.

    Application areas

    Typical industrial robots: Terms


    Links: rigid bodies that form the robot manipulator. Joints: connect neighbouring links ll i li k allowing either rotary ith t (revolute) or translating relative motion (prismatic). End effector: the tip of the manipulator. Gripper, welding torch, electromagnetic, suction cups, etc.

    Robot joint types


    Revolute (R) Prismatic (L)

    The relative displacement between joints described by Joint angles by joint offset

    Typical industrial robots


    Arm Movement Joint 1: Waist Arm sweep. Joint 2: Shoulder Shoulder swivel. Joint 3: Elbow- Elbow extension. Wrist Movement Joint4,5,6-Roll, Pitch and yaw

    Degree of Freedom
    DOF (Degree of Freedom)Several definitions 1. DOF=number of joints. 2. Spatial representation 6 DOF to 3-D coordinate system. The number of DOF available influences the robots ability to orientate the end-effector in 6 dimensional space. Pose to describe position and orientation of robot arm. 6 independent joints required to have 6 DOF.

    Work Space
    Work space: the space reachable by a manipulator. Work space is the region within which the robot can position its end-effector. Robot configuration types, and the length of links will mainly decide the size of work space.

    Work Space

    Work space: restriction

    Work Volume: Collision

    Work space: Safety

    Type of robot: Configuration of industrial robots


    Cartesian. Cylindrical. Polar (S h i l) P l (Spherical). SCARA (Selective Compliance Assembly Robot Arm). Articulated (Jointed arm configuration). Multiple joint (Spine) configuration Parallel configuration

    Cartesian configuration (LLL)


    Only with 3 prismatic joints-Move along x,y,z direction in straight lines (LLL). Motion of each axis is limited to one direction. If the robot is mounted from above in a bridge frame gantry robot.

    Cartesian configuration (LLL)

    Cylindrical configuration (RLL)


    Rotate about its base and move linearly in horizontal and vertical planes (r, z, )-1R2L Robust, and high work area to floor area ratio. Limited movements.

    Cylindrical configuration (RLL)

    Spherical (polar) configuration (RRL)


    Rotate about its base as well as its head, and move in and out (r, , )-2R1L. Earliest configuration - used in Unimate the Unimate, first industrial robot. Handling of heavy load. Ex, in a long straight reach into a press or moulding machine.

    Spherical (polar) configuration (RRL)

    SCARA configuration (RRL)


    Most common configuration of assembly robot. (2R1L) Very useful in assembly operations where insertions of objects into h l are required. f b holes d Vertical prismatic movement can apply a force to insert parts with high degree of rigidity.
    Scara.avi

    SCARA configuration (RRL)

    Articulated configuration (RRR)


    Only with revolute joints. Most-widely used configuration. Required complex control of rectilinear motion of arms. Compact: larger workspace per floor space occupied.

    Articulated configuration

    Articulated configuration

    Robot Configuration - Summary


    (a) Cartesian (b) Polar(Spherical) (c) C li d i l ( ) Cylindrical (d) SCARA (e) Articulated (Jointed arm configuration)

    MovieF3CVboot deflashing.mpeg

    MovieF3MachLo ading.mpeg

    Multiple joint (spine) configuration


    No prismatic or revolute joints a series of plates will be adjusted when necessary. Flexibility and articulation capability Rigidity and repeatability is still under the question.

    Parallel configuration
    Consists of a fixed "base" platform, connected to an end-effector platform by means of a number of "legs" "legs". high structural stiffness Can handle heavy load But very complicated control ABBIrb340.mvw

    How to choose a configuration ?


    No strict rule exists which configuration you should choose for a given task case by case. p Sometimes it is more efficient to use a specific task oriented equipment rather than a more general robot. Also it is an important issue to consider a DESIGN FOR AUTOMATION ASSEMBLY before you just install a robot operation to replace the current manual operation.

    You might also like