2. Learning Outcomes:
Upon completion this chapter, student should be
able:-
1. Define the robots automation
2. State the advantages and disadvantages of robots
automation
3. List six types of robot automation
4. Explain the robots automation in production
system
3. Contents
1. Introduction of robots automation
2. Advantages and disadvantages of robot automation
3. Types of robots automation
4. Robot automation in production system
4. Introduction of Robots Automation
Robot is a machine that can be programmed to
perform a variety of jobs
Can range from simple machines to highly complex,
computer-controlled devices
Three Law of robotics:
A robot may not injure a human being or through
inaction, allow a human being to come harm
Robot must be obey the orders given it by human beings
except where such order would conflict with the first law
Robot must protect its own existence as long as such
protection does not conflict with first and second law
5. For a machine to qualify as a robot, it usually needs
these 5 parts:
i. Controller
ii. Manipulator
iii. Actuator
iv. End Effectors
v. Sensor
6. Controller
Connected to a computer
Controller function as the brain of the robot
Controller also allows the robot to be networked to
other systems.
Robot have controller that are run by programme set of
instruction written in code.
7. Manipulator
Robot arm come in all shapes and size
The arm is the part of the robot that positions the end-effector
and sensors
Many resemble human arm and have shoulder, elbow,
wrist, even fingers
A simple robot arm with 3 degrees of freedom could
move 3 way; up and down, left and right, forward and
backward.
8.
9. Actuator
actuator is a mechanism used to drive the processor to
allow it to move to a predetermined point.
consists of components such as pneumatic and
hydraulic cylinders, pneumatic and hydraulic rotary
motor, and the electric motor.
robot position also depends on the combination of
these components.
The robot has a simple movement is driven by a
mechanical system that uses a cam.
10.
11. End -Effector
Connected to the robot arm.
It could be a tool such as a gripper, a vacuum pump,
hook, scoop and etc.
Some robots can change end-effectors and be
programmed for a different task.
If robot has more than one arm, there can be more
than one end-effector on the same robot.
12.
13. Sensor
Sensor can provide feedback to the control systems
and give the robots more flexibility
Sensor such as visual sensor are useful in the building
of more accurate and intelligent robots
Sensor can be classified as follows:
Position sensor
Range sensor
Velocity sensor
Proximity sensor
14. Power Sources For Robots
There are basically three types of power sources for
robot:
Hydraulic drive
Electric drive
Pneumatic drive
15. Hydraulic drive
Provide fast movements
Preferred for moving heavy part
Preferred to be used in expressive environments
Occupy large space area
There is a danger of oil leak to the shop floor
16. Electric drive
Slower movement compare to the hydraulic robots
Good for small and medium size robots
Better positioning accuracy and repeatability
Stepper motor drive: open loop control
DC motor drive: closed loop control
Cleaner environment
The most used type of drive in industry
17. Pneumatic drive
Preferred for smaller robots
Less expensive than electric or hydraulic robots
Suitable for relatively less degrees of freedom design
Suitable for simple pick and place application
Relatively cheaper
18. The Robot Movements
The basic movements required for motion of most
industrial robots are:
Rotational movement – enable robot to place its arm
in any direction on a horizontal plane
Radial movement – enables robot to move its end-effector
radials to reach distant points
Vertical movement – enables robot to take its end-effector
to different heights
19. The Robot Joints
Prismatic
Joints
Revolute
Joints
•In a prismatic joints, also
known as a sliding or
linear joint (L)
•The link are generally
parallel to one
• In a revolute joints permit
only angular motion
between link
• Their variations include:
• Rotational joint (R)
• Twisting joint (T)
• Revolving joint (V)
21. Rotational joint
A rotational joint is defined by its motion.
Rotation an axis perpendicular to the adjoining links.
22. Twisting joint
A twisting joint is also rotational joint.
Rotation takes place about an axis that is parallel to
both adjoining links.
23. Revolving joint
Another rotational joint.
The rotation takes place about an axis that is parallel to
one of the adjoining links.
24. Advantages and disadvantages
Advantages:
Robot never get sick or
need rest
When the task required
would be dangerous for a
person, robot can do the
work instead
Robot can work repetitive
and unrewarding
Disadvantages:
Not creative or innovative
Do not think independently
Do not make complicated
decisions
Do not learn from mistakes
Do not adapt quickly to
changes in their
surroundings
25. Types Of Robots Automation
There are 6 types of robot :
Cartesian/Gantry Robot
Cylindrical Robot
Spherical/Polar Robot
SCARA Robot
Articulated Robot
Parallel Robot
26. Cartesian Robot
It used for pick and place work, application of sealant,
assembly operation, handling machine tools and arc
welding
This arm robot has three prismatic joints, whose axes
are coincident with a Cartesian coordinator
X =horizontal, left and right motions
Y = vertical, up and down motions
Z = horizontal, forward and backward motions
27.
28. Cylindrical Robot
It used for assembly operations, handling at machine
tools, spot welding and handling at die-casting
machines
This robot axes form a cylindrical coordinate system
X = horizontal rotation of 360°, left and right motions
Y = vertical, up and down motions
Z = horizontal, forward and backward motions
29.
30. Spherical/Polar Robot
Used for handling at machine tools, spot welding, die-casting,
fettling machines, gas welding and arc
welding.
Robot axes form a polar coordinate system.
X = horizontal rotation of 360°, left and right motions
Y = vertical rotation of 270°, up and down motions
Z = horizontal, forward and backward motions
31.
32. SCARA Robot
SCARA (Selective Compliant Assembly Robot Arm)
Used for pick and place work, application of sealant,
assembly operations and handling machine tools
This robot has 2 parallel rotary joints to provide
compliance in a plane
33.
34. Articulated Robot
Used for assembly operations, die-casting, fettling
machines, gas welding, arc welding and spray painting
This robot arm has at least 3 rotary joints
X = horizontal rotation of 360° left and right motions
Y = vertical rotation of 270°, up and down motions
Z = horizontal & vertical rotation of 90° to 180°, forward
and backward motions
35.
36. Parallel Robot
This robot is used for mobile platform handling
cockpit flight simulators
This robot arm has concurrent prismatic or rotary
joints
37.
38. Application Robot Automation in
production system
Welding
Spray painting
Assembly
Palletizing and Material Handling
Semiconductor industry