introduction to robotics in cim systems
TRANSCRIPT
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Objectives
By the end of this lesson the learner should be able to:
• Define “Degrees of Freedom” (DOF)
• Identify three primary DOF and their respective Cartesian coordinate identifiers
• Identify the three DOF of the end effector wrist used in many industrial robots
• Identify three basic methods used to classify industrial robots
• Define “work envelope” for an industrial robot
• Define and discuss “servo” and “non-servo” control systems
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Key Technical Terms
Rotary actuators Linear actuators Hydraulic drives Pneumatic drives
Closed-loop system Open-loop system Servo robot Non-servo robot
Cartesian configuration SCARA configuration Spherical configuration Cylindrical configuration
Revolute configuration Rotational traverse Vertical traverse Radial traverse
Degrees of freedom Pitch Yaw Roll
Manipulator Controller Power supply Teach pendant
Program Work envelope Hierarchical control End effector
Error signal Tachometer Direct-drive motor Trajectory
By the end of this lesson the learner should be able to define and explain characteristics / actions related to these technical terms
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(Reis Machines, Inc.)
Permission granted to reproduce for educational use only.
Robot Designed for Precise Path-oriented TasksComponents of an Industrial Robot
• Shoulder
• Upper arm
• Elbow
• Forearm
• Wrist
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Robot Components on an Industrial Robot• Shoulder• Upper arm• Elbow• Forearm• Wrist
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Relationship of Robot Systems
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Industrial Robot Controller
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Hierarchical Control
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Types of Motion Provided by Actuators
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Rotary Motion to Linear Motion
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End Effector
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Power Supply
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Teach Pendant
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Degrees of FreedomDegrees of Freedom:
• Describes the robots freedom to move in 3-D space, more specifically to move:o Forward and backwardoUp and downo Left and right
• Each degree of freedom requires a joint
• Point of interest:o The human hand has 22 Degrees of Freedom
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Degrees of Freedom• 3 basic degrees of freedom are:
• Rotational traverse • Movement on a vertical axis• ‘X’ axis• Left to right (side to side)
• Vertical traverse• Up and down• ‘Z’ axis
• Radial traverse• Extension and retraction• ‘Y’ axis• Forward & Backward (In and out)
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Degrees of FreedomThree Minor Degrees of Freedom (“wrist”)
The robot wrist:• Increases the end effector (end-of-arm tooling) flexibility
• The wrist uses three additional degrees of freedom • Pitch – the bend or up and down movement of wrist• Yaw – the side to side movement of the wrist• Roll – the swivel or rotation of the wrist
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Degrees of Freedom
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Gantry Robot
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Rack-mounted Robot with Eight DOFRotational traverse
Left to right
Vertical traverseUp and down
Radial traverseForward & Backward
Pitch: wrist up and down
Yaw: wrist side to side
Roll: wrist rotation
EOAT: open & close
Track: Move entire unit forward and backward
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Six Degrees of Freedom
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Classifying a Robot
Three most common methods of classifying robots are:
• Type of control systemo Servoo Non-servo
• Type of actuator drive usedo ElectricoPneumaticoHydraulic
• Shape of the work envelopeo Revoluteo Cartesiano Cylindricalo Spherical
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Classifying a Robot
Type of control system
• Non-servo (open-loop) control –has no feedback signal• Limited sequence robot• Pick and place robot• Fixed stop robot
• Example: Wash Machine Cycle
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Classifying a Robot
Type of control system• Non-servo (open-loop) robot arm (manipulator)
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Classifying a Robot
Type of control system • Servo (closed-loop) – uses feedback to allow correction
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Classifying a RobotType of control system
• Servo (closed-loop) – uses feedback to allow correctiono Allows precise control of position or velocityo Detects and corrects for errors
• Example: Band saw cut
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Classifying a Robot
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Classifying a Robot
Type of actuator drive
• Electric oAlternating Current (AC) Servo MotorsoDirect Current (DC) Servo Motorso Stepper Motors
• Hydraulic – Fluid system using oil
• Pneumatic – Fluid system using compressed air
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Classifying a RobotType of actuator drive
• Electric oOne of three common types of electric actuator drives:
• AC Servo motors• DC Servo motors• Stepper motors
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Classifying a Robot
Stepper Motors
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Direct-drive Motor
Classifying a Robot
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Classifying a RobotType of actuator drive
• Hydraulic – uses oil• Pneumatic – uses compressed air• Both considered to be “fluid
power”
Hydraulic Actuator Drives
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Classifying a Robot
Shape of the work envelope• Determined by many factors:
o Coordinate system usedo Arrangement of the robot arm jointso Length of the manipulator segmentso Reach of the end effector wrist
• Work area – determined by a point on the robot’s wrist and does not include the EOAT
• Work envelope includes EOAT and is slightly larger than the work area
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Revolute Configuration—Vertically Articulated
Classifying a Robot
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SCARA ConfigurationClassifying a Robot
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Cartesian Coordinate Configuration
Classifying a Robot
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Cartesian ConfigurationClassifying a Robot
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Cylindrical Configuration
Classifying a Robot
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Spherical ConfigurationClassifying a Robot
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Classifying a Robot