Commonly Used For:: Cartesian
Commonly Used For:: Cartesian
Commonly Used For:: Cartesian
Advantages:
Large work volume and inherently rigid structure
Large payload capacity
High accuracy
Constant accuracy/speed/payload capacity over entire range
Simple kinematic model results into simpler control system
Easily controlled/programmed movements
Disadvantages
can only reach front of itself
requires a large volume to operate in
work space is smaller than robot volume
unable to reach areas under objects
Cylindrical
TLO: One revolute and two prismatic joints.
consists of a vertical column. Arm assembly is
moved up or down relative to the vertical column.
The arm can be moved in and out relative to the axis
of the column.
Axes consistent with cylindrical coordinate system
Commonly used for:
handling die-casting machines
assembly operations
handling machine tools
spot welding
Advantages:
Control system simplicity due to simple kinematic model
good access into cavities and machine openings
very powerful when hydraulic drives used, Hence, Fast operation
Structural simplicity
Good accuracy
Disadvantages
restricted work space
prismatic guides difficult to seal from dust and liquids
back of robot can overlap work volume
Polar or Spherical
TRL: base with a twisting (T) joint followed by
rotary (R) and prismatic joints (L)
Used where few vertical movements are required.
results into spherical coordinate system and a work
volume that is spherical.
Commonly used for:
Pick and place applications
arc/spot welding
Advantages:
covers a large volume from a central support
Large payload capacity
Fast Operation
can bend down to pick objects up off the floor
Disadvantages
complex kinematic model
Although it sweeps out a relatively large work volume, the access of the arm within this
total volume is limited.
Accuracy and repeatability reduce at long reaches
Jointed Arm
TRR: consists of a vertical column that swivels about
the base (T-joint), shoulder joint (R-type) is located
at the top of the column. The output link is an elbow
joint (R joint).
also be called 'anthropomorphic configuration' since
its movements resemble the movements of human
body.
Applications:
assembly , welding, weld sealing, spray painting,
handling at die casting or fettling machines
Advantages:
Very high flexibility: Ability to reach over and under objects
Easy access to front, sides, rear, and overhead
covers a large work space relative to volume of robots
revolute joints are easy to seal and suitable for electric motors
Ability to traverse complex continuous path
Fast operation (due to rotary joints)
Disadvantages
second axis has to lift both the subsequent arm structure and payload
complex kinematics
control of linear motion is difficult
structure is not very rigid at full reach
Process Planning
Process planning involves the preparation for the manufacture of products.
Process planning deals with the selection and definition of the processes that have to be
performed in order to transform raw material into a given shape
Master production schedule: states which end items are to be produced, when these
are needed, and in what quantities.
Bill of materials (BOM) file: product structure tree and a listing of all of the raw
materials, parts, subassemblies, and assemblies needed to produce one unit of a
product. Each finished product has its own bill of materials.
In the figure 5 Model of manufacturing, showing (a] the factory as a processing pipeline
where the physical manufacturing activities are performed, and (b) the information-
processing activities that support manufacturing as a ring that surrounds the factory
concerned more with the information-processing functions that are required to support the
production operations. CIM involves the use of computer systems to perform the four
types of information-processing functions. Just as automation deals with the physical
activities, CIM deals with automating the information-processing activities in
manufacturing.
Outer layer constitutes of general management which includes marketing, strategic
planning, finance, manufacturing management and human resource management.