1. Robot Technology Chapter 10 Robotics by Muhammad Moeen Sultan

2. Robot Introduction  General purpose (perform a variety of functions independently)  Programmable (Sequence, repetition, decision making  Anthropomorphic characteristics Perform specific functions like machine loading, spot welding, spray painting, assembly, etc. Robotics by Muhammad Moeen Sultan

3. Definition of Robot A robot is a programmable, multifunction manipulator designed to move material, parts, tools, or special devices through variable programmed motions for the performance of a variety of tasks. A robot is a programmable, multifunction manipulator designed to move material, parts, tools, or special devices through variable programmed motions for the performance of a variety of tasks. Robotics by Muhammad Moeen Sultan

4. Laws of Robotics Law 1: A robot may not injure a human being Law 1: A robot may not injure a human being Law 2: A robot must obey orders given to it by human beings, except where such orders would conflict with a higher order law Law 2: A robot must obey orders given to it by human beings, except where such orders would conflict with a higher order law Law 3: A robot must protect its own existence as long as such protection does not conflict with a higher order law Law 3: A robot must protect its own existence as long as such protection does not conflict with a higher order law Robotics by Muhammad Moeen Sultan

5. Robot Physical Configurations  Industrial Robots come in a variety of shapes and sizes  On this base they are distinguished  Polar coordinate configuration  Cylindrical coordinate configuration  Joined arm configuration  Cartesian coordinate configuration Robotics by Muhammad Moeen Sultan

6. Polar coordinate configuration Spherical coordinates (Partial sphere) Spherical coordinates (Partial sphere) Rotary baseRotary base Pivot used to raise and lower an armPivot used to raise and lower an arm In-out movementIn-out movement Robotics by Muhammad Moeen Sultan

7. Cylindrical coordinate configuration Swivels about a vertical axis Swivels about a vertical axis Up-down movement Up-down movement In-out movement In-out movement Robotics by Muhammad Moeen Sultan

8. Jointed Arm configuration Similar in appearance to human arm Similar in appearance to human arm Rotated base, shoulder joint, elbow joint, wrist joint. Rotated base, shoulder joint, elbow joint, wrist joint. Robotics by Muhammad Moeen Sultan

9. Cartesian coordinate configuration Three orthogonal slides Three orthogonal slides Slides are parallel to the x,y,z axis. Slides are parallel to the x,y,z axis. Robotics by Muhammad Moeen Sultan

10. Purpose of a Robot Purpose of a robot is to perform useful task Purpose of a robot is to perform useful task End-effector End-effector The tool, gripper, or other device mounted at the end of a manipulator, for accomplishing useful tasks The tool, gripper, or other device mounted at the end of a manipulator, for accomplishing useful tasks Hand Hand Robotics by Muhammad Moeen Sultan

11. Degrees-of-Freedom (DOF): The number of independent motions a device can make. (Also called mobility) The number of independent motions a device can make. (Also called mobility) five degrees of freedom Robotics by Muhammad Moeen Sultan

12. Degree of Freedom Six basic motions for a robot to move in a required sequence of motions Six basic motions for a robot to move in a required sequence of motions Not all robots are equipped with it Not all robots are equipped with it Three arm and body movement and three wrist movements. Three arm and body movement and three wrist movements. Robotics by Muhammad Moeen Sultan

13. Six Degree of Freedom Robotics by Muhammad Moeen Sultan

14. Motion Systems Point-to-point (PTP) Point-to-point (PTP) Moves from one point location to another. Can adopt any path. Moves from one point location to another. Can adopt any path. Examples: loading unloading, pick and place, spot welding Examples: loading unloading, pick and place, spot welding Robotics by Muhammad Moeen Sultan

15. Motion Systems Contouring (Continuous Path) Contouring (Continuous Path) Move on a Smooth compound curve Complete path is remembered Examples: Paint spray, continuous welding. Robotics by Muhammad Moeen Sultan

16. Other technical features Determine its efficiency, effectiveness Determine its efficiency, effectiveness Some of the technical features are Some of the technical features are Work volumeWork volume Precision of movementPrecision of movement Speed of movementSpeed of movement Weight carrying capacityWeight carrying capacity Types of drive systemTypes of drive system Robotics by Muhammad Moeen Sultan

17. Technical features Work volume Work volume Space within which a robot can operate.Space within which a robot can operate. Determined by its configuration, size and the limits of its arms.Determined by its configuration, size and the limits of its arms. Polar coordinates – partial sphere Polar coordinates – partial sphere Cylindrical coordinates – cylindrical Cylindrical coordinates – cylindrical Cartesian -rectangular Cartesian -rectangular Jointed arm -irregular Jointed arm -irregular Robotics by Muhammad Moeen Sultan

18. Technical features Precision of movement Precision of movement The precision with which the robot can move the end of its wrist. The precision with which the robot can move the end of its wrist. 1. Spatial resolution 2. Accuracy 3. Repeatability Robotics by Muhammad Moeen Sultan

19. Technical features Spatial resolution Spatial resolution Smallest increment of motionSmallest increment of motion Depends on the control system and feedbackDepends on the control system and feedback Control resolution= range control increments control increments Robotics by Muhammad Moeen Sultan

20. Technical features Accuracy Accuracy The ability of a robot to go to the specified position without making a mistake.The ability of a robot to go to the specified position without making a mistake. Closely related to spatial resolutionClosely related to spatial resolution Robotics by Muhammad Moeen Sultan

21. Technical features Repeatability Repeatability Ability to position a wrist back to the previously visited point.Ability to position a wrist back to the previously visited point. Robotics by Muhammad Moeen Sultan

22. Technical features Speed of movement Speed of movement The amount of distance per unit time at which the robot can move.The amount of distance per unit time at which the robot can move. Speed of the end effectorsSpeed of the end effectors Determined by the weight of the objectDetermined by the weight of the object Weight carrying capacity Lifting over 1000 lbLifting over 1000 lb Robotics by Muhammad Moeen Sultan

23. Types of Drive system Hydraulic (mechanical, high strength) Hydraulic (mechanical, high strength) Electric motor (stepper, servo, less strength, better accuracy and repeatability Electric motor (stepper, servo, less strength, better accuracy and repeatability Pneumatic (quick, less strength) Pneumatic (quick, less strength) Robotics by Muhammad Moeen Sultan

24. End effectors Grippers Grippers Tools Tools Robotics by Muhammad Moeen Sultan

25. Grippers

26. Tools as end effectors Spot welding Spot welding Spray painting Spray painting Drilling Drilling Grinders Grinders Heating torches Heating torches Robotics by Muhammad Moeen Sultan

27. Robotic sensors Vision Vision Tactile and proximity Tactile and proximity voice voice Robotics by Muhammad Moeen Sultan

28. Programming The Robot Programming Methods Programming Methods Manual MethodManual Method Walkthrough MethodWalkthrough Method Lead through MethodLead through Method Off-line ProgrammingOff-line Programming Robotics by Muhammad Moeen Sultan

29. Manual Method Manual Method Mechanical stops, cams, switches or relays Uses: short work cycle like pick and place operation video Robotics by Muhammad Moeen Sultan

30. Walkthrough Method Walkthrough Method Manually moves the robot armManually moves the robot arm Each movement is recordedEach movement is recorded No worry about the cycle timeNo worry about the cycle time Getting the position and sequence correctGetting the position and sequence correct Uses: spray painting, arc welding Robotics by Muhammad Moeen Sultan

31. video

32. Lead through Method Lead through Method Use of small hand held devicesUse of small hand held devices Switches, dialsSwitches, dials Each motion is recorded in memoryEach motion is recorded in memory Robotics by Muhammad Moeen Sultan

33. Off-line programming Off-line programming Similar to NCSimilar to NC Computer terminalComputer terminal No loss of production time (no teaching)No loss of production time (no teaching) Can be programmed when still in productionCan be programmed when still in production Robotics by Muhammad Moeen Sultan

35. Work Cell Control Work with other things Work with other things Processing equipments, work parts, conveyors, tools and human operatorsProcessing equipments, work parts, conveyors, tools and human operators Coordinating all the activities within the robot workstation Coordinating all the activities within the robot workstation Sequencing and simultaneous activities Sequencing and simultaneous activities Work cell controller Work cell controller Robotics by Muhammad Moeen Sultan

36. Work Cell Control Example Example Robotic armRobotic arm Machine toolMachine tool Two conveyorsTwo conveyors Robotics by Muhammad Moeen Sultan

38. Work Cell Control Operate Sequentially Operate Sequentially Certain steps are completed before next operation Certain steps are completed before next operation Picking, proper location of the piecePicking, proper location of the piece Start, by Loading the work pieceStart, by Loading the work piece Machining completeMachining complete Robotics by Muhammad Moeen Sultan

39. Interlocks Sequence continues until a certain condition or set of conditions has been satisfied Sequence continues until a certain condition or set of conditions has been satisfied Incoming Incoming Outgoing Outgoing Robotics by Muhammad Moeen Sultan

40. Interlocks Limit switches Limit switches Pressure switches Pressure switches Photoelectric devices Photoelectric devices Robotics by Muhammad Moeen Sultan