Robotics

Chapter 1 (Part B): Robot Drive System

ETME -404

Overview
Robot Drive Systems
-Hydraulic drive
-Electric drive
-Pneumatic drive
Speed of Motion
Load-Carrying Capacity

Robot Drive Systems

The robot's capacity to move its body, arm, and wrist is
provided by the drive system used to power the robot.
The drive system determines the speed of the arm
movements, the strength of the robot, and its dynamic
performance.
To some extent, the drive system determines the kinds of
applications that the robot can accomplish.
Types of Drive Systems
Commercially available industrial robots are powered by one
of three types of drive systems. These three systems are:
1. Hydraulic drive
2. Electric drive
3. Pneumatic drive

Robot Drive Systems

Hydraulic drive and electric drive are the two main types of drives used on
more sophisticated robots.

Hydraulic drive:
It is generally associated with larger robots
The usual advantages of the hydraulic drive system are that it
provides the robot with greater speed and strength.
The disadvantages of the hydraulic drive system
-adds to the floor space required by the robot,
-is inclined to leak oil.

Hydraulic drive systems can be designed to actuate either

rotational joints or linear joints.
Rotary vane actuators can be utilized to provide rotary
motion, and hydraulic pistons can be used to accomplish
linear motion.

Robot Drive Systems

Electric drive :
Systems do not generally provide as much speed or power as
hydraulic systems.
However, the accuracy and repeatability of electric drive
robots are usually better.
electric robots tend to be smaller, requiring less floor space,
and their applications tend toward more precise work such as
assembly.
Electric drive robots are actuated by dc stepping motors or dc
servomotors. These motors are ideally suited to the actuation
of rotational joints through appropriate drive train and gear
systems.

Robot Drive Systems

Electric motors can also be used to actuate linear joints (e.g.,
telescoping arms) by means of pulley systems or other
translational mechanisms.

Robot Drive Systems

The economics of the two types of drive systems are
also a factor in the decision to utilize hydraulic drive
on large robots and electric drive on smaller robots.
It turns out that the cost of an electric motor is much
more proportional to its size,
whereas the cost of a hydraulic drive system is
somewhat less dependent on its size.

Robot Drive Systems

Hypothetical break-even point, below which it is
advantageous to use electric drive and above which
it is appropriate to use hydraulic drive
There is a trend in the design of industrial robots
toward all electric drives, and away from hydraulic
robots because of the disadvantages discussed
above.

Robot Drive Systems

Pneumatic drive:
is generally reserved for smaller robots that possess
fewer degrees of freedom (two- to four-joint
motions).
These robots are often limited to simple "pick-andplace" operations with fast cycles.
Pneumatic power can be readily adapted to the
actuation of piston devices to provide translational
movement of sliding joints.
It can also be used to operate rotary actuators for
rotational joints.

Speed of Motion
The speed capabilities of current industrial robots range up to
a maximum of about 1.7 m/s. This speed would be measured
at the wrist.
Hydraulic robots tend to be faster than electric drive robots.
The speed, of course, determines how quickly the robot can
accomplish a given work cycle.
It is generally desirable in production to minimize the cycle
time of a given task.
Determination of the most desirable speed, also depend on
other factors, such as:
The accuracy with which the wrist (end effector) must be positioned
The weight of the object being manipulated
The distances to be moved.

Speed of Motion
There is generally an inverse relationship between the
accuracy and the speed of robot motions.
As the required accuracy is increased, the robot needs more
time to reduce the location errors in its various joints to
achieve the desired final position.
The weight of the object moved also influences the
operational speed. Heavier objects mean greater inertia and
momentum, and the robot must be operated more slowly to
safely deal with these factors.

Speed of Motion
The influence of the distance to be moved by the robot
manipulator is illustrated in Fig.

Time/distance
Figure : Influence of distance versus speed.

Because of acceleration and deceleration problems, a robot is

capable of traveling one long distance in less time than a
sequence of short distances whose sum is equal to the long
distance.
The short distances may not permit the robot to ever reach
the programmed operating speed.

Load-Carrying Capacity
The size, configuration, construction, and drive system
determine the load-carrying capacity of the robot.
This load capacity should be specified under the condition
that the robot's arm is in its weakest position.
In the case of a polar, cylindrical, or jointed-arm configuration,
this would mean that the robot arm is at maximum extension.
The rated weight-carrying capacities of industrial robots
ranges from less than a pound for some of the small robots up
to several thousand pounds for very large robots.

Load-Carrying Capacity
The manufacturer's specification of this feature is the gross
weight capacity.
To use this specification, the user must consider the weight of
the end effector.

For example, if the rated load capacity of a given robot were

5 lb, and the end effector weighed 2 lb, then the net weightcarrying capacity of the robot would be only 3 lb.

Thank you