Robotics
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This document provides information on industrial robotics. It discusses various types of industrial robots including articulated, Cartesian, polar, cylindrical, SCARA, and delta robots. It also outlines common robot components like the controller, manipulator, end effector, drive system, and sensors. Finally, it lists some key applications of industrial robots like robotic handling, welding, assembly, and dispensing.
Robotics
- 1. NDUSTRIAL ROBOTICS The heart of modern manufacturing...
- 2. • Paper mill • Water treatment plant • HVAC systems • Special machine based industry • Power Plants • Automobile industry • Product and Process industry & Etc., • Automation Solution Provider for Industries like: We are specialized in Application Development, Turnkey Projects, Retrofitting, Upgrading of Old Machine Control Systems, Control Panel Manufacturing.
- 3. It is an American subsidiary of the Japanese company Yaskawa Electric Corporation. The word “MECHATRONICS” derived by Yaskawa Electric Corporation. It produces robotic automation for industry and robotic applications Arc welding Assembly Clean room Coating Dispensing Material cutting Materials handling Materials removal Spot welding It is the second largest robotics company in the Americas. The first successful ultrasonic welding robot
- 4. Way of uniqueness MOTOMAN has done many robotic innovations which are first in the world – To develop patented design arc welding robot with built in cables on upper arm. Dual arm 15 axis humanoid robot. 7- Axis type robot Fastest welding robots. World’s first 7-axis arc welding and spot welding robot.
- 5. Industrial robot is defined by ISO as an automatically controlled reprogrammable multipurpose manipulator programmable in three or more axes INTRODUCTION TO ROBOT
- 6. •A robot may not injure a human being or, through inaction, allow a human being to come to harm. •A robot must obey the orders given to it by human beings, except where such orders would conflict with the First Law. •A robot must protect its own existence as long as such protection does not conflict with the First or Second Law. Three Laws of Robotics
- 7. HISTORY OF INDUSTRIAL ROBOT INDUSTRIAL ROBOT SILVER ARM FAMULUS UNIMATE
- 8. UNIMATE •Job of transporting die castings • welding the parts on automobile bodies
- 9. FAMULUS •KUKA’s own industrial robot. • FAMULUS, this is the first robot to have six electromechanically driven axes.
- 10. SILVER ARM • A robotic arm to do small-parts assembly using feedback from pressure sensors. • The arm´s fine movements corresponded to those of human fingers.
- 11. Robot parameters Degrees of freedom – This is usually the same as the number of axes. Working envelope – The region of space a robot can reach. Kinematics – The actual arrangement of rigid members and joints in the robot, Payload – How much weight a robot can lift. Speed – How fast the robot can position the end of its arm. Acceleration – How quickly an axis can accelerate Accuracy – How closely a robot can reach a commanded position Repeatability – How well the robot will return to a programmed position. Compliance _ Measure of the amount in angle or distance that a robot axis will move when a force is applied to it.
- 12. Maximum payload: Maximum reach: Maximum axis: Maximum mass: Specification
- 14. CONTROLLER The controller is the "brain" of the industrial robotic arm. It works as a computer and allows the robot to also be connected to other systems.. The program is inputted with a teach pendant to the controller. Many of today's industrial robot arms use an interface that resembles or is built on the Windows operating system.
- 15. 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 Intelligent control Exhibits behavior that makes it seem intelligent, e.g., Responds to sensor OPERATION OF CONTROLLER
- 16. MANIPULATORS Manipulators can vary in size and shape. The industrial robot arm is the part that positions the end effectors. Each of these joints gives the robot another degree of freedom. Many industrial robots in factories today are six axis robots.
- 17. . 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)
- 18. END EFFECTOR The end effector connects to the robot's arm and functions as a hand. This part comes in direct contact with the material the robot is manipulating. Some robots are capable of changing end effectors and can be programmed for different sets of tasks
- 19. DRIVE The drive is the engine or motor that moves the links into their designated positions. The links are the sections between the joints. Industrial robot arms generally use one of the following types of drives: hydraulic electric pneumatic
- 20. 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
- 21. SENSORS Sensors receive feedback about its environment and also as a sense of sight and sound. The sensor collects information and sends it electronically to the robot controlled. Vision sensors allow a pick and place robot to differentiate between items to choose and items to ignore.
- 22. ROBOT AXIS Motoman: S (Axis 1) Motoman: L (Axis 2) Motoman: U (Axis 3) Motoman: R (Axis 4) Motoman: B (Axis 5) Motoman: T(Axis 6)
- 23. TYPES OF INDUSTRIAL ROBOTS: Articulated Cartesian Polar Cylindrical SCARA Delta
- 24. ARTICULATED This robot design features rotary joints. Can range from simple two joint structures to 10 or more joints. The arm is connected to the base with a twisting joint. The links in the arm are connected by rotary joints. Each joint is called an axis and provides an additional degree of freedom.
- 26. CARTESIAN These are also called rectilinear or gantry robots. Cartesian robots have three linear joints that use the Cartesian coordinate system (X, Y, and Z). They also may have an attached wrist to allow for rotational movement. The three prismatic joints deliver a linear motion along the axis.
- 27. CARTESIAN ROBOT
- 28. CYLINDRICAL The robot has at least one rotary joint at the base and at least one prismatic joint to connect the links. The rotary joint uses a rotational motion along the joint axis, while the prismatic joint moves in a linear motion. Cylindrical robots operate within a cylindrical-shaped work envelope.
- 30. POLAR Also called spherical robots, in this configuration the arm is connected to the base with a twisting joint A combination of two rotary joints and one linear joint. The axes form a polar coordinate system and create a spherical-shaped work envelope.
- 31. POLAR ROBOT
- 32. SCARA Commonly used in assembly applications. this selectively compliant arm for robotic assembly is primarily cylindrical in design. It features two parallel joints that provide compliance in one selected plane.
- 33. SCARA ROBOT
- 34. DELTA These spider-like robots are built from jointed parallelograms connected to a common base. The parallelograms move a single EOAT in a dome-shaped work area. Heavily used in the food, pharmaceutical, and electronic industries. This robot configuration is capable of delicate, precise movement.
- 35. DELTA ROBOT
- 36. Programming Languages For Industrial Robots Task in plain English Variable Assembly Language Epson RC+ ROBOFORTH
- 37. Move to P1 (a general safe position) Move to P2 (an approach to P3) Move to P3 (a position to pick the object) Close gripper Move to P4 (an approach to P5) Move to P5 (a position to place the object) Open gripper Move to P1 and finish Task in plain English
- 38. 1. MOVE P1 2. MOVE P2 3. MOVE P3 4. CLOSEI 0.00 5. MOVE P4 6. MOVE P5 7. OPENI 0.00 8. MOVE P1 .END Variable Assembly Language
- 39. Function Pick Place Jump P1 Jump P2 Jump P3 On vacuum Wait .1 Jump P4 Jump P5 Off vacuum Wait .1 Jump P1 Fend Epson RC+
- 40. : PICKPLACE P1 P3 GRIP WITHDRAW P5 UNGRIP WITHDRAW P1 ; ROBOFORTH
- 41. APPLICATIONS OF INDUSTRIAL ROBOT Robotic handling operations Robotic Welding Robotic Assembly Robotic Dispensing Robotic Processing Other Applications
- 42. ROBOTIC HANDLING OPERATIONS It is the most popular application with 38% of industrial robots worldwide. This includes Machine tending Palatalizing Various operations for metal machining Plastic molding
- 43. PICKING AND PACKING • MA1400(MH) • MH5LS • SIA30D • ES200D(MH) • HP500D
- 44. ROBOTIC WELDING It is the second popular application with 29% of industrial robots worldwide. This segment mostly includes: Spot welding Arc welding
- 45. Spot welding • VS50 • MS120 • MS210 • ES280D(SW)
- 46. ARC WELDING • MA1400(AW) • VA1400 • MA1440 • MA1800 • MH50-20
- 47. ROBOTIC ASSEMBLY This category of robotic applications seems to have decreased to 10% over the last few years Assembly operations include: Fixing Press-fitting Inserting Disassembling
- 48. ASSEMBLY TYPE • MHJF • MH3BM • MH6-10 • SDA10D • SDA20D
- 49. ROBOTIC DISPENSING Only 4% of the operational robots are doing dispensing. Here we are talking about Painting Gluing Applying adhesive sealing Spraying