Mod 5 robotics
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This document discusses robot anatomy and configurations as well as applications of robots. It describes the different types of robot joints including linear, orthogonal, rotational, twisting, and revolving joints. The common robot configurations of Cartesian, cylindrical, spherical, jointed arm, and SCARA are explained. Applications of robots discussed include material handling, processing, assembly, and inspection. Material handling involves tasks like material transfer, machine loading/unloading. Assembly applications include operations like screwing, insertion, and small component assembly. Robots are also used for non-destructive inspection using probes, cameras, and 3D measurements.
Mod 5 robotics
- 2. Contents • Robot anatomy, • Joints and links, • Common robot configurations. • Applications of robots in material handling, • Processing , assembly and inspection.
- 4. Links and Joints • Link: The links are the rigid members connecting the joints. • Different types of robot joints: The Robot Joints is the important element in a robot which helps the links to travel in different kind of movements. There are five major types of joints such as: a) Linear joint b) Orthogonal joint c) Rotational joint d) Twisting joint e) Revolving joint
- 5. Linear joint • Linear joint can be indicated by the letter L - Joint. • This type of joints can perform both translational and sliding movements. • These motions will be attained by several ways such as telescoping mechanism and piston. • The two links should be in parallel axes for achieving the linear movement.
- 6. Linear joint
- 7. Orthogonal joint • The O joint is a symbol that is denoted for the orthogonal joint. • This joint is somewhat similar to the linear joint. • The only difference is that the output and input links will be moving at the right angles.
- 9. Rotational Joint • Rotational joint can also be represented as R - Joint. • This type will allow the joints to move in a rotary motion along the axis, which is vertical to the arm axes.
- 10. Rotational Joint
- 11. Twisting joint • Twisting joint will be referred as V- Joint. • This joint makes twisting motion among the output and input link. • During this process, the output link axis will be vertical to the rotational axis. • The output link rotates in relation to the input link.
- 12. Twisting Joint
- 13. Revolving joint • Revolving joint is generally known as V -Joint. • Here, the output link axis is perpendicular to the rotational axis and the input link is parallel to the rotational axes. • As like twisting joint, the output link spins about the input link.
- 14. Revolving joint
- 15. Common robot configurations • The common robot configurations used in the robotics are as listed below a) Rectangular configuration or Cartesian configuration b) Cylindrical configuration c) Spherical configuration d) Jointed arm configuration e) SCARA configuration
- 16. Common robot configurations Cartesian • Rectangular Configuration:- This uses three perpendicular slides to construct the x, y, z axes. By moving three slides relative to one another, the robot is capable of operating within a rectangular work envelope. These are also called as Cartesian configuration robots.
- 17. Common robot configurations Cylindrical Configuration • Cylindrical Configuration:- These uses a vertical column and a slide that can be moved up and down along the column. • The robot arm is attached to the slide so that it can be moved radially with respect to the column. • By rotting the column the robot is capable of retrieving a cylindrical work envelope.
- 18. Common robot configurations Spherical Configuration • Spherical Configuration:- • IT uses telescopic arm that can be raised or lowered about a horizontal pivot point. • The pivot point is mounted on a rotating base and gives the robot its vertical movement. • These various joints provide the robot with the ability to move its arm within a spherical envelope.
- 19. Common robot configurations Jointed arm Configuration • Jointed arm Configuration:- • It consists of two straight components whose shoulders and elbow joints rotate about horizontal axes corresponding to the human forearm and upper arm. • Its work envelope is of irregular shape.
- 20. Common robot configurations Selective Compliant Assembly Robot Arm • Selective Compliant Assembly Robot Arm • It is a special version of the jointed arm robot whose shoulder and elbow joints rotate about the vertical axes instead of horizontal. • Its work envelope is cylindrical and much larger than all other configurations, which provides a substantial rigidity in the vertical direction for many essential tasks.
- 21. Applications of robots in material handling • Material handling robots can automate some of the most tedious, dull, and unsafe tasks in a production line. • Material handling robots enhance the efficiency of your production line and increase customer satisfaction by providing quality products in a timely manner. • The term material handling encompasses a wide variety of product movements on the shop floor.
- 22. Applications of robots in material handling • Material handling (MH) makes use of the robot's simple capability to transport objects. • By fitting the robot with an appropriate end of arm tool (e.g. gripper), the robot can efficiently and accurately move product from one location to another.
- 23. ROBOTS APPLICATIONS to MH • Robot applications can be studied under present and future applications. under present applications they can be classified into three major headings. They are 1. Material Transfer, 2. Machine Loading and Unloading. 3. Processing operations 4. Assembly and 5. Inspection
- 24. Material Handling • Material handling is further classified into two types : 1.Machine loading and unloading 2.Material transfer Material Handling We use material handling robots to transfer parts from one machine to another. Material handling is the combination of art and science of: • Moving • Storing • Protecting • Controlling the material
- 25. Processing, assembly and inspection. • Assembly When it comes to putting parts together, assembly line robots occupy a sweet spot between humans and dedicated or “hard” automation. • An assembly robot moves faster and with greater precision than a human. • Assembly tasks are typically those which involve insertion of a peg into a hole.
- 26. Assembly operations • Robot find applications in assembly areas involving 1. Screwing of studs and screws in threads holes 2. Screwing and unscrewing of nuts 3. Insertions of shafts in holes 4. Insertion of electronics components in electric assemblies. 5. Assemblies of small electric motors , plugs, switches, etc.
- 27. Robots in Assembly operations
- 28. Robots in Inspection • The inspection of robots will involve some of the sensors to calculate the worth of a manufactured part. • It uses mechanical probe experiments to inspect the finished parts • A robot arm with a vision camera can also be used for non-destructive testing and 3D measurements. • It can objectively identify and pinpoint defects or faulty parts before they are packed or shipped.