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Contents
History of Robotics Robotics Application Social and Economic Issues Robot anatomy and Work Volume Robot Configuration and work Space End-effectors: Grippers and Tools Robot Actuators and Drive Systems Safety Consideration
The term robot was first introduced by a Czech dramatist, Karel Capek in his 1921 play "Rossum's Universal Robots". He was referring to a perfect and tireless worker performing manual labour jobs for human beings. Isaac Asimov, coined the word robotics as the science of the study of robots, in his science fiction stories about robots in 1940s.
Definition
Robot term from Websters dictionary:- An automatic device that performs function ordinarily ascribed to human being 'Automation' refers to a mode of operation in which any machine or piece of equipment is capable of working without human intervention.
Fixed automation
Used when the volume of production is very high and it is, therefore, appropriate to design specialized equipment to process products at high rates and low cost Eg: automobile industry, where highly integrated transfer line are used to perform machine operation on engine and transmission components
Flexible automation
Most suitable for the mid-volume production range. Typically consists of a series of workstation that are interconnected by materialhandling and storage equipment to process different product configuration at the same time to control manufacturing system Eg: Flexible Manufacturing System (FMS), Computer Integrated Manufacturing (CIM)
History of Robotics
Date
mid- 1 700s
Development
J. de Vaucanson built several human-sized mechanical dolls that played music. The -Stanford Arm," a small electrically powered robot arm, developed at Stanford University. Development of S.CARA type robot (Selective Compliance Arm for Robotic Assembly) at Yamanashi University in Japan for assembly. Several commercial SCARA robots introduced around 1981
1971
1979
In the social area, what are the main issues related to robotics? How will the labour and manpower market be affected by robotics? How many workers are likely to be displaced? What are the impacts on the professional and semiprofessional work force who are employed in manufacturing? Also, will robotics affect productivity and international economic competition? What kind of retraining and education is needed to upgrade the present work force? Will foreign investors still choose Malaysia (as cheap labour will not be needed when factories are run by robots)? Some 90 percent of Malaysian industry is in the SMI (Small and Medium Industry) category. Can SMIs afford installation of robotics in the near future? Or will robotics benefit only MNCs (Multinational Corporations)?
What is a joint?
A joint of robot is similar to a joint in the human body Each joint gives the robot with a degreeof-freedom(d.o.f)of motion In the nearly all cases, only 1 d.o.f is allowed to a joint
Joint
Links are rigid components that form a chain connected together by joints Each joint has two links, known as an input link and an output link
Link
Linear joint Orthogonal joint Rotational joint Twisting joint Revolving joint
Linear joint
The relative movement between the input link and the output link is a linear sliding motion, with the axes of the two links being parallel
Orthogonal joint
This is also linear sliding motion, but the input and output links are perpendicular to each other during the move
Rotational joint
This type provides a rotational relative motion of the joints, with the axis of rotation perpendicular to the axes of the input and output links
Twisting joint
This joint also involves a rotary motion, but the axis of rotation is parallel to the axes of the two links
Revolving joint
In this types, the axis of the input link is parallel to the axis of rotation of the joint, and the axis of the output link is perpendicular to the axis of rotation
Low technology
Material
Medium technology
Pick-and-place Material handling 4 to 6 axes
High technology
Material handling Pick-and-place Loading and unloading Painting and welding 6 to 9 axes
3.
4. 5.
Cartesian Type Configuration (PPP) Cylindrical Type Configuration (RPP) Spherical Type Configuration (RRP) SCARA Type Configuration (RRP or PRR) Revolute Type Configuration (RRR)
Manipulator whose first three joints are prismatic are known as a Cartesian manipulator.. Cartesian manipulator are useful for table-top assembly applications and, as gantry robots for transfer of material and cargo
Advantages: - 3 linear axes - Easy to visualize - Rigid structure - Easy to program off-line - Linear axes make for easy mechanical stops Disadvantage: - Can only reach in front of itself - Requires large floor space for size of work envelop - Axes hard to seal
For cylindrical type manipulator, its first joint is revolute which produces a rotation about the based, while its second and third joints are prismatic. Advantages: - 2 linear axes, 1 rotating axis - Can reach all around itself - Reach and height axes rigid - Rotational axis easy to seal. Disadvantages: - Cannot reach above itself - Base rotation axis is less rigid than a linear axis - Linear axes hard to seal - Will not reach around obstacles - Horizontal motion is circular
The word SCARA stands for Selective Compliant Articulated Robot for Assembly. There are two type of SCARA robot configuration: either the first two joints are revolute with the third joint as prismatic, or the first joint is revolute with the second and third Joints as prismatic. Advantages: - 1 linear axis, 2 rotating axes - Height axis is rigid - Large work area floor space - Can reach around obstacles - Two ways to reach a point Disadvantages: - Difficult to program off-line - Highly complex arm
Revolute manipulator is also called articulated or anthromorphic manipulator. These type of robot resembles human arm. Two common revolute designs are the elbow type manipulator such as the PUMA and the parallelogram linkage such as the Cincinnati Milacron T3 735. Advantages: - 3 rotating, axes - Can reach above or below obstacles - Largest work area for least work space - Two or four ways to reach a point Disadvantages: - Difficult to program off-line - The most complex manipulator
Electric Drive
Small and medium size robots are usually powered by electric drives via gear trains using servomotors and stepper motors. Advantages
- Better accuracy & repeatability - Require less floor space - More towards precise work such as assembly applications
Disadvantages
- Generally not as speedy and powerful as hydraulic robots - Expensive for large and powerful robots, can become fire hazard
Hydraulic Drive
Larger robots make use of hydraulic drives. Advantages:
Pneumatic Drive
For
smaller robots that possess fewer degrees of freedom (two- to fourjoint motions). They are limited to pick-and-place tasks with fast cycles.
1981 a "direct- drive robot" was developed at Carnegle-Mellon University, USA. Is used electric motors located at the manipulator joints without the usual mechanical transmission linkages used on most robots. The drive motor is located contiguous to the joint. Benefits:
Eliminate backlash and mechanical defiencies Eliminate the need of a power transmission (thus more efficient) Joint backdrivable (allowing for joint-space force sensing)
Cam-operated hand
It can easily handle heavy weights or bulky objects. It is designed to hold the object so that its center of gravity (CG) is kept very closed to the wrist of hand. The short distance between the wrist and the CG minimizes the twisting tendency of a heavy or bulky object.
Magnetic Pick up
Magnetic handling is most suitable for parts of ferrous contents. Magnets can be scientifically designed and made in numerous shapes and sizes to perform various tasks.
Ladle
Ladling hot materials such as molten metal is a hot and hazardous job for which industrial robots are well suited. In piston casting permanent mold die casting and related applications, the robot can be programmed to scoop up and transfer the molten metal from the pot to the mold, and then do the pouring.
Spray gun
Ability of the industrial robot to do multipass spraying with controlled velocity fits it for automated application of primers, paints, and ceramic or glass frits, as well as application of masking agents used before plating. For short or medium-length production runs, the industrial robot would often be a better choice than a special purpose setup requiring a lengthy change-over procedure for each different part. Also the robot can spray parts with compound curvatures and multiple surfaces.
Tool changing
A single industrial robot can also handle several tools sequentially, with an automatic tool-changing operation programmed into the robot's memory. The tools can be of different types or sizes, permitting multiple operations an the same workpiece
Safety Consideration
When? Practice it as soon as starting robotics project Must be built into robotics system at the outset Do not risk injuries by robots
What Dangers?
Repairing a robot Training/programming robot Normal operation Power supply