Robotika 2
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- 3. I. Pendahuluan (11) Robot Industri
- 4. I. Pendahuluan (12) • Manipulator (Robot Arm) • Manipulator beberapa/untaian JOINT LINK (rigid body) yang LINK terhubung oleh JOINT • Setiap link memiliki satu joint • Pemberian gaya pada joint menyebabkan link bergerak • Degree of Freedom (DOF) menyatakan jumlah JOINT yang dapat bebas digerakkan
- 5. I. Pendahuluan (13) • Manipulation: The act of grasping and or moving an object. • Gripper: Attaches to a robot to allow an object to be picked up • End-Effector: Part of robot that affects the world. This can be a gripper, a welding torch,
- 6. I. Pendahuluan (14) • Repeatability: Perbedaan antara posisi aktual setelah robot kembali ke posisi yang sama secara berulang. Indikator yang menunjukkan seberapa baik robot dapat kembali keposisi yang sama. • Accuracy: Perbedaan antara posisi aktual dengan posisi yang dihitung (desired position) dari model kinematik Indikator yang menunjukkan seberapa baik robot dapat bergerak menuju sebuah titik dalam ruang • Precision: Ukuran kenaikan posisi yang terkecil. Desired Position • Resolution: Sensor Increment Precision Accuracy Actual Ajacent Position Position
- 7. I. Pendahuluan (15) • Tipikal : accuracy > repeatability > resolution • Batas paling atas (upper limits) precision = resolution dan Accuracy = 1/2 the precision. • Hampir pada semua robot repeatability, accuracy dan precision berubah tergantung pada work envelope Type Hozizontal Vertical Catesian Uniform Uniform Cylindircal Decreases Radially Uniform Spherical Decreases Radially Decreases Radially Desired SCARA Varies Uniform Position Articulated Varies Varies Precision Accuracy Actual Ajacent Position Position
- 8. I. Pendahuluan (16) 3. KOMPONEN ROBOT
- 9. I. Pendahuluan (17) • Blok Diagram Sistem Robot
- 10. I. Pendahuluan (18) • Blok Diagram Sistem Robot
- 11. I. Pendahuluan (19) • Aktuator/Penggerak Lengan Robot Actuation Torque/Force Positional Speed Control Type Cons Type Density Repeatability Good Linear Hydraulics Hydraulics Very High Slow Poor Variable Valve Some Rotation Leak, Control 2 position or Good Linear Life of Seals, Pneumatics Medium Fast Limited PWM Some Rotation Control Good Linear Electrical Low Fast Good Simple Power Density Good Rotation • Penggerak Motor Paling banyak digunakan • Sistem Hidrolik biasanya digunakan pada robot las/welding atau pengoperasaian bawah air. • Sistem Pnematik digunakan pada gripper
- 12. I. Pendahuluan (20) • Aktuator/Penggerak Lengan Robot Power Fields Field Torque Motor Type Commutation Thermal Amp Type Reliabilty Speed Density Rotor Stator Ripple DC Poor Windings 4 Brush DC Mechanical High Magnets Low Brushes Medium Windings on Rotor Transistors Brushless DC 6 3 Good Windings 6 Electrical Halls High Magnets Medium None High Step Windings on Stator Transistors Brushless DC 3 Good Windings 6 Sensor Based High Magnets Very Low None High Sinusoidal Windings on Stator Transistors Magnets N N Stepper None Medium High Fair None Low or Iron Windings Transistors Medium 3 6 Reluctance Sensor Based Iron Low Fair None Medium Low Windings Transistors Medium 3 6 Inductance Sensor Based Induced Very Low Fair None Medium Low Windings Transistors
- 13. I. Pendahuluan (21) • Tipe Penggerak • Direct Drive • Geared – Belts, Gears, Harmonic Drives, Cycloidal Cam Direct Drive Gear Reduced Backlash None Can be Significant Power Density Poor Can be Very Good Speed High Suficient for Most Applications Friction/Stiction Low Can be High Disturbances Seen Directly Divided by Gear Ration Inetia Changes Seen Directly Divided by Gear Ration Squared Process Feedback Fealt Directly Is Masked by Stiction in Geartrain Noise Low Can be Loud Reliability Very Good Good to Poor P:ostion Sensor Coaxial Can Take Advantage of Gear Ratio Weight Heavy Low
- 14. I. Pendahuluan (22) 4. TIPE ROBOT/JOINT • Alasan Penggunaan Robot Industri • Aplikasi Robot Industri
- 15. I. Pendahuluan (23) • Tipe-tipe JOINT Revolute Joint 1 DOF ( Variable - ) Prismatic Joint 1 DOF (linear) (Variables - d) Spherical Joint 3 DOF ( Variables - 1, 2 , 3)
- 16. I. Pendahuluan (24) • Work Envelope : The volume of space in which the arm can move Contoh Work Envelope Fanuc RlMate 100i
- 17. I. Pendahuluan (25) • Work Envelope :
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