1. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Introduction to the Robotic Name: Núria Rosillo Guerrero Faculty: Computer Science Engineering Department: Mathematics Science and Computation Universidad Cardenal Herrera CEU Halmstad, 16.06.15

2. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero IntroductionIntroduction Definition: A reprogrammable and multifunction machine designed to move materials, tools or specialized instruments, by programmed movements to carry out a variety of tasks. Characteristics: Versatile Flexibility Environment adaptable...

3. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Types of robots Androids Mobiles...

4. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Types of robots Industrial Robots Medical...

5. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Types of robots Tele operators Poliarticulated Mobiles Androids Zoomorphic Hybrids...

6. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Historic Review Greek mythology has featured many mechanical beings. Machines designed for human comfort we recurrent in Arab civilizations....

7. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Historic Review First person who employed the word Robot was Karel Capek...

8. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Historic Review Isaac Asimov coined the term robotic and he published three famous robotic laws : A robot can't damage a human being, nor allow this to be damaged. A robot must obey a human order, except when these orders clash with the first law. A robot must always protect themselves as long as this protection doesn’t clash with the first and second laws....

9. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Historic Review The first version were the programmable machines in the XVIII and XIX century....

10. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Historic Review...

11. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Historic Review...

12. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Historic Review External sensors. Dynamic Control. Redundant robots....

13. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Historic Review Waited increasing at the robotics industry... YearARMMRTRRAPRROU 199411.225.528.518.510.75.5 199511.126.428.918.110.15.4 199611.527.028.017.610.15.8 199711.827.727.017.010.26.3 199811.728.026.617.010.16.6 Table 1: Acquisition Robots Percentages according to its function in U.S

14. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Historic Review Six precisions joints between the robots base and the manipulator extreme Simple and intuitive programming. Adaptation to the environment by sensorial stimulations. Movement margin in ranges of 0.3 mm. Capability to manipulate weights until 150 kg. Point to point movement control and trajectory follow-up. To synchronize with with mobiles targets. Compatibility with PC’s. High reliability (during at least 400 work hours). Artificial vision that includes at least orientation and recognition capability. Tactile sensors. Coordination of the different parts of the unit. Capability of trajectory correction on-line. Mobility. Movement optimization. Energy conservation. General purposes appendices. Voice communication Security according the Asimov laws. Current robotics limits

15. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Robots Components The manipulator. The sensors. The control unit. The power convert unit....

16. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Robots Components The manipulator It constitutes the mechanical structure of the robot. Classes of kinematic pairs: Revolution pairs. Prismatic pairs....

17. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Robots Components...

18. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Robots Components...

19. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Robots Components... The sensors Classification: Internal sensors External sensors

20. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Robots Components... The Unit Control Functions: Beginning and end of the movement of the individual components of the manipulator in a sequence of specified points. Data is stored in its memory, about the position and sequence of movements. It permits the robot to interact with the environment by means of sensors.

21. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Robots Components Power conversion Unit Its mission is to provide the necessary energy to the engines. It can be a power amplifier in the case of the systems moved by servos, or it can be a compressor in the case the robot uses pneumatic o hydraulic system

22. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Robots Specifications... Main specifications: Load capacity. Mobility. Work Space. Agility. Precision and repeatability. Work Environment.

23. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Robots Specifications... Load Capacity It’s the maximum weight that it can move under any configuration.

24. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Robots Specifications... Mobility The mobility is determined by the total number of independent movements that the robot is able to do. The movements can be displaced or rotations.

25. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Robots Specifications... Work Space It`s the space region composed by all the points that can be reached by the end of the arm o any point of the wrist, without taking the tool into account. The volume and the shape of the work space is very important for industrial applications, because they determine the robots capabilities.

26. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Robots Specifications... Work Space

27. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Robots Specifications... Agility It`s measurement by two parameters: maximum velocity and maximum accelerations

28. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Robots Specifications... Precision and Repeatability Precision: Capability to position the terminal element at a point in its work space. Repeatability: it is the measurement of the robot’s ability to situate its terminal element in the same point several times.

29. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Robots Specifications Work Environment Robots normally work in contaminated environment or under extreme temperatures, and it has to be designed to fit this kind of atmosphere..

30. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero ClassificationClassification Classification based on the mechanical configuration of the robot Classification based on the type of control.

31. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Classification based on a mechanical configuration Robots with cylindrical coordinates...

32. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Classification based on a mechanical configuration Robots with spherical coordinates...

33. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Classification based on a mechanical configuration Robots with articulated arms... Spherical. Parallelogram. Cylindrical.

34. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Classification based on a mechanical configuration Spherical...

35. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Classification based on a mechanical configuration Spherical...

36. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Classification based on a mechanical configuration Parallelogram...

37. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Classification based on a mechanical configuration Parallelogram...

38. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Classification based on a mechanical configuration Cylindrical...

39. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Classification based on a mechanical configuration Cylindrical...

40. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Classification based on a mechanical configuration... Robots with Cartesian coordinates Type Projection. Type Portico.

41. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Classification based on a mechanical configuration... Projection

42. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Classification based on a mechanical configuration... Portico type

43. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Classification based on a mechanical configuration Portico type

44. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Classification based on type of control... Classification based on the kind of control Not servo controlled. Servo controlled.

45. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Classification based on type of control... Not servocontrolled Characteristics: High velocity due to the small dimensions. Low cost, easy maintenance and operation. Extremely reliable. High precision and repeatability. Not flexible respect the applications.

46. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Classification based on type of control... Servocontrolled CONTROL SYSTEM CONTROL SYSTEM SENSOR PROCESS ENTRY EXIT DESIRED STATE FOR THE EXIT

47. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Classification based on type of control... Servocontrolled Characteristics: High storage capacity. The terminal element can have one of two types of movement: point to point and continuous trajectory. Inside the physical limits, the precision of the position can be modified fiddling with the amplifiers of the servo control system. The programming can be carried out by apprenticeship or by a programming language like VAL, ARLA… It’s possible to program the movement of each axis to situate the terminal element in any part of the work space. More expensive, low reliability, unlimited flexibility.

48. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Classification based on type of control... Point to point robots servo controlled

49. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero Classification based on type of control Robots servo controlled with continuous trajectory

50. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero ApplicationsApplications Soldering Materials Applications Rectified Maintenance Assembly Operations Inspection Smelting Cut

51. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero ApplicationsApplications Smelting

52. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero ApplicationsApplications Soldering

53. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero ApplicationsApplications Materials Applications

54. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero ApplicationsApplications Rectified

55. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero ApplicationsApplications Maintenance

56. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero ApplicationsApplications Assembly Operations

57. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero ApplicationsApplications Inspection

58. Historic Review Introduction Main Page Robots Specifications Classification Applications Robots Components Núria Rosillo Guerrero ApplicationsApplications Cut