robot technology chapter 10 robotics by muhammad moeen sultan

Robot Technology Robot Technology Chapter 10Chapter 10

Robotics by Muhammad Moeen SultanRobotics by Muhammad Moeen Sultan

Robot IntroductionRobot Introduction General purposeGeneral purpose (perform a variety of (perform a variety of

functions independently)functions independently)

Programmable Programmable (Sequence, repetition, (Sequence, repetition, decision makingdecision making

AnthropomorphicAnthropomorphic characteristics characteristics

Perform specific functions like machinePerform specific functions like machineloading, spot welding, spray painting,loading, spot welding, spray painting,assembly, etc.assembly, etc.


Definition of RobotDefinition of Robot

A robot is a programmable, multifunction A robot is a programmable, multifunction manipulator designed to move material, manipulator designed to move material, parts, tools, or special devices through parts, tools, or special devices through variable programmed motions for the variable programmed motions for the performance of a variety of tasks.performance of a variety of tasks.


Laws of RoboticsLaws 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 Law 2: A robot must obey orders given to it by human beings, except where such orders would human beings, except where such orders would conflict with a higher order law conflict with a higher order law

• • Law 3: A robot must protect its own existence as Law 3: A robot must protect its own existence as long as such protection does not conflict with a long as such protection does not conflict with a higher order lawhigher order law


Robot Physical ConfigurationsRobot Physical Configurations Industrial Robots come in a variety of shapes and sizesIndustrial Robots come in a variety of shapes and sizes

On this base they are distinguishedOn this base they are distinguished

Polar coordinate configurationPolar coordinate configuration

Cylindrical coordinate configurationCylindrical coordinate configuration

Joined arm configurationJoined arm configuration

Cartesian coordinate configurationCartesian coordinate configuration


Polar coordinate configurationPolar 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


Cylindrical coordinate configurationCylindrical coordinate configuration

Swivels about a vertical axisSwivels about a vertical axis

Up-down movementUp-down movement

In-out movementIn-out movement


Jointed Arm configurationJointed Arm configuration

Similar in appearance to Similar in appearance to human armhuman arm

Rotated base, shoulder Rotated base, shoulder joint, elbow joint, wrist joint, elbow joint, wrist joint.joint.


Cartesian coordinate configurationCartesian coordinate configuration

Three orthogonal slidesThree orthogonal slides

Slides are parallel to the Slides are parallel to the x,y,z axis.x,y,z axis.


Purpose of a RobotPurpose of a Robot

Purpose of a robot is to perform Purpose of a robot is to perform useful taskuseful task

End-effectorEnd-effector The tool, gripper, or other device mounted at the end ofThe tool, gripper, or other device mounted at the end of

a manipulator, for accomplishing useful tasks a manipulator, for accomplishing useful tasks

HandHand


DegreeDegrees-s-oof-Ff-Freedoreedom (DOF):m (DOF):

The number of independent motions a The number of independent motions a device can make. (Also called device can make. (Also called mobilitmobility) y)

five degrees of freedom


Degree of FreedomDegree of Freedom

Six basic motions for a robot to move Six basic motions for a robot to move in a required sequence of motionsin a required sequence of motions

Not all robots are equipped with itNot all robots are equipped with it Three arm and body movement and Three arm and body movement and

three wrist movements.three wrist movements.


Six Degree of FreedomSix Degree of Freedom


Motion SystemsMotion Systems

Point-to-point (PTP)Point-to-point (PTP)

Moves from one point location to Moves from one point location to another. Can adopt any path.another. Can adopt any path.

Examples: Examples: loading unloading, pick and place, loading unloading, pick and place, spot weldingspot welding


Motion SystemsMotion Systems

Contouring (Continuous Path)Contouring (Continuous Path)

Move on a Smooth compound curveMove on a Smooth compound curve

Complete path is rememberedComplete path is remembered

Examples:Examples:

Paint spray, continuous welding.Paint spray, continuous welding.


Other technical featuresOther technical features

Determine its efficiency, effectivenessDetermine its efficiency, effectiveness Some of the technical features areSome of the technical features are

• Work volumeWork volume• Precision of movementPrecision of movement• Speed of movement Speed of movement • Weight carrying capacityWeight carrying capacity• Types of drive systemTypes of drive system


Technical featuresTechnical features

Work volumeWork volume• Space within which a robot can operate.Space within which a robot can operate.• Determined by its configuration, size Determined by its configuration, size

and the limits of its arms.and the limits of its arms. Polar coordinates Polar coordinates – – partial spherepartial sphere Cylindrical coordinates – Cylindrical coordinates – cylindrical cylindrical Cartesian Cartesian - - rectangularrectangular Jointed arm Jointed arm - - irregularirregular



Precision of movementPrecision of movement The precision with which the robot can The precision with which the robot can

move the end of its wrist.move the end of its wrist.

1.1. Spatial resolutionSpatial resolution

2.2. AccuracyAccuracy

3.3. RepeatabilityRepeatability



Spatial resolutionSpatial resolution• Smallest increment of motionSmallest increment of motion• Depends on the control system and Depends on the control system and

feedbackfeedback

Control resolution= Control resolution= rangerange

control control incrementsincrements


Technical featuresTechnical features AccuracyAccuracy

• The ability of a robot to go to the specified The ability of a robot to go to the specified position without makingposition without making a mistake. a mistake.

• Closely related to spatial Closely related to spatial resolutionresolution



RepeatabilityRepeatability• Ability to position a wrist back to the Ability to position a wrist back to the

previously visited point.previously visited point.



Speed of movementSpeed of movement• The amount of distance per unit time at The amount of distance per unit time at

which the robot can move.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 capacityWeight carrying capacity• Lifting over 1000 lbLifting over 1000 lb


Types of Drive systemTypes of Drive system

Hydraulic Hydraulic (mechanical, high strength)(mechanical, high strength)

Electric motor Electric motor (stepper, servo, less (stepper, servo, less strength, better accuracy and repeatabilitystrength, better accuracy and repeatability

Pneumatic (quick, less strength)Pneumatic (quick, less strength)


End effectorsEnd effectors

GrippersGrippers

ToolsTools


GrippersGrippers


Tools as end effectorsTools as end effectors

Spot weldingSpot welding Spray paintingSpray painting DrillingDrilling GrindersGrinders Heating torchesHeating torches


Robotic sensorsRobotic sensors

VisionVision Tactile and proximityTactile and proximity voicevoice


Programming The RobotProgramming The Robot

Programming MethodsProgramming Methods

• Manual MethodManual Method• Walkthrough MethodWalkthrough Method• Lead through MethodLead through Method• Off-line ProgrammingOff-line Programming


Manual MethodManual Method

Mechanical stops, cams, switches or Mechanical stops, cams, switches or relaysrelays

Uses: Uses: short work cycle like pick and place short work cycle like pick and place operationoperation

videovideo


Walkthrough MethodWalkthrough 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 Getting the position and sequence

correctcorrect

UsesUses: spray painting, arc welding: spray painting, arc welding


videovideo Robotics by Muhammad Moeen SultanRobotics by Muhammad Moeen Sultan

Lead through MethodLead 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


Off-line programmingOff-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 Can be programmed when still in

productionproduction


Work Cell ControlWork Cell Control

Work with other thingsWork with other things• Processing equipments, work parts, conveyors, Processing equipments, work parts, conveyors,

tools and human operatorstools and human operators Coordinating all the activities within the Coordinating all the activities within the

robot workstationrobot workstation Sequencing and simultaneous activitiesSequencing and simultaneous activities Work cell controllerWork cell controller



ExampleExample

• Robotic armRobotic arm

• Machine toolMachine tool

• Two conveyorsTwo conveyors



Operate SequentiallyOperate Sequentially

Certain steps are completed before Certain steps are completed before next operationnext 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


InterlocksInterlocks

Sequence continues until a certain Sequence continues until a certain condition or set of conditions has condition or set of conditions has been satisfiedbeen satisfied

IncomingIncoming

OutgoingOutgoing


InterlocksInterlocks

Limit switchesLimit switches

Pressure switchesPressure switches

Photoelectric devicesPhotoelectric devices


robot technology chapter 10 robotics by muhammad moeen sultan

Documents

muhammad moeen sultan

robot purpose

movement robotics

definition of robot

laws of robotics law

higher order law robotics

higher order law law

robot technology chapter