visheshwar oraon robotics presentation
- 1. By :- VISHEHWAR ORAON MT13IND007 INDUSTRIAL ROBOTICS
- 2. 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
- 3. 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
- 4. 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
- 5. 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.
- 6. 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.
- 7. Industrial Robotics Sections: 1. Robot Anatomy 2. Robot Control Systems 3. End Effectors
- 8. Robot Anatomy Manipulator consists of joints and links ◦ Joints provide relative motion ◦ Links are rigid members between joints ◦ Various joint types: linear and rotary ◦ Each joint provides a “degree-of-freedom” ◦ Most robots possess five or six degrees-of- freedom Robot manipulator consists of two sections: ◦ Body-and-arm – for positioning of objects in the robot's work volume ◦ Wrist assembly – for orientation of objects Base Link0 Joint1 Link2 Link3Joint3 End of Arm Link1 Joint2
- 9. 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)
- 10. 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 …
- 11. 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
- 12. 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
- 13. 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)
- 15. 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
- 16. 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
- 17. 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
- 18. Robot Control System Joint 1 Joint 2 Joint 3 Joint 4 Joint 5 Joint 6 Controller & Program Cell Supervisor Sensors Level 0 Level 1 Level 2
- 19. 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
- 21. 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
- 22. Working Envelope
- 23. 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.
- 24. 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
- 25. THANK YOU