Robotics ppt.pptx
- 2. Components of Industrial Robot • Mechanical unit: It refers to the robot’s manipulative arm and its base. • It Consists of fabricated structural frame with provisions for supporting mechanical linkage and joints, guides, actuators and sensors. • Drive: Drive system supplies the power which enables the robot to move. • Drive for a robot may be hydraulic, pneumatic or electric.
- 3. • Control System: Controller is the brain of the robot. • It is a communication and information processing device that initiates, terminates and coordinates the motions and sequences of a robot. • Industrial robots incorporate microprocessor based controllers that performs interface with sensors, grippers ,tooling and peripheral devices. • Tooling: it is manipulated by the robot to perform the functions required for the application. • According to functional capabilities, it may be integrated with robot’s mechanical system or may be attached at robot’s wrist end effector interface.
- 4. Comparison of Human and Robot Manipulator
- 5. Robot Wrist and end of Arm Tools • Six axis coordinates are required by a robot to specify the location and orientation of an object. • Three Co-ordinates are x,y and z. • Other three coordinates are achieved by adding wrist and hand movements with the end of arm tooling.
- 6. Three Basic types of wrist motions • Pitch: Rotational or bending movement in a vertical plane. • Yaw: Rotational or twisting movement in a horizontal plane. • Roll: Rotational or swivel movement.
- 7. Arm and Wrist motions of a Robot
- 8. End Effector • It is a device at the end of the robot arm. • Two main types of end effectors: A) Grippers • Grippers are devices which can be used for holding or gripping an object. • These includes mechanical hands and may be hooks, magnets and suction devices which can be used for holding or gripping. B) Tools • Tools are devices which robots use to perform operations on an object. • E.g drills, grinders, paint sprays other tool which get a specific job done.
- 9. End Effector attached to robot wrist
- 10. Robot Terminology 1. Links and Joints: Links are solid structural members of a robot. • Joints are the moveable couplings between them.
- 11. Robot with six degree of Freedom 2. Degree of Freedom(dof): • It is the number of independent movements a robot can realize with resect to its base. • The number of axes is normally the same as the number of degrees of freedom of robot. • Each joint on the robot introduces a degree of freedom.
- 12. Robot with Seven degree of Freedom
- 13. 3)Orientation Axis: If tool is held at fixed position, the orientation determines which direction it can be pointed. • Pitch, yaw and roll are common orientation axes. 4) Position Axis: The tool can be moves to number of positions in space.
- 14. 5)Tool Center Point(TCP): TCP is used when referring to the robots positions as well as focal point of the tool. • TCP can be specified in Cartesian, Cylindrical and spherical co-ordinates depending on the robot.
- 15. 6) Accuracy: It describes how close the arm will be when it moves to desired point. 7) Precision(validity): It is defined as how accurately a specified point can e reached. 8) Repeatability(Variability): It is how accurately the same position can be reached if the motion is repeated many times.
- 16. 9)Work envelope/Workspace: A robot can only work in area in which it can move. It determines how far the robot’s arm can reach and how flexible the robot is. 10) Stability: It refers to robot motion with the least amount of oscillations. 11) Speed: It refers to the maximum velocity that is achieved by TCP or by individual joints. It vary over the workspace as the geometry of robot changes.
- 17. 12) Payload: It is the weight a robot can carry and remain within its specifications. 13) Reach: It is the maximum distance a robot can reach within its workspace. 14) Settling Time: It is the time required for the robot to be within given distance from the final positions.
- 18. Robotic Joints • It is a mechanism that permits relative movement between parts of a robot arm. • Basic movements required for desired motion of a robot: a) Rotational movement: This enables the robot to place its arm in any direction on horizontal plane. b) Radial movement: This enables the robot to move its end effectors radially to reach distant points. c) Vertical Movement: This enables the robot to take its end effectors to different heights.
- 19. Joints depending on the nature of relative motion 1. Prismatic Joints(Sliding/linear): It permits links to make linear displacement along a fixed axis. • These joints are used in gantry, cylindrical or similar joint configuration 2. Revolute Joints: It is used where a pair of links rotates about a fixed axis.
- 20. Variations of Revolute joints • Rotational Joint(R): This is identified by its motion, rotation about an axis perpendicular to the adjoining links.
- 21. Revolute Joints • Twisting Joint(T): Rotation takes place about an axis that is parallel to both adjoining links. • Revolving Joint(V): Rotation takes place about an axis that is parallel to one of the adjoining links. • Links are aligned perpendicular to one another at this kind of joint.