AUTOMATION AND ROBOTICS

Introduction to IAR

AUTOMATION AND ROBOTICS LECTURE 2 Technologies in Automation and Robotics BY K CHIHOTA (BSc, MEng)

AUTOMATION AND ROBOTICS

Introduction to IAR

Actuators and transmission systems Mechanisms Power supplies Power storage systems Sensors (Internal and External) Micro Controllers and processors Algorithms and softwares Robot simulation and Programming

Robot nomenclature Even the most complex robotic system can be broken down into a few basic components, which provide an overview of how a robot works. These components are covered in this Lecture, with more detail provided in later chapters. Freedom of motion and the resulting shape of the robots work area are also addressed in this Lecture as well. Robots come in many shapes and sizes. The industrial robots illustrated in Figure 2-1 resemble an inverted human arm mounted on a base. Robots consist of a number of components, that work together: the controller, the manipulator, an end effector, a power supply, and a means for programming. The relationship among these five components is illustrated in Figure 2-2.

AUTOMATION AND ROBOTICS

Introduction to IAR

ACTUATORS: In automated systems, an actuator is a device that converts a control signal into a physical action, which usually refers to a change in a process input parameter. The action is typically mechanical, such as a change in position of a worktable or rotational speed of a motor. The control signal is generally a low level signal, and an amplifier may be required to increase the power of the signal to drive the actuator. Actuators can be classified according to type of amplifier as (1) electrical, (2) hydraulic, or (3) pneumatic. Electrical actuators include AC and DC electric motors, stepper motors, and solenoids. Hydraulic actuators utilize hydraulic fluid to amplify the control signal and are often specified when large forces are required in the application. Pneumatic actuators are driven by compressed air, which is commonly used in factories. All three actuator types are available as linear or rotational devices. This designation distinguishes whether the output action is a linear motion or a rotational motion. Electric motors and stepper motors are more common as rotational actuators, whereas most hydraulic and pneumatic actuators provide a linear output. Actuators and transmission system

An actuator is a mechanism for activating process control equipment by use of pneumatic, hydraulic, or electronic signals. There are several types of actuators in robotic arms.

Synchronous - The motor contains a rotor that rotates in synchrony with the oscillating field or current.
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Introduction to IAR

Brushless DC Servo - This synchronous electric motor features permanent magnet poles on the rotor, which are attracted to the rotating poles of the opposite magnetic polarity in the stator creating torque. It is powered by a DC current that has an electronically controlled commutation system instead of a system based on brushes. Current, torque, voltage, and rpm are linearly related. The advantages of a brushless motor include higher efficiency and reliability, reduced noise, longer lifetime (no brush erosion), elimination of ionizing sparks from the commutator, and an overall reduction of electromagnetic interference (EMI). Stepper - A type of brushless servo motor, this motor is generally electric and moves or rotates in small discrete steps. Stepper motors offer many advantages, such as dual compatibility with both analog and digital feedback signals. They can be used to easily accelerate a load because the maximum dynamic torque occurs at low pulse rates. Drawbacks of their use include low efficiency; much of the input energy is dissipated as heat and the inputs must be matched to the motor and load. The load should be carefully analyzed for optimal performance. Damping may be required when load inertia is exceptionally high to prevent oscillation.

Brushed DC Servo - The classic DC motor generates an oscillating current in a rotor with a split ring commutator, and either a wound or permanent magnet stator. A coil is wound around the rotor, which is then powered by a battery. The rotational speed is proportional to the voltage applied to it and the torque is proportional to the current. Speed control can be achieved by applying tape to the battery, varying the supply voltage, resistors, or electronic controls. The advantage to using a brushed motor over a brushless is cost. The brushless motor requires more complex electronic speed controls; however a brushed DC motor can be regulated by a simple variable resistor, such as a potentiometer or rheostat. This is not efficient, but proves satisfactory for cost-sensitive applications.

Asynchronous - This motor is designed to slip in order to generate torque. o Traction Motor - A type of electric motor that is used to power the driving wheels of a vehicle. The availability of high-powered semiconductors has now made practical the use of much simpler, higher-reliability AC induction motors known as asynchronous traction motors. AC Servo Motors - Used in applications that require a rapid and accurate response, these motors are basically two-phase, reversible induction motors that are modified for servo operation. AC Servo motors have a small diameter and high resistance rotors. This design provides low inertia for fast starts, stops, and reversals. AC Servo Motors can also be classified as asynchronous or synchronous.

AUTOMATION AND ROBOTICS

Introduction to IAR

Pneumatic - Powered by the conversion of compressed air, these actuators are used to control processes that require a quick and accurate response, but not a large amount of force. These compact and lightweight actuators are less energy efficient than electric motors. Hydraulic - With the ability to convert hydraulic pressure and flow into torque and rotation, these actuators can be used when a large amount of force is needed. The most common example is a piston. This motor uses hydraulic fluid under pressure to drive machinery. The energy comes from the flow and pressure, not the kinetic energy of the flow.

Mechanisms A robot is a machine capable of physical motion for interacting with the environment. Physical interactions include manipulation, locomotion, and any other tasks changing the state of the environment or the state of the robot relative to the environment. Joint Primitives and Serial Linkages A robot mechanism is a multi-body system with the multiple bodies connected together. We begin by treating each body as rigid, ignoring elasticity and any deformations caused by large load conditions. Each rigid body involved in a robot mechanism is called a link, and a combination of links is referred to as a linkage. In describing a linkage it is fundamental to represent how a pair of links is connected to each other. There are two types of primitive connections between a pair of links, as shown below. The first is a prismatic joint where the pair of links makes a translational displacement along a fixed axis. In other words, one link slides on the other along a straight line. Therefore, it is also called a sliding joint. The second type of primitive joint is a revolute joint where a pair of links rotates about a fixed axis. This type of joint is often referred to as a hinge, articulated, or rotational joint.

One of the fundamental functional requirements for a robotic system is to locate its end-effecter, e.g. a hand, a leg, or any other part of the body performing a task, in three-dimensional space. If the

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Introduction to IAR

kinematic structure of such a robot mechanism is analogous to a coordinate system, it may suffice this positioning requirement. Articulated (Jointed-Arm) - This rotary jointed body can range from simple two-jointed structures to systems with ten or more interacting joints. The advantage of articulated robot arms is that the configuration enables the robot to reach any part in the working envelope.

SCARA - A horizontal articulated arm robot with three axes.

SCALAR type robot Cartesian - Rectangular arm that moves on an X, Y, Z coordinate system.

Cartesian coordinate robot

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AUTOMATION AND ROBOTICS

Introduction to IAR

Cylindrical - Three degrees of freedom, but moves linearly along the Y and Z axes. It rotates around the base for the third degree of freedom.

Cylindrical coordinate robot Polar - Also known as a spherical arm, this manipulator has one sliding motion and two rotational

Spherical coordinate robot

AUTOMATION AND ROBOTICS

Introduction to IAR

Parallel Linkages Primitive joints can be arranged in parallel as well as in series. Figure 3.2.1 illustrates such a parallel link mechanism. It is a five-bar-linkage consisting of five links, including the base link, connected by five joints. This can be viewed as two serial linkage arms connected at a particular point, point A in the figure. It is important to note that there is a closed kinematic chain formed by the five links and, thereby, the two serial link arms must conform to a certain geometric constraint. It is clear from the figure that the end-effecter position is determined if two of the five joint angles are given. For example, if angles 1? and 3? of joints 1 and 3 are determined, then all the link positions are determined, as is the end-effecters. Driving joints 1 and 3 with two actuators, we can move the end-effecter within the vertical plane. It should be noted that, if more than two joints were actively driven by independent actuators, a conflict among three actuators would occur due to the closed-loop kinematic chain. Three of the five joints should be passive joints, which are free to rotate. Only two joints should be active joints, driven by independent actuators.

AUTOMATION AND ROBOTICS

Introduction to IAR

Five-bar-link parallel link robot