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magnus.holm@his.se
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History Warning!! Mad scientist Definitions System components Control systems
Robot
A mechanical device which performs automated physical
tasks, either according to direct human supervision, a pre-defined program, or a set of general guidelines using artificial intelligence techniques.
- WikiPedia
any automatically operated machine that replaces human effort, though it may not resemble human beings in appearance or perform functions in a humanlike manner. By extension, robotics is the engineering discipline dealing with the design, construction, and operation of robots.
- Encyclopdia Britannica
History 1(4)
1921: R.U.R. (Rossum's Universal Robots), a play by Czech writer Karel apek features the first mention of the word robot, from the Czech word robota, meaning forced labour.
History 2(4)
History 3(4)
1956 - The world's first robot company, Unimate. 1961 Unimate, the first industrial robot goes online in a GM automobile factory in NJ, USA. 1963 The first artificial robotic arm to be controlled by a computer is designed 1974 Aseas first robot, IRB 6, is developed Late 1970s: The robot industry starts its rapid growth, with a new robot or company entering the market every month.
History 4(4)
The development of robotics technology followed the development of numerical control, and the two technologies are quite similar. . NC machines are designed to perform specific processes, robots are designed for a wider variety of tasks.
-M.P.Groover
ISO 8373:1994: A manipulating industrial robot is an automatically controlled, reprogrammable, multipurpose manipulator programmable in three or more axes which may be either fixed in place or mobile for use in industrial applications
Another definition
A general-purpose, programmable machine possessing certain anthropomorphic (human-like) characteristics.
Fanuc f-200ib
Tricept
Flexpicker
An Industrial robot contains several electrical and mechanical components acting together as a system. The controller contains an operating system and software that dictates how the system operates and communicates.
Controller
How many DOF are needed in order too achieve an arbitrary position? How many DOF are needed in order too achieve an arbitrary orientation?
Roll, Pitch, Yaw Pose: position and orientation taken together
Redundancy
Robots with more than 6 DOF or with parallel joints are redundant, which means that they can achieve the same pose in more than one way. Singularity- pose that can be reached in different ways sometimes creates problems.
Coordinate systems
All robot control and movement is according to defined base coordinate system.
World coordinate system, referenced to shop floor Base coordinate system, in the base of the robot Hand coordinate system, tool mounting plate coordinate system Tool Centre Point (TCP) coordinate system, referenced to the tool working point Object coordinate system. Object relative base coordinate system
y x
Spherical arm
Polar configuration (Spherical) TRL
+ Big workspace (two rotary joints and one prismatic). - complex coordinates, difficult too visualize and control.
Applications:
Used were few vertical movements are required. Pick and place applications.
Cylindrical arm
Cylindrical configuration, TLO
+ Easy to visualize and control + Very powerful when hydraulic drives used + Good access into cavities and machine openings - Restricted work space
Applications
Material handling, pickand- place, assembly.
Cartesian arm
Cartesian arm (gantry)
+ Easy to visualize + Easy kinematics and programming + Rigid structure (gantry) - Requires a big volume to operate, cant use all of it. - Difficult to adapt to new applications
Applications:
Pick-and-place, heavy loads. Electronic industry and in measurement applications.
Applications:
Most common arm configuration Painting, arc and spot-welding, material handling, etc.
SCARA
Selective Compliance Assembly Robot Arm
+ Compliant in the horizontal direction + High acceleration + Rigid in vertical direction - Limited work space - Often only 3 DOF, with no orientation
Applications
Assembly
Tricept
Tricept, Parallel axis robot, Swedish design by Neos robotics.
+ Powerful, stiff, sturdy, accurate. - Small work space
Applications:
Suitable for processing, heavy-duty cleaning and pre-machining of aluminum casting.
Work envelope
Robot wrist
The wrist is used to establish the orientation of the end effector (tool, gripper etc.) Can have 1- 3 axis Rotation in 3 axis
Roll ( T ) Pitch ( R ) Yaw ( R ) (compare whit airplane maneuvers)
Difficult to design.
Small size No singularities in work area Rigid etc.
Actuators
Pneumatic
+ Relatively inexpensive + High speed + Common energy source in industry - Limited control and accuracy (air is compressed) - Difficulties with control of speeds and take up of loads
Hydraulic
+ + + + Large lift capacity High power to weight ratio Good servo control Fast response Maintenance problems with seals causing leakage - Not suitable for high speed cycling. - Expensive
Applications
Small robots Often pick and place with simple control Use often by peripheral equipment
Applications:
Used on very big machines
Actuators
Electrical
(DC- servo and stepper motors) + Fast and accurate + Possible to apply sophisticated control techniques to motion + Relatively inexpensive - Brakes needed to lock them in position - Problems with overheating in stalled conditions - Gear backlash limits precision - High speed with low torque
Transmissions 1(4)
A robotic transmission can contain a variety of different devices (gears, tendons and linkages)
Virtually all robotic systems employ some sort of gear train, and many contain at least a parking brake Systems can contain a clutch to disengage the motor from the drive train in the case of an emergency Some systems make use of direct drive motors that do not contain a gear train at all
Transmissions 2(4)
Why transmissions?
To convert the high speed - low torque output of the prime mover into a reduced speed - high torque input to the robotic joint.
Transmissions 3(4)
When backlash occurs, the gear teeth are able to move without imparting motion upon the next gear. This results in energy being wasted in "winding up" the transmission.
Transmissions 3 (4)
Transmissions 4(4)
How to minimize backlash?
Careful design and manufacturing
Harmonic Drive
Transmissions 4(4)
How to minimize backlash?
Harmonic Drive
End effector
A device or tool connected to the end of a robot arm. Grippers and tools
Mechanical grippers are usually pneumatic or electrical driven Consist of two or more fingers Special variants
Double grippers, increase work cycle efficiency. Sensory feedback, can be used to detect whether part is on place or not and to use the right amount of force
Vacuum grippers
Used when objects are soft or difficult to grasp
There are many standard vacuum grippers to buy Vacuum control
Magnetic grippers
Magnetized often used on flat parts manufactured in magnetic materials Adhesive- use some kind of adhesive substance
Tools
The robot performs some processing operation on the work part
Arc welding tool Spot welding gun Spray painting gun Water jet cutting, etc.
Tool changers
The robot can change between different tools by itself, thereby increasing flexibility.