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The robot, therefore, represents flexible automation and so it fits well in the frame of CIM
Robot Construction
The manipulator of an industrial robot consists of a number of rigid links connected by joints of different types, controlled and monitored by a computer. The link assembly is connected to the body, which is usually mounted on a base. To a large extend, the physical construction of a robot resembles a human arm. A wrist is attached to the arm. To facilitate gripping or handling, a hand is attached at the end of the wrist, this hand is called an end-effector. The complete motion of the end-effector is accomplished through a series of motions and positions of the links, joints, and wrist. Robot construction is concerned with the types and sizes of joints, links and other aspects of the manipulator.
1. Linear Joint (type L joint) The relative movement between the input link and the output link is a translational sliding motion, with the axes of the two links being parallel.
Body-and-Arm Configurations
There are five basic configurations commonly available in commercial industrial robots:
Body-and-Arm Configurations
2. Cylindrical Configuration
This robot configuration consists of a vertical column, relative to which an arm assembly is moved up and down. The arm can be moved in and out relative to the axis of the column. A T joint to rotate the column about its axis. An L joint is used to move the arm assembly vertically along the column. An O joint is used to achieve radial movement of the arm.
Body-and-Arm Configurations
3. Cartesian (Rectangular) Configuration
It is composed of three sliding joints, two of which are orthogonal.
Body-and-Arm Configurations
4. Jointed-arm robot (articulated) Configuration
This robot manipulator has the general configuration of a human arm. The joined arm consists of a vertical column that swivels about the base using a T joint. At the top of the column is a shoulder joint (R joint), whose about link connects to an elbow joint (R joint)
Body-and-Arm Configurations
5. SCARA (Selective Complains Assembly Robot Arm)
This configuration is similar to the jointed robot except that the shoulder and elbow rotational axes are vertical, which means that the arm is very rigid in the vertical direction, but complaint in the horizontal direction.
Wrist Configurations
The robots wrist is used to establish the orientation of the end effector. Robot wrists usually consists of two or three degrees-offreedom. The three joints are defined as:
1. Roll, using a T joint to accomplish rotation about the robots arm axis. 2. Pitch, which involves up-and-down rotation, typically a R joint. 3. Yaw, which involves right-and-left rotation, also accomplished by means of an R-Joint.
A two D-O-F wrist typically includes only roll and pitch joints (T and R joints)
Solution
1. This configuration has two linear joints, Hence, it is designated LL. 2. This configuration has three rotational joints, Hence, it is designated RRR. 3. This configuration has one twsiting joint and one linear joint. This is indicated by TL
For the robots shown above, the complete designation is as follows: (a) LRL:TRT (b) RRL:TRT (c) TRL:TRT (d) LVL:TRT
Work Volume
The work volume (work envelope) of the manipulator is defined as the envelope or space within which the robot can manipulate the end of its wrist.
Work volume is determined by: 1. the number and types of joints in the manipulator (body-and-arm and wrist), 2. the ranges of the various joints, and 3. the physical sizes of the links
The shape of the work volume depends largely on the robots configuration
Work Volume
A Cartesian robot has a rectangular work volume
Work Volume
A cylindrical robot has a cylindrical work volume
Work Volume
A spherical robot tends to have a sphere as its work volume
Limited sequence control uses mechanical stops to provide the extreme ranges of motion and when motion command is used, the joint is driven until the mechanical stop is reached. This technique is no longer used.
Continuous Path Control requires the robot end effector to follow a stated path from the starting point to the end point. This technique is required in many applications that require the actual tracing of a contour, for instance, in arc welding or spray painting. The continuous path robots usually follow a series of closely spaced points on a path and these points are defined by the control unit rather than the programmer. In many cases, the paths between points are straight lines
End Effectors
The end effector enables the robot to accomplish a specific task. Because of the wide variety of tasks performed by industrial robots, the end effector must usually be custom-engineered and fabricated for each different application. Two categories of end effectors are 1. Grippers. 2. Tools.
Tools are used in applications where the robot must perform some processing operation on the part. Examples of the tools are: 1. Spot welding gun. 2. Arc welding tool. 3. Spray painting gun. 4. Rotating spindle for drilling, grinding, and so forth. 5. Assembly tool (e.g. automatic screw driver) 6. Heating torch.
End Effectors
Grippers are end effectors used to grasp and manipulate objects during the work cycle