What is Robot?
Robot History.
Robot Anatomy.
Robot Physical Configuration.
Types of Robot.
Motion Systems.
Types of Drive Systems.
Programming methods.
3. Robot Introduction
General purpose (perform a variety of
functions independently)
Programmable (Sequence, repetition,
decision making
Anthropomorphic characteristics
Perform specific functions like machine
loading, spot welding, spray painting,
assembly, etc.
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29. Laws of Robotics
• Law 1: A robot may not injure a human being
• Law 2: A robot must obey orders given to it by
human beings, except where such orders would
conflict with a higher order law
• Law 3: A robot must protect its own existence as
long as such protection does not conflict with a
higher order law
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31. Robot Physical Configurations
Industrial Robots come in a variety of shapes and
sizes
On this base they are distinguished
Polar coordinate configuration
Cylindrical coordinate configuration
Joined arm configuration
Cartesian coordinate configuration
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32. Polar coordinate configuration
Spherical coordinates (Partial sphere)
• Rotary base
• Pivot used to raise and lower an arm
• In-out movement
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36. Purpose of a Robot
Purpose of a robot is to perform
useful task
End-effector
The tool, gripper, or other device mounted at the end of
a manipulator, for accomplishing useful tasks
Hand
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37. Degrees-of-Freedom (DOF):
The number of independent motions
a device can make. (Also called
mobility)
five degrees of
freedom
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38. Degree of Freedom
Six basic motions for a robot to
move in a required sequence of
motions
Not all robots are equipped with it
Three arm and body movement and
three wrist movements.
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40. Motion Systems
Point-to-point (PTP)
Moves from one point location to
another. Can adopt any path.
Examples: loading unloading, pick and place,
spot welding
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41. Motion Systems
Contouring (Continuous Path)
Move on a Smooth compound curve
Complete path is remembered
Examples:
Paint spray, continuous welding.
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42. Other technical features
Determine its efficiency, effectiveness
Some of the technical features are
• Work volume
• Precision of movement
• Speed of movement
• Weight carrying capacity
• Types of drive system
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43. Technical features
Work volume
• Space within which a robot can operate.
• Determined by its configuration, size
and the limits of its arms.
Polar coordinates – partial sphere
Cylindrical coordinates – cylindrical
Cartesian - rectangular
Jointed arm - irregular
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44. Technical features
Precision of movement
The precision with which the robot can
move the end of its wrist.
1. Spatial resolution
2. Accuracy
3. Repeatability
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45. Technical features
Spatial resolution
• Smallest increment of motion
• Depends on the control system and
feedback
Control resolution= range
control increments
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46. Technical features
Accuracy
• The ability of a robot to go to the specified
position without making a mistake.
• Closely related to spatial resolution
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48. Technical features
Speed of movement
• The amount of distance per unit time at
which the robot can move.
• Speed of the end effectors
• Determined by the weight of the object
Weight carrying capacity
• Lifting over 1000 lb
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49. Types of Drive system
Hydraulic (mechanical, high strength)
Electric motor (stepper, servo, less
strength, better accuracy and repeatability
Pneumatic (quick, less strength)
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52. Tools as end effectors
Spot welding
Spray painting
Drilling
Grinders
Heating torches
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53. Robotic sensors
Vision
Tactile and proximity
Voice
Sensors in Robots.pdf:
https://www.slideshare.net/omkara12/sensors-in-robotics
http://www.robotplatform.com/knowledge/sensors/types_of_
robot_sensors.html
https://www.youtube.com/watch?v=f15uUSdVkKQ
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54. Programming The Robot
Programming Methods
• Manual Method
• Walkthrough Method
• Lead through Method
• Off-line Programming
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55. Manual Method
Mechanical stops, cams, switches or
relays
Uses: short work cycle like pick and place
operation
video
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56. Walkthrough Method
• Manually moves the robot arm
• Each movement is recorded
• No worry about the cycle time
• Getting the position and sequence
correct
Uses: spray painting, arc welding
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58. Lead through Method
• Use of small hand held devices
• Switches, dials
• Each motion is recorded in memory
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59. Off-line programming
• Similar to NC
• Computer terminal
• No loss of production time (no teaching)
• Can be programmed when still in
production
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61. Work Cell Control
Work with other things
• Processing equipments, work parts, conveyors,
tools and human operators
Coordinating all the activities within the
robot workstation
Sequencing and simultaneous activities
Work cell controller
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62. Work Cell Control
Example
• Robotic arm
• Machine tool
• Two conveyors
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64. Work Cell Control
Operate Sequentially
Certain steps are completed before
next operation
• Picking, proper location of the piece
• Start, by Loading the work piece
• Machining complete
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65. Interlocks
Sequence continues until a certain
condition or set of conditions has
been satisfied
Incoming
Outgoing
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