Task 1 Pass criteria {P1}

Analyse the key elements of a robot manipulator given in fig. (1) and their principle of operations: a. List internal or status sensors used in robotic manipulators. Give brief description of their working and mention specific area of use with suitable application process. b. Briefly describe the different drives used in robot. c. Explain what important characteristics which you would consider while choosing a drive system. A: List internal or status sensors used in robotic manipulators. Give brief description of their working and mention specific area of use with suitable application process. 1-Capacitive proximity Sensors 2-Hall Effect Sensors 3-Inductive Proximity Sensors 4-Photoelectric Sensors 5-Contrast Scanner 6-Luminescence Scanner 7-Tachometers 8-The Optical Scanner 9-The Reed Switch

Capacitive Proximity Sensors Capacitive proximity sensors are similar to inductive proximity sensors. The main difference between the two types is that capacitive proximity sensors produce an electrostatic field instead of an electromagnetic field. Capacitive proximity switches will sense metal as well as non-metallic materials such as paper, glass, liquids, and cloth. The sensing surface of a capacitive sensor is formed by two concentrically shaped metal electrodes of an unwound capacitor. When an object nears the sensing surface it enters the electrostatic field of the electrodes and changes the capacitance in an oscillator circuit. As a result, the oscillator begins oscillating. The trigger circuit reads the oscillators

amplitude and when it reaches a specific level the output state of the sensor changes. As the target moves away from the sensor the oscillators amplitude decreases, switching the sensor output back to its original state.

2-Hall Effect Sensors:

A Hall effect sensor is a transducer that varies its output voltage in response to a magnetic field. Hall effect sensors are used for proximity switching, positioning, speed detection, and current sensing applications. In its simplest form, the sensor operates as an analogue transducer, directly returning a voltage. With a known magnetic field, its distance from the Hall plate can be determined. Using groups of sensors, the relative position of the magnet can be deduced. Electricity carried through a conductor will produce a magnetic field that varies with current, and a Hall sensor can be used to measure the current without interrupting the circuit. Typically, the sensor is integrated with a wound core or permanent magnet that surrounds the conductor to be measured. Frequently, a Hall sensor is combined with circuitry that allows the device to act in a digital (on/off) mode, and may be called a switch in this configuration. Commonly seen in industrial applications such as the pictured pneumatic cylinder, they are also used in consumer equipment; for example some computer printers use them to detect missing paper and open covers. When high reliability is required, they are used in keyboards.

Photoelectric Sensors: A photoelectric sensor, or photoeye, is a device used to detect the distance, absence, or presence of an object by using a light transmitter, often infrared, and a photoelectric receiver. They are used extensively in industrial manufacturing. There are three different functional types: opposed (a.k.a. through beam), retroreflective, and proximity-sensing (a.k.a. diffused). An opposed (through beam) arrangement consists of a receiver located within the lineof-sight of the transmitter. In this mode, an object is detected when the light beam is blocked from getting to the receiver from the transmitter. A retroreflective arrangement places the transmitter and receiver at the same location and uses a reflector to bounce the light beam back from the transmitter to the receiver. An object is sensed when the beam is interrupted and fails to reach the receiver. A proximity-sensing (diffused) arrangement is one in which the transmitted radiation must reflect off the object in order to reach the receiver. In this mode, an object is detected when the receiver sees the transmitted source rather than when it fails to see it. Some photoeyes have two different operational types, light operate and dark operate. Light operate photoeyes become operational when the receiver "receives" the transmitter signal. Dark operate photoeyes become operational when the receiver "does not receive" the transmitter signal. The detecting range of a photoelectric sensor is its "field of view", or the maximum distance the sensor can retrieve information from, minus the minimum distance. A minimum detectable object is the smallest object the sensor can detect. More accurate sensors can often have mimimum detectable objects of minuscule size.

B: Briefly describe the different drives used in robot: Actuator: An actuator is a type of motor for moving or controlling a mechanism or system. It is operated by a source of energy, usually in the form of an electric current, hydraulic fluid pressure or pneumaticpressure, and converts that energy into some kind of motion. An actuator is the mechanism by which an agent acts upon an environment. The agent can be either an artificial intelligence agent or any other autonomous being (human, other animal, etc).

Ball Bearing: A ball bearing is a type of rolling-element bearing that uses balls to maintain the separation between the bearing races. The purpose of a ball bearing is to reduce rotational friction and support radial and axial loads. It achieves this by using at least two races to contain the balls and transmit the loads through the balls. In most applications, one race is stationary and the other is attached to the rotating assembly (e.g., a hub or shaft). As one of the bearing races rotates it causes the balls to rotate as well. Because the balls are rolling they have a much lower coefficient of friction than if two flat surfaces were rotating on each other. Ball bearings tend to have lower load capacity for their size than other kinds of rollingelement bearings due to the smaller contact area between the balls and races. However, they can tolerate some misalignment of the inner and outer races

Bearing: A bearing is a device to allow constrained relative motion between two or more parts, typically rotation or linear movement. Bearings may be classified broadly according to the motions they allow and according to their principle of operation as well as by the directions of applied loads they can handle.

Controller: The main device that processes information and carries out instructions in a robot. Also known as the CPU, or processor.

Encoder: An encoder is a device, circuit, transducer, software program, algorithm or person that converts information from one format or code to another, for the purposes of standardization, speed, secrecy, security, or saving space by shrinking size.

Limit Switch: A type of mechanical sensor that requires physical contact to detect the presence or absence of an object. Limit switches are one of the original types of sensors.

Prime Mover: A machine that transforms energy from thermal, electrical or pressure form to mechanical form, typically an engine or turbine

Servomotor: A servomotor is a motor which forms part of a servomechanism. The servomotor is paired with some type of encoder to provide position/speed feedback. A stepper motor is one type of servomotor. A stepper motor is actually built to move angular positions based upon each possible step around the entire rotation, and may include micro-steps with a resolution such as 256 micro-steps per step of the stepper motor. A servomechanism may or may not use a servomotor. For example, a household furnace controlled by a thermostat is a servomechanism, because of the feedback and resulting error signal, yet there is no motor being controlled directly by the servomechanism.

C: Explain what important characteristics which you would consider while choosing a drive system.

The drive is the engine or motor that moves the links into their designated positions. The links are the sections between the joints. Industrial robots generally used one of the following types of drives: hydraulic, electric, or pneumatic. Hydraulic drive systems give a robot great speed and strength. An electric system provides a robot with less speed and strength. Pneumatic drive systems are used for smaller robots that have fewer axes of movement. Drives should be periodically inspected for wear and replaced if necessary. The most important characteristics would consider while choosing a drive system is: 1-Low cost and quiet operation. 2-Easy installation precise alignment is not required as with other types of drive systems. 3-Adjust belt tension for desired operation. Adjust tight for non-slip, high-torque action. Or adjust looser for smooth, clutch-action starts. 4- The actions of the individual joints must be controlled in order for the manipulator to perform a desired motion. The robots capacity to move its body, arm, and wrist is provided by the drive system used to power the robot. 5- The drive system determines the speed of the arm movement, the strength of the robot, dynamic performance, and, to some extent, the kinds of application. 6-Characteristics of Actuating Systems -Weight, Power-to-weight Ratio. -Operating Pressure. -Stiffness vs. Compliance. -Use of reduction gears. 7-Robot Actuators Quality Have enough power to acc/dec the links, Carry the loads, Light, Economical, Accurate, Responsive, Reliable and Easy to maintain.

Task 2 Pass criteria {P2}

Describe the main control elements of robot system and their functions.

Describe about robotic controller. Include in your description details about C.P.U. memory, input/output capabilitiesetc. Every robot needs a brain! Robot Controllers allow your robot to interface inputs to outputs; programmable on board microcontrollers and computers that enable your robot to react to its environment. Our wide selection including Phi gets, AVRs, PICs, and specialized Robot Computers are available to fit just about every project need. CPU: The central processing unit (CPU) is the portion of a computer system that carries out the instructions of a computer program, to perform the basic arithmetical, logical, and input/output operations of the system. The CPU plays a role somewhat analogous to the brain in the computer The form, design and implementation of CPUs have changed dramatically since the earliest examples, but their fundamental operation remains much the same. On large machines, CPUs require one or more printed circuit boards. On personal computers and small workstations, the CPU is housed in a single silicon chip called a microprocessor. Since the 1970s the microprocessor class of CPUs has almost completely overtaken all other CPU implementations. Modern CPUs are large scale integrated circuits in packages typically less than four centimeters square, with hundreds of connecting pins. Two typical components of a CPU are the arithmetic logic unit (ALU), which performs arithmetic and logical operations, and the control unit (CU), which extracts instructions from memory and decodes and executes them, calling on the ALU when necessary. Not all computational systems rely on a central processing unit. An array processor or vector processor has multiple parallel computing elements, with no one unit considered the "center". In the distributed computing model, problems are solved by a distributed interconnected set of processors. Memory: In computing, memory refers to the physical devices used to store programs (sequences of instructions) or data (e.g. program state information) on a temporary or permanent basis for use in a computer or other digital electronic device. The term primary memory is used for the information in physical systems which are fast

(i.e. RAM), as a distinction from secondary memory, which are physical devices for program and data storage which are slow to access but offer higher memory capacity. Primary memory stored on secondary memory is called "virtual memory". The term "storage" is often (but not always) used in separate computers of traditional secondary memory such as tape, magnetic disks and optical discs (CDROM and DVD-ROM). The term "memory" is often (but not always) associated with addressable semiconductor memory, i.e. integrated circuits consisting of siliconbased transistors, used for example as primary memory but also other purposes in computers and other digital electronic devices. There are two main types of semiconductor memory: volatile and non-volatile. Examples of non-volatile memory are flash memory (sometimes used as secondary, sometimes primary computer memory) and ROM/PROM/EPROM/EEPROM memory (used for firmware such as boot programs). Examples of volatile memory are primary memory (typically dynamic RAM, DRAM), and fast CPU cache memory (typically static RAM, SRAM, which is fast but energy-consuming and offer lower memory capacity per area unit than DRAM) . ROM: Read-only memory (ROM) is a class of storage medium used in computers and other electronic devices. Data stored in ROM cannot be modified, or can be modified only slowly or with difficulty, so it is mainly used to distribute firmware (software that is very closely tied to specific hardware, and unlikely to need frequent updates). In its strictest sense, ROM refers only to mask ROM (the oldest type of solid state ROM), which is fabricated with the desired data permanently stored in it, and thus can never be modified. Despite the simplicity, speed and economies of scale of mask ROM, field-programmability often make reprogrammable memories more flexible and inexpensive. As of 2007, actual ROM circuitry is therefore mainly used for applications such as microcode, and similar structures, on various kinds of digital processors (i.e. not only CPUs). RAM: Random access memory (RAM) is a form of computer data storage. Today, it takes the form of integrated circuits that allow stored data to be accessed in any order with a worst case performance of constant time. Strictly speaking, modern types of DRAM are therefore not random access, as data is read in bursts, although the name DRAM / RAM has stuck. However, many types of SRAM, ROM, OTP, and NOR flash are still random access even in a strict sense. RAM is often associated with volatile types of memory (such as DRAM memory modules), where its stored information is lost if the power is removed. Input Devices: In computing, an input device is any peripheral (piece of computer hardware equipment) used to provide data and control signals to an information processing system such as

a computer or other information appliance. Input and output devices make up the hardware interface between a computer and a scanner or 6DOF controller. Output Devices: An output device is any piece of computer hardware equipment used to communicate the results of data processing carried out by an information processing system (such as a computer) to the outside world. In computing, input/output, or I/O, refers to the communication between an information processing system (such as a computer), and the outside world. Inputs are the signals or data sent to the system, and outputs are the signals or data sent by the system to the outside

Task 3 Pass criteria {P3} Describe devices and methods used in improve the intelligence of a robot. a. Explain the term intelligent robot. b. Describe devices and its utility in the context of manufacturing environment. c. List the essential technologies to build intelligent robots.

A-Explain the term intelligent robot: The term "artificial intelligence" is defined as systems that combine sophisticated hardware and software with elaborate databases and knowledge-based processing models to demonstrate characteristics of effective human decision making. The criteria for artificial systems include the following: 1) functional: the system must be capable of performing the function for which it has been designed; 2) able to manufacture: the system must be capable of being manufactured by existing manufacturing processes; 3) designable: the design of the system must be imaginable by designers working in their cultural context; and 4) marketable: the system must be perceived to serve some purpose well enough, when compared to competing approaches, to warrant its design and manufacture. Robotics is one field within artificial intelligence. It involves mechanical, usually computer-controlled, devices to perform tasks that require extreme precision or tedious or hazardous work by people. Traditional Robotics uses Artificial Intelligence planning techniques to program robot behaviours and works toward robots as technical devices that have to be developed and controlled by a human engineer. The Autonomous Robotics approach suggests that robots could develop and control themselves autonomously. These robots are able to adapt to both uncertain and incomplete information in constantly changing environments. This is possible by imitating the learning process of a single natural organism or through Evolutionary Robotics, which is to apply selective reproduction on populations of robots. It lets a simulated evolution process develop adaptive robots. The artificial intelligence concept of the "expert system" is highly developed. This describes robot programmers ability to anticipate situations and provide the robot with a set of "if-then" rules. For example, if encountering a stairwell, stop and retreat The more sophisticated concept is to give the robot the ability to "learn" from experience. A neural network brain equipped onto a robot will allow the robot to sample its world at random. Basically, the robot would be given some life-style goals, and, as it experimented, the actions resulting in success would be reinforced in the brain. This results in the robot devising its own rules. This is appealing to researchers and the community as it parallels human learning in lots of ways. Artificial intelligence dramatically reduces or eliminates the risk to humans in many

applications. Powerful artificial intelligence software helps to fully develop the highprecision machine capabilities of robots, often freeing them from direct human control and vastly improving their productivity. When a robot interacts with a richly populated and variable world, it uses it senses to gather data and then compare the sensate inputs with expectations that are imbedded in its world model. Therefore the effectiveness of the robot is limited by the accuracy to which its programming models the real world. B- Describe devices and its utility in the context of manufacturing environment: Linear actuators Various types of linear actuators move in and out instead of by spinning, particularly when very large forces are needed such as with industrial robotics. They are typically powered by compressed air (pneumatic actuator) or oil (hydraulic actuator). Series elastic actuators A spring can be designed as part of the motor actuator, to allow improved force control. It has been used in various robots, particularly walking humanoid robots. Air muscles Pneumatic artificial muscles, also known as air muscles, are special tubes that contract (typically up to 40%) when air is forced inside them. They have been used for some robot applications. Muscle wire Main article: Shape memory alloy. Muscle wire, also known as Shape Memory Alloy, Nitinol or Flexinol Wire, is a material that contracts slightly (typically under 5%) when electricity runs through it. They have been used for some small robot applications. Electro active polymers EAPs or EPAMs are a new plastic material that can contract substantially (up to 380% activation strain) from electricity, and have been used in facial muscles and arms of humanoid robots, and to allow new robots to float, fly, swim or walk. Piezo motors Recent alternatives to DC motors are piezo motors or ultrasonic motors. These work on a fundamentally different principle, whereby tiny piezoceramic elements, vibrating many thousands of times per second, cause linear or rotary motion. There are different mechanisms of operation; one type uses the vibration of the piezo elements to walk the motor in a circle or a straight line. Another type uses the piezo elements to cause a nut to vibrate and drive a screw. The advantages of these motors are nanometer resolution,

speed, and available force for their size. These motors are already available commercially, and being used on some robots. Elastic nanotubes Further information: Nanotube. Elastic nanotubes are a promising artificial muscle technology in early-stage experimental development. The absence of defects in carbon nanotubes enables these filaments to deform elastically by several percent, with energy storage levels of perhaps 10 J/cm3 for metal nanotubes. Human biceps could be replaced with an 8 mm diameter wire of this material. Such compact "muscle" might allow future robots to outrun and outjump humans. Touch (Sensing) Current robotic and prosthetic hands receive far less tactile information than the human hand. Recent research has developed a tactile sensor array that mimics the mechanical properties and touch receptors of human fingertips. The sensor array is constructed as a rigid core surrounded by conductive fluid contained by an elastomeric skin. Electrodes are mounted on the surface of the rigid core and are connected to an impedancemeasuring device within the core. When the artificial skin touches an object the fluid path around the electrodes is deformed, producing impedance changes that map the forces received from the object. The researchers expect that an important function of such artificial fingertips will be adjusting robotic grip on held objects. Scientists from several European countries and Israel developed a prosthetic hand in 2009, called Smart Hand, which functions like a real oneallowing patients to write with it, type on a keyboard, play piano and perform other fine movements. The prosthesis has sensors which enable the patient to sense real feeling in its fingertips.

Vision Computer vision is the science and technology of machines that see. As a scientific discipline, computer vision is concerned with the theory behind artificial systems that extract information from images. The image data can take many forms, such as video sequences and views from cameras. In most practical computer vision applications, the computers are pre-programmed to solve a particular task, but methods based on learning are now becoming increasingly common. Computer vision systems rely on image sensors which detect electromagnetic radiation which is typically in the form of either visible light or infra-red light. The sensors are designed using solid-state physics. The process by which light propagates and reflects off surfaces is explained using optics. Sophisticated image sensors even require quantum mechanics to provide a complete understanding of the image formation process. There is a subfield within computer vision where artificial systems are designed to mimic the processing and behavior of biological systems, at different levels

of complexity. Also, some of the learning-based methods developed within computer vision have their background in biology.

C-List the essential technologies to build intelligent robots The Player Project (formerly the Player/Stage Project or Player/Stage/Gazebo Project) is a project to create free software for research into robotics and sensor systems. Its components include the Player network server and Stage and Gazebo robot platform simulators. Although accurate statistics are hard to obtain, Player is one of the most popular open-source robot interfaces in research and post-secondary education. Most of the major intelligent robotics journals and conferences regularly publish papers featuring real and simulated robot experiments using Player, Stage and Gazebo. The Player Project is an umbrella under which three robotics-related software projects are currently developed.  The Player networked robotics server  The Stage 2D robot simulation environment  The Gazebo 3D robot simulation environment. The project was founded in 2000 by Brian Gerkey,Richard Vaughan and Andrew Howard at the University of Southern California at Los Angeles, and is widely used in robotics research and education.[3] It releases its software under the GNU General Public License with documentation under the GNU Free Documentation License. Being that the software is GPL and open source, Player Project is free in both senses (free as in free-beer and free as in free-speech). Player Networked Robotics Server: The Player software runs on POSIX-compatible operating systems, including Linux, Mac OS X, Solaris, the BSD variants, and Microsoft Windows. Player can be described as a 'robot abstraction layer,' in that all devices are abstracted into a set of pre-defined interfaces. Player supports a wide variety of hardware (sensor devices and robot platforms alike)[4]. It also contains client library support for a number of programming languages including C, C++, Python andRuby. Third-party client libraries are available in languages like Java and Tcl. Additional features include a minimal and flexible design, support for interfacing with multiple devices concurrently, and on-the-fly server configuration.

The Stage 2D robot simulation environment:

The Stage simulator is a 2D multiple-robot simulation environment built on top of FLTK. Stage provides a basic simulation environment that can be scaled to model one to hundreds of robots at a time. Stage can be used alone to simulate robot behaviors via

user-defined control programs. Stage can also interface with Player, allowing users of the Player to access simulated sensors and devices through the Player interfaces.

The Gazebo 3D robot simulation environment:

The Gazebo simulator is a 3D robot simulation environment built on top of OGRE. Gazebo, like Stage, can be used alone, or accessed through the Player server. Supports the following robots:
             

Acroname's Garcia Botrics's Obot d100 CoroWare Inc. Corobot and Explorer Evolution Robotics' ER1 and ERSDK robots iRobot's Roomba vacuuming robot K-Team's Robotics Extension Board (REB) attached to Kameleon 376BC K-Team's Khephera MobileRobots' (formerly ActivMedia) PSOS/P2OS/AROS-based robots Nomadics' NOMAD200 (and possibly related) mobile robots RWI/iRobot's RFLEX-based robots (e.g., B21r, ATRV Jr) Segway's Robotic Mobility Platform (RMP) UPenn GRASP's Clodbuster Videre Design's ERRATIC mobile robot platform White Box Robotics' 914 PC-BOT

Task 4 Pass criteria {P4} Investigate the possible sources of error or malfunction in an industrial robot system. In context of manufacturing environment investigate the following issues. 1. Hazard analysis. 2. Control system failure and malfunction. 3. External equipment failure and malfunction.

Hazard Analysis: A hazard analysis is used as the first step in a process used to assess risk. The result of a hazard analysis is the identification of risks. Preliminary risk levels can be provided in the hazard analysis. The validation, more precise prediction and acceptance of risk is determined in the Risk assessment (analysis). The main goal of both is to provide the best selection of means of controlling or eliminating the risk. The term is used in several engineering specialties, including avionics, chemical process safety, safety engineering, reliability engineering and food safety. Alternative definitions include. A hazard is defined in FAA Order 8040.4 as a "Condition, event, or circumstance that could lead to or contribute to an unplanned or undesirable event." Seldom does a single hazard cause an accident. More often, an accident occurs as the result of a sequence of causes. A hazard analysis will consider system state, for example operating environment, as well as failures or malfunctions. IEEE STD-1228-1994 Software Safety Plans prescribes industry best practices for conducting software safety hazard analyses to help ensure safety requirements and attributes are defined and specified for inclusion in software that commands, controls or monitors critical functions. When software is involved in a system, the development and design assurance of that software is often governed by DO-178B. The severity of consequence identified by the hazard analysis establishes the criticality level of the software. Software criticality levels range from A to E, corresponding to severities of Catastrophic to No Safety Effect. Higher levels of rigor are required for level A and B software and corresponding functional tasks and work products is the system safety domain are used as objective evidence of meeting safety criteria and requirements. Recently a leading edge commercial standard was promulgated based on decades of proven system safety processes in DoD and NASA. ANSI/GEIA-STD-0010-2009 (Standard Best Practices for System Safety Program Development and Execution) is a demilitarized commercial best practice that uses proven hostistic, comprehensive and tailorable approaches for hazard prevention, elimination and control. It is centered around the hazard analysis and functional based safety process.

Control system failure and malfunction: A life-critical system or safety-critical system is a system whose failure or malfunction may result in:
  

death or serious injury to people, or loss or severe damage to equipment or environmental harm.

Risks of this sort are usually managed with the methods and tools of safety engineering. A life-critical system is designed to lose less than one life per billion (109) hours of operation. Typical design methods include probabilistic risk assessment, a method that combines failure mode and effects analysis (FMEA) with fault tree analysis. Safetycritical systems are increasingly computer-based. Several reliability regimes for life-critical systems exist:


Fail-operational systems continue to operate when their control systems fail. Examples of these include elevators, the gas thermostats in most home furnaces, and passively safe nuclear reactors. Fail-operational mode is sometimes unsafe. Nuclear weapons launch-on-loss-of-communications was rejected as a control system for the U.S. nuclear forces because it is fail-operational: a loss of communications would cause launch, so this mode of operation was considered too risky. This is contrasted with the Fail-deadly behavior of Perimetr system built during the Soviet era.[2] Fail-safe systems become safe when they cannot operate. Many medical systems fall into this category. For example, an infusion pump can fail, and as long as it complains to the nurse and ceases pumping, it will not threaten the loss of life because its safety interval is long enough to permit a human response. In a similar vein, an industrial or domestic burner controller can fail, but must fail in a safe mode (i.e. turn combustion off when they detect faults). Famously, nuclear weapon systems that launch-on-command are fail-safe, because if the communications systems fail, launch cannot be commanded. Railway signaling is designed to be fail-safe. Fail-secure systems maintain maximum security when they cant operate. For example, while fail-safe electronic doors unlock during power failures, fail-secure ones lock, possibly trapping people in a burning building. Fail-Passive systems continue to operate in the event of a system failure. An example includes an aircraft autopilot. In the event of a failure, the aircraft would remain in a controllable state and allow the pilot to take over and complete the journey and perform a safe landing. Fault-tolerant systems avoid service failure when faults are introduced to the system. An example may include control systems for ordinary nuclear reactors. The normal method to tolerate faults is to have several computers continually test the parts of a system, and switch on hot spares for failing subsystems. As long as faulty subsystems are replaced or repaired at normal maintenance intervals, these

systems are considered safe. Interestingly, the computers, power supplies and control terminals used by human beings must all be duplicated in these systems in some fashion. External equipment failure and malfunction: Most robots are set up for an operation by the teach-and-repeat technique. In this technique, a trained operator (programmer) typically uses a portable control device (commonly referred to as a teach pendant) to manually key a robot and its tasks. Program steps are of the up-down, left-right, in-out, and clockwise-counter clockwise variety. Robot speeds during these programming sessions are required to be slow. The ANSI Standard currently recommends that this slow speed should not exceed 10 in/sec (250 mm/sec). The very nature of robotics systems operations has introduced a new type of employee into the industrial workplace, the corrective maintenance worker. This individual is normally present during all operations of a robotics system and is responsible for assuring continuing operation - adjusting speeds, correcting grips, and freeing jam-ups. The corrective maintenance worker may also be the trained programmer who guides a robot through the teach-and-repeat technique. It is necessary for this individual to be near the robot from time to time, which raises concerns about his or her safety and the safety of other workers who may also be exposed. Recent studies in Sweden and Japan indicate that many robot accidents do not occur under normal operating conditions but rather during programming, adjustment, testing, cleaning, inspection, and repair periods. During many of these operations, the operator, programmer or corrective maintenance worker may temporarily be within the robot work envelope while power is available to moveable elements of the robot system. This guideline describes some of the elements of good safety practices and techniques used in the section and installation of robots and robot safety systems, control devices, robot programming and employee training. A comprehensive list of safety requirements is provided in the ANSI R15.06-1986 Standard.

Task 5 Pass criteria {M1}

Carry out a case study on the robot (Move Master RV2) available in SIT and find the following: 1. 2. 3. 4. Type of robot Type of drive systems industrial application this kind of robot Possible chance of malfunction on that particular type of robot.

Type of robot: