Introduction to Robots

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INTRODUCTION TO

ROBOTS

Prof. Gunjan Bhatt

Mechanical Engineering Department

Institute of Diploma Studies

Nirma University

Prof. Gunjan Bhatt, IDS, Nirma University

Content

� What is a Robot?

� Why use Robots?

� Robot History

� Components

� Classification

� Robot Applications


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What is a Robot?

� Robotics Institute of American

� A robot (industrial robot) is a reprogrammable,

multifunctional manipulator designed to move materials,

parts, tools, or specialized devices, through variable

programmed motions for the performance of a variety of

tasks.


What is a Robot?

� By general agreement, a robot is:A programmable machine that imitates the actions or appearance of an intelligent creature–usually a human.

� To qualify as a robot, a machine must be able to:1) Sensing and perception: get information from its surroundings

2) Carry out different tasks: Locomotion or manipulation, do something physical–such as move or manipulate objects

3) Re-programmable: can do different things

4) Function autonomously and/or interact with human beings


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Types of Robots

� Robot Manipulators

•Mobile Manipulators


Types of Robots

• Locomotion

Legged robots

Underwater robots

Wheeled mobile robotsAerial Robots

Humanoid Prof. Gunjan Bhatt, IDS, Nirma University

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Why Use Robots?

� Application in 4D environments� Dangerous

� Dirty

� Dull

� Difficult

� 4A tasks� Automation

� Augmentation

� Assistance

� Autonomous


Why Use Robots?

� Increase product quality� Superior Accuracies (thousands of an inch, wafer-handling: microinch) � Repeatable precision � Consistency of products

� Increase efficiency� Work continuously without fatigue� Need no vacation

� Increase safety� Operate in dangerous environment� Need no environmental comfort – air conditioning, noise protection, etc

� Reduce Cost� Reduce scrap rate� Lower in-process inventory� Lower labor cost

� Reduce manufacturing lead time� Rapid response to changes in design

� Increase productivity � Value of output per person per hour increases


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AUTOMATION AND ROBOT

� Robots are highly automated mechanical

manipulators.

� Automation as a technology concerned with

the use of mechanical, electrical/electronic,

and computer base system to control

production processes.



� FIXED AUTOMATION:

� is used for high production volume and utilizes expensive special equipment to process only one product.

ex: a good example of this automation can be found in the automobile industry, where highly integrated transfer lines are used to perform machining operations on engine and transmission components.

�


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� FLEXIBLE AUTOMATION:

� is used for medium production volume and utilizes a central computer to control the process of different products at same time.

� Flexible automation consists typically consists of a series of workstations that are interconnected by material handling and storage equipment to process different product configurations at the same time on the same manufacturing system.



� PROGRAMMABLE AUTOMATION:

� is used for low production volume operated under control of a program. it processes one batch of similar products at a time.

� In this case, the production configuration equipment is designed to be adaptable to variations in a product configuration.

� This adaptability feature is accomplished by operating the equipment under the control of a “program” of instructions that has been prepared especially for the given product.


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BASIC COMPONENTS

� The basic components of an industrial robot are the

� MANIPULATOR

� THE END EFFECTOR (WHICH IS THE PART OF THE MANIPULATOR).

� THE POWER SUPLLY

� AND THE CONTROLLER.


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BASIC COMPONENTS

� The manipulator, which is the robot’s arm, consists of segments jointed together with axes capable of motion in various directions allowing the robot to perform work.

� The end effectors which is a gripper tool, a special device, or fixture attached to the robot’s arm, actually performs the work.


BASIC COMPONENTS

� Power supply provides and regulates the

energy that is converted to motion by the

robot actuator, and it may be either electric,

pneumatic, or hydraulic.

� The controller initiates, terminates, and

coordinates the motion of sequences of a

robot. also it accepts the necessary inputs to

the robot and provides the outputs to

interface with the outside world.


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MANIPULATOR� Is a mechanical unit that provides motion

similar to that of a human arm.

� Its primary function is to provide the specific motions that will enable the tooling at the end of the arm to do the required work.


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MANIPULATOR


ROBOT ANATOMY

ROBOT CONFIGURATIONS:

• Industrial robots are available in a wide range of shapes, sizes, speeds, load capacities, and other capabilities.

• The vast majority of today’s commercially available robots possess five distinct design configurations:


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ROBOT ANATOMY

� rectangular (or Cartesian)

� cylindrical (or post-type)

� spherical (or polar)

� jointed arm (articulated or revolute)

� SCARA (selective compliance assembly robot arm)


ROBOT SELECTION

� Robot must be matched properly by

capabilities to task requirements.

� An objective approach to robot selection

provides fewer restrictions in system

design by allowing for the optimum system

design to be achieved regardless of the

specific robot need.


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� Criteria for robot selection:

� Techinical issues:

� type: nonservo, servo, servo-controlled

� work envelope: rectangular, cylindircal, spherical, jointed arm, scara

� payload

� cycle time

� repeatability

� drive: electric, pneumatic, hydraulic, any combination

� unique capabilities

ROBOT SELECTION


ROBOT SELECTION

� Non-technical issues:

� cost and benefit consideration

� commonality of equipment

� training and maintenance requirements

� reliability

� service

� “systems” help

� safety


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CLASSIFICATION

Classification: Classified into six categories

� Arm geometry: rectangular;cylindrical;spherical; jointed-arm(vertical);joined-arm(horizontal).

� degrees of freedom: robot arm; robot wrist.

� Power sources: electrical;pneumatic;hydraulic;any combination.


CLASSIFICATION

� Type of motion: slew motion; joint-

interpolation; straight-line interpolation;

circular interpolation.

� Path control: limited sequence; point-to-

point; continuous path; controlled path.

� Intellligence level:

� low technology(nonservo);

� high-techonology(servo).


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Cartesian Coordinated


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Cylindrical Coordinated


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Spherical


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Revolute/Articulated Configuration


Example

� Kuka KR6/2

� Payload: 13 lb (6 kg)

� Max Reach: 62 in (1570

mm)

� Repeatability:

<± 0.004 in

(<± 0.1 mm)

� Weight: 450 lb (205 kg)


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SCARA Configuration


Example

� Nimbl Junior 500

� Payload: 11 lb (5 kg)

� Max Reach: 20 in (500

mm)

� Repeatability:

<± 0.001 in

(<± 0.025 mm)

� Weight: ??? lb (?? kg


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Industrial Applications� Industrial Robot Applications can be divided into:

� Material-handling applications:

� Involve the movement of material or parts from one location to another.

� It include part placement, palletizing and/or depalletizing, machine loading and unloading.

� Processing Operations:

� Requires the robot to manipulate a special process tool as the end effector.

� The application include spot welding, arc welding, riveting, spray painting, machining, metal cutting, deburring, polishing.


Industrial Applications

� Assembly Applications:

� Involve part-handling manipulations of a special

tools and other automatic tasks and operations.

� Inspection Operations:

� Require the robot to position a workpart to an

inspection device.

� Involve the robot to manipulate a device or sensor

to perform the inspection.


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Thank you!


Introduction to Robots

Engineering

Transcript of Introduction to Robots