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Basics
Contents
History of Robotics
Robotics Application
Robot anatomy and Work Volume
Robot Configuration and work Space
End-effectors: Grippers and Tools
Robot Actuators and Drive Systems
Safety Consideration
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
Flexible automation
Programmable Automation
Fixed automation
Flexible automation
History of Robotics
Date
Development
mid 1 700s
1971
1979
What is a joint?
A joint of robot is
similar to a joint in the
human body
Each joint gives the
robot with a degree-offreedom(d.o.f)of motion
In the nearly all cases,
only 1 d.o.f is allowed
to a joint
Linear 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
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
GENERAL CLASIFICATION OF
ROBOTS
o
o
o
Low technology
Medium technology
High technology
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
Manipulator whose first three joints are prismatic are known as a Cartesian
manipulator.. Cartesian manipulator are useful for tabletop assembly
applications and, as gantry robots for transfer of material and cargo
Advantages:
- 3 linear axes
- Easy to visualize
- Rigid structure
- Easy to program offline
- 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 offline
- Highly complex arm
Electric Drive
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:
Disadvantages:
- Requires more floor space
- Tendency to oil leakage.
Pneumatic Drive
For
Camoperated 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 mediumlength
production runs, the industrial robot would
often be a better choice than a special
purpose setup requiring a lengthy
changeover 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 toolchanging
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