Industrial Robotics: By:-Vishehwar Oraon MT13IND007

INDUSTRIAL ROBOTICS
By :- VISHEHWAR
ORAON
MT13IND007
Introduction to robotics
 Automation
Hard automation:-
conventional machinery, packaging ,sewing, manufacturing small parts
Cannot handle product design variation , mass production are
adjustability possible
 Programmable automation :- flexible because of computer control. can
handle variation ,Batch production
 Autonomous:- endowed with decision making capability through use of
sensors
 Animal :- autonomous to some extent .
 Humans:- highly autonomous endowed with greater intelligence
Status today
 Industrial robot , medical robot mobile robot
(wheeled legged) hopping and running machine
,robot aircraft and boat
 Robot toys ,robot for entertainment
 Robot for cleaning at home and industry
Extrapolating from nature
Humans and animals
 Arms and fingers to manipulates objects ,legs for
locomotion and muscles for actuators
 Eyes provide vision ,nose for smelling ears for
hearing tongue for test , skin for feeling
 Nerves for communication and the brain the
controllers
 The field of robotics origins in scientific term
robot came from Czechoslovakian language
ROBOTA
 An industrial robot is a general purpose
programmable NC processing certain
anthromorphic characteristic.
The Japan is the world leader in robotics
development and robot use. Japan industrial
robot association (JIRA)and the Japanese
industrial standards committee defines the
industrial robot various level as;
 “Manipulator: A machine that has functions
similar to human upper limbs, and moves the
objects spatially.
 Playback robot: A manipulator that is able to
perform an operation by reading off the
memorized information for an operation
sequence, which is learned beforehand.
 Intelligent robot: A robot that can determine its
own behavior and conduct through its function of
sense and recognition.
Industrial Robotics
Sections:
1. Robot Anatomy
2. Robot Control Systems
3. End Effectors
Robot Anatomy
 Manipulator consists of joints and links Joint3 Link3
◦ Joints provide relative motion End of Arm
◦ Links are rigid members between joints
◦ Various joint types: linear and rotary
◦ Each joint provides a “degree-of-freedom” Link2
◦ Most robots possess five or six degrees-of- Link1
freedom
 Robot manipulator consists of two sections: Joint2
◦ Body-and-arm – for positioning of objects in the
robot's Joint1
work volume Link0
◦ Wrist assembly – for orientation of objects Base
Manipulator Joints
 Translational motion
 Linear joint (type L)
 Orthogonal joint (type O)
 Rotary motion
 Rotational joint (type R)
 Twisting joint (type T)
 Revolving joint (type V)
Joint Notation Scheme
 Uses the joint symbols (L, O, R, T, V) to designate
joint types used to construct robot manipulator
 Separates body-and-arm assembly from wrist
assembly using a colon (:)
 Example: TLR : TR
 Common body-and-arm configurations …

Cartesian Coordinate
Body-and-Arm Assembly
1.Notation LOO:
 Consists of three sliding

joints, two of which are
orthogonal
 Other names include
rectilinear robot and x-y-z
robot
Cylindrical Body-and-Arm
Assembly
2.Cylinerical configuration(Notation
TLO)
 Consists of a vertical column, relative to which an

arm assembly is moved up or down
 The arm can be moved in or out relative to the
column
Polar Coordinate Body-and-Arm
Assembly
3.Polar configuration (Notation TLR)
 Consists of a sliding arm (L joint) actuated relative to the body, which can rotate
about both a vertical axis (T joint) and horizontal axis (R joint)
Jointed-Arm Robot
4.Notation
TRR:
SCARA Robot
 Notation VRO
 SCARA stands for
Selectively Compliant
Assembly Robot Arm
 Similar to jointed-arm robot
except that vertical axes
are used for shoulder and
elbow joints to be
compliant in horizontal
direction for vertical
insertion tasks
Wrist Configurations
 Wrist assembly is attached to end-of-arm
 End effecter is attached to wrist assembly
 Function of wrist assembly is to orient end
effecter
◦ Body-and-arm determines global position of end
effector
 Two or three degrees of freedom:
◦ Roll
◦ Pitch
◦ Yaw
 Notation :RRT
Robot Control Systems
 Limited sequence control – pick-and-place
operations using mechanical stops to set
positions
 Playback with point-to-point control – records
work cycle as a sequence of points, then plays
back the sequence during program execution
 Playback with continuous path control –
greater memory capacity and/or interpolation
capability to execute paths (in addition to points)
 Intelligent control – exhibits behavior that
makes it seem intelligent, e.g., responds to
sensor inputs, makes decisions, communicates
with humans
Robot Control System
Cell Level 2
Supervisor
Controller Level 1
& Program
Joint 1 Joint 2 Joint 3 Joint 4 Joint 5 Joint 6 Sensors Level 0

End Effectors
 The special tooling for a robot that
enables it to perform a specific task
 Two types:
 Grippers – to grasp and manipulate
objects (e.g., parts) during work cycle
 Types of grippers-
-Mechanical
-Vacuum
-Magnetic
-Adhesive device
 Tools – to perform a process, e.g., spot
welding, spray painting
Grippers and Tools
Joint Drive Systems
 Electric
 Uses electric motors to actuate individual joints
 Preferred drive system in today's robots
 Hydraulic
 Uses hydraulic pistons and rotary vane actuators
 Noted for their high power and lift capacity
 Pneumatic
 Typically limited to smaller robots and simple
material transfer applications
Working Envelope
Example
A robot performs a loading and unloading operation
for a machine tool as follows:
 Robot pick up part from conveyor and loads into machine (Time=5.5
sec)
 Machining cycle (automatic). (Time=33.0 sec)
 Robot retrieves part from machine and deposits to outgoing
conveyor. (Time=4.8 sec)
 Robot moves back to pickup position. (Time=1.7 sec)
Every 30 work parts, the cutting tools in the

machine are changed which takes 3.0 minutes.
The uptime efficiency of the robot is 97%; and the
uptime efficiency of the machine tool is 98%
which rarely overlap.
Determine the hourly production rate.
Solution
Tc = 5.5 + 33.0 + 4.8 + 1.7 = 45 sec/cycle
Tool change time Ttc = 180 sec/30 pc = 6 sec/pc
Robot uptime ER = 0.97, lost time = 0.03.
Machine tool uptime EM = 0.98, lost time = 0.02.
Total time = Tc + Ttc/30 = 45 + 6 = 51 sec = 0.85
min/pc
Rc = 60/0.85 = 70.59 pc/hr
Accounting for uptime efficiencies,
Rp = 70.59(1.0 - 0.03 - 0.02) = 67.06 pc/hr
THANK YOU

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INDUSTRIAL ROBOTICS

 Common body-and-arm configurations …

 Consists of three sliding

 Consists of a vertical column, relative to which an

3.Polar configuration (Notation TLR)

Joint 1 Joint 2 Joint 3 Joint 4 Joint 5 Joint 6 Sensors Level 0

Every 30 work parts, the cutting tools in the

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