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Prof A S Rao
Robotics & CAD/CAM Laboratory Mechanical Engineering Department VEERMATA JIJABAI TECHNOLOGICAL INSTITUTE MUMBAI-400019
Outline
What is Robotics Laws of Robotics What is a Robot Classification Robot Components Robot Coordinates Robot Reference Frames Programming Modes Robot Characteristics Robot Workspace
Robot DOF
Robot Joints
Robot languages
Robot Applications
What is Robotics:
Robotics is an interdisciplinary subject that benefits from mechanical engineering, electrical and electronic engineering, computer science, biology and many other disciplines. Robotics is defined as that branch of engineering which deals with the study of different types of robots, their simulations, their designs, their constructions, operations, performance etc. Robotics is a form of Industrial Automation and is a technology with a future and a technology for the future
What is a Robot :
When we compare a crane attached to a utility or towing vehicle and robot manipulator which appears to be very similar because : Both posses a number of links attached serially to each other with joints In both the systems, the hand of the manipulator can be moved in space and be placed in any desired location with in the workspace of the system Each one is controlled by a central controller which controls the actuators However one is called a robot and the other a manipulator (i.e. a crane) The fundamental difference between the two is that the crane is controlled by a human who operates and controls the actuators, whereas a robot manipulator is controlled by a computer that runs a program.
According to RIA: A robot is a reprogrammable multifunctional manipulator designed to move various objects, tools, materials or specialized devices through variable programmed motions for the performance of variety of tasks
Law of Japan states that a robot is All purpose machine equipped with a memory device (for handling) capable of replacing human labour for the automatic performance of tasks Robert Schilling defines a robot as a software controlled mechanical device that uses sensors to guide one or more of its end effectors through various programmed motions in a work space in order to manipulate physical objects
Classification of Robots:
I. Drive Technology II. Work Envelope/Coordinate Geometry III. Motion Control Methods
I. Drive Technology:
Motors are part of any robot system they produce spatial displacement and control axis motions of the robot. Based on power used to drive the joints of the robot the 3 drive technologies are : 1) Electrical drive technology 2) Hydraulic drive technology 3) Pneumatic drive technology
Robot Components :
Main components are : - Manipulator : Main body (Links, Joints etc) - End effector : Welding Torch, Paint spray gun etc - Actuators : servo motors,stepper motors,cylinders etc - Sensors : Vision, Touch, Speech synthesizers etc - Controller : receives data from PC and controls the
actuators
Robot Joints :
Robots may have types of joints like, Linear (Prismatic): Either hydraulic or pneumatic
cylinder, used in Gantry, cylindrical or similar configurations
Robot Coordinates :
Robot configurations are specified by a succession of Ps, Rs or Ss like 3P3R Cartesian/Rectangular/Gantry (3P) : 3 linear joints Cylindrical (R2P) : 2 prismatic and 1 revolute joints Spherical (2RP) : 1 prismatic and 2 revolute joints
Articulated/anthropomorphic (3R) :
All revolute joints, similar to a humans arm, common for Industrial robots
Selective Compliance Assembly Robot Arm (SCARA) : 2 revolute joints, 1 prismatic (vertical)
they are very common in assembly operations
Programming Modes :
Commonly used Programming Modes : Physical Setup: In this mode operator sets
and hard stops along with devices like PLCs
up switches
In this mode the robot joints are moved with a teach pendant, point to point mode the robot joints are moved simultaneously with a program, its a continuous mode, for example painting robots
Robot Characteristics :
Payload : Reach :
It is the weight a robot can carry with out losing accuracy, Typical values 6.6 lbs of 86 lbs Fanuc Robot LR mate. Reach is the a maximum distance a robot can reach with in its work envelope (reaching dexterous points)
Precision (Validity)
: It is defined as how accurately a specified point can be reached. Typical value 0.001 inch (resolution of robot)
It is defined as how accurately the same position can be reached. Typical value 0.001 inch range for 100 runs (say)
Repeatability (Variability) :
Robot WorkSpace :
Depending on their configuration and size of their links and joints robot can reach a collection of points called a WorkSpace Shape of WS depends on each robot characteristics WS may be found by moving each joint through its range of motions Typical WS are Cartesian,Cylindrical, Spherical,Articulated etc
Robot Languages :
Many robot languages are based on Cobol, Basic, C and Fortran etc Other languages are unique and at different level from machine level to high level languages. High level languages are either interpreter based or compiler based Interpreter based languages execute one line of the program at time such as VAL and AML , so debugging is easier Compiler based languages execute whole program at time such as AL and so debugging is difficult
Robot Applications :
Machine Loading Pick and Place operations Welding Painting Inspection and testing Assembly operations Manufacturing like drilling, deburring, cutting etc. Surveillance Medical applications Hazardous environments Underwater,space, and remote locations
Text Books :
Fundamentals of Robotics - T.C. Manjunath
Reference Books :
Introduction to Robotics - Saeed B. Niku Introduction to Robotics - John J CRAIG Robotics - Ashitava Ghosal