Robots 447
Robots 447
Robots 447
Industrial Robots
Dr. L. K. Gaafar
Arm or Manipulator
End effectors
Drive Mechanism
Controller
Custom features: e.g. sensors and transducers
Arm or Manipulator
The main anthropomorphic element of a robot.
In most cases the degrees of freedom depends on the arm
The work volume or reach mostly depends on the functionality
of the Arm
End Effectors
Device attached to the robots wrist to perform a specific task
Grippers
Mechanical Grippers
Suction cups or vacuum cups
Magnetized grippers
Hooks
Scoops (to carry fluids)
End Effectors
Device attached to the robots wrist to perform a specific task
Tools
Spot Welding gun
Arc Welding tools
Spray painting gun
Drilling Spindle
Grinders, Wire brushes
Heating torches
Sensors in robotics
Types of sensors :
Tactile sensors (touch sensors, force sensors, tactile array sensors)
Proximity and range sensors (optical sensors, acoustical sensors,
electromagnetic sensors)
Miscellaneous sensors (transducers and sensors which sense variables
such temperature, pressure, fluid flow, thermocouples, voice sensors)
Machine vision systems
Sensors in robotics
Uses of sensors:
Safety monitoring
Interlocks in work cell control
Part inspection for quality control
Determining positions and related information about objects
Sensors in robotics
Desirable features of sensors:
Accuracy
Operation range
Speed of response
Calibration
Reliability
Cost and ease of operation
Physical Configuration
Cylindrical
Cartesian
Physical Configuration
Polar (Spherical)
Jointed Arm
Programming Robots
Manual
Cams, stops etc
Walkthrough (Lead-through)
Manually move the arm, record to memory
Manual teaching
Teach pendant
Off-line programming
Similar to NC part programming
VAL, RAPT
Applications
Material Handling/Palletizing
Machine Loading/Unloading
Arc/Spot Welding
Water jet/Laser cutting
Spray Coating
Gluing/Sealing
Investment casting
Processing operations
Assembly
Inspection
Motion control
path control
velocity control
Types of drive motors
hydraulic
electric
pneumatic
Work Volume
Spatial region within which
the end of the robots wrist
can be manipulated
Determined by
Physical configurations
Size
Number of axes
The robot mounted position (overhead gantry, wallmounted, floor mounted, on tracks)
Limits of arm and joint configurations
The addition of an end-effector can move or offset the
entire work volume
Spatial Resolution
Smallest increment of motion at the wrist end that can be controlled by
the robot
Depends on the position control system, feedback measurement,
and mechanical accuracy
Accuracy
Capability to position the wrist at a target point in the work volume
One half of the distance between two adjacent
resolution points
Affected by mechanical Inaccuracies
Manufacturers dont provide the accuracy (hard to
control)
Repeatability
Ability to position back to a point that was previously taught
Repeatability errors form a random variable.
Mechanical inaccuracies in arm, wrist components
Larger robots have less precise repeatability values
Speed of Movement
Speed with which the robot can manipulate the end effector
Acceleration/deceleration times are crucial for cycle time.
Determined by
Weight of the object
Distance moved
Precision with which object must be positioned
Motion Control
Path control - how accurately a robot traces a given path (critical for
gluing, painting, welding applications);
Velocity control - how well the velocity is controlled (critical for
gluing, painting applications)
Types of control path:
- point to point control (used in assembly, palletizing, machine
loading); - continuous path control/walkthrough (paint spraying,
welding).
- controlled path (paint spraying, welding).
Low cost
Easy maintenance
Pneumatic
Smaller units, quick assembly
High cycle rate
Easy maintenance
x L1 sin 1 L2 sin(1 2 )
y L1 cos 1 L2 cos(1 2 )
L2
(x, y)
Workspace:
L1
x y L L 2 L1 L2 cos 2
2
2
2
L2 ( x L1 sin 1 ) ( y L1 cos1 )
2
2
1
2
2
Positioning:
2
2
2
2
x
L
1
2
2 cos 1
2 L1 L2
1 cos
y
x2 y2
cos
x y L L
2
2
1
2 L1 x 2 y 2
2
2
Characteristics:
Repeatability: < 0.025mm (high)
No. of axes: min 4 axes
Vertical motions smoother, quicker,
precise (due to dedicated vertical axis)
Good vertical rigidity, high compliance in
the horizontal plane.
Working envelope: range < 1000mm
Payload:10-100 kg
Speed: fast 1000-5000mm/s
Applications:
Precision, high-speed, light assembly
Characteristics:
Repeatability: 0.1-0.5mm (large sizes not
adequate for precision assembly)
No. of axes: 3 rotary arm-axes, 2-3
additional wrist axis (excellent wrist
articulation)
Working envelope: large relative to the
size, Structure compact, but not so rigid
Payload: 5-130kg
Tool tip speed: fast 2000mm/s
Characteristics:
Repeatability: poor 0.5-1mm
No. of axes: 3 arm-axes (1 linear radial),
1-2 additional wrist-axes.
Working envelope: large vertical envelope
relative to the unit size
Payload: 5-100 kg
Speed: low (linear motions are not smooth
and accurate- require coordination of
multiple axes)
Characteristics:
Repeatability: high (0.015-0.1)
No. of axes: 3 linear arm-axis,
Working envelope:relative large
Payload:5- 100kg
Speed: fast
Characteristics:
Repeatability: 0.1-1mm
No. of axes: 3 linear traverse-axes, 1-3
additional wrist axes
Working envelope: very large
Payload: vary function of size, support
very heavy 10-1000kg
Speed: low for large masses
Applications:
Handling very large parts, moving material on long distances, welding, gluing.
What to Automate
Simple Repetitive operations.
Cycle times greater than 5s.
Parts can be delivered in proper locations/orientation.
Part weight is suitable.
One or two persons can be replaced in 24 hr period.
Setups and changeovers are not frequent.