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Practice manual
of the course
Industrial Robotics
August 2018
Content
Introduction……………………………………………………………………………3
Practice 1. “Morphological analysis of industrial robots”…………………………….4
Laboratory practice sheet format………………………………………………………8
References……………………………………………………………………………10
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Introduction
Robotics is the combination of knowledge for the design, analysis, and control of robots.
Robotics is considered an important part of mechatronics, as is shown in Figure 1.
These types of mechatronic systems are known as industrial robots or manipulators, and
Will be the object of study in this laboratory practice manual.
3
Practice 1.
“Morphological analysis of industrial robots”
4
1. Number
1
2. Name
Morphological analysis of industrial robots
3. Objective
Given any industrial robot, the student will be able to generate a schematic diagram, to
determine the number of degrees of freedom and to stablish a classification.
4. Introduction
Robotics is the combination of knowledge for the design, analysis, and control of robots.
It is considered an important part of Mechatronics. An industrial robot is an automatically
controlled, reprogrammable multipurpose manipulator programmable in three or more
axes, which can be either fixed in place or mobile for use in industrial automation
applications (ISO 8373). The industrial robot includes the manipulator, including
actuators, the controller, including teach pendant and any communication interface
(hardware and software). The mechanism usually consists of a series of segments, jointed
or sliding relative to one another, for the purpose of grasping and/or moving objects
(pieces or tools) usually in several degrees of freedom (ISO 8373).
4.1 Degrees of freedom
The Degrees of freedom is the minimum number of independent variable to completely
define a robot configuration. This number, n, can be calculated as:
𝑛 = 𝜆 𝐿 − ∑𝐽𝑖=1(𝜆 − 𝑓𝑖 ) (1)
where:
𝑛= Number of degrees of freedom
𝜆= Maximum number of degrees of freedom: 3 planar, 6 spatial
𝐿= Number of mobile links
𝐽= Number of joints
𝑓𝑖= Degrees of freedom for each joint i
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4.2 Classification
Robots can be classified according to its
a) Type of movement: planar, spherical, spatial
b) Degrees of freedom: general use (𝑛=𝜆), redundant (𝑛>𝜆), deficient (𝑛<𝜆)
c) Type of kinematic structure: serial (open loop), parallel (closed loop), hybrid
d) Type of actuator: Electric, hydraulic, pneumatic.
e) Type of transmission: Direct, conventional.
f) Geometry of the workspace: Cartesian, cylindrical, spherical y articulated.
5. Material y equipment
2 pneumatic robots 1 angle measurement device
1 hydraulic robot 1 length measurement device
1 electric prismatic robot 1 video/photograph capture device
1 electric revolute robot
7. Methodology
General steps for the laboratory practice are as follows:
a) Each teamwork with a maximum of six members, will do a visit to the laboratory to
know and operate each of the industrial robots.
b) Professor will explain the basic characteristics and application of each industrial robot.
Also, the Professor will give a demonstration how to operate each of these robots.
c) With help of measurements devices, each teamwork will measure the length of each
links and the range of motion of each joint for each industrial robot.
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d) With the recorded information, each teamwork will draw the kinematic scheme, will
determine the number of degrees of freedom, the general workspace, and will establish
which classification each robot belongs to.
8. Didactic suggestions
The Professor must be sure that students understand the following concepts: degrees of
freedom, workspace, and how the industrial robots are classified. It is recommended a
teamwork with a maximum of six members during the laboratory practice.
9. Practice perform
9.1 A detailed description to measure the length of each links and the range of motion of
each joint for each industrial robot
9.2 Description on the sequence to draw the kinematic scheme for each industrial robot
9.3 Description of activities to calculate the degrees of freedom for each industrial robot
9.4 Description of activities to determine the general workspace shape for each industrial
robot
9.5 Analysis and selection of type of classification each industrial robot belongs to
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Laboratory practice sheet format
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National Institute of Technology of Mexico
Technological Institute of Puebla
Department of Metal-Mechanics
Laboratory of Advanced Manufacturing
Course:
Professor:
Practice number:
Practice name:
Objective:
Teamwork members names:
Date: ____________________ Evaluation: ______________
1. Introduction
2. Methodology
3. Practice perform
4. Conclusions
5. References
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References
1. Craig, J. J., “Introduction to Robotics: Mechanics and Control”, Pearson/Prentice Hall,
2005
2. Subir Kumar Saha, “Introduction to Robotics”, McGraw Hill, 2008
3 Barrientos, A., Peñin, L. F., Balaguer, C., “Fundamentos de Robótica”, S.A. McGraw-
Hill Interamericana de España, 2007
4. Course blog:
https://sites.google.com/site/sergiojaviertorresmendez/clients/roboticaindustrial
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