Scribd
Upload
127 views35 pages

Introduction To Industrial Robots

This document provides an introduction to industrial robots, including classifications of robots, common robot configurations, reference frames, programming methods, and how robots are used in manufacturing. It describes the different types of joints, motions, and configurations that robots can have, such as Cartesian, cylindrical, and articulated configurations, as well as how robots are programmed through teach pendants, lead-through programming, and programming languages. The document serves as a high-level overview of key concepts relating to industrial robots.

Uploaded by

Gurpreet Singh Anttal
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
127 views35 pages

Introduction To Industrial Robots

This document provides an introduction to industrial robots, including classifications of robots, common robot configurations, reference frames, programming methods, and how robots are used in manufacturing. It describes the different types of joints, motions, and configurations that robots can have, such as Cartesian, cylindrical, and articulated configurations, as well as how robots are programmed through teach pendants, lead-through programming, and programming languages. The document serves as a high-level overview of key concepts relating to industrial robots.

Uploaded by

Gurpreet Singh Anttal
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 35

Introduction to

Industrial Robots
Agenda
 Robot Classification
 Types of Motions
 Types of Joints
 Robot Configurations
 Robot Reference Frames
 Wrist Motions
 Robot Programming
Robot Classification
The following is the classification of Robots according to the
Robotics Institute of America
 Variable-Sequence Robot
A device that performs the successive stages of a task according to a predetermined
method.

 Playback Robot
A human operator performs the task manually by leading the Robot.

 Numerical Control Robot


The operator supplies the movement program rather than teaching it the task
manually.

 Intelligent Robot
A robot with the means to understand its environment and the ability to successfully
complete a task despite changes to the environment.
Types of Motions
Types of Joints
Revolute joint : A revolute joint is a one-degree-of-freedom kinematic
pair used in mechanisms. Revolute joints provide single-axis rotation
function used in many places such as door hinges, folding mechanisms,
and other uni-axial rotation devices.

Joint with single revolute joint Joint with two revolute joint
Types of Joints
Prismatic joint: A prismatic joint provides a linear sliding movement
between two bodies, and is often called a slider, as in the slider-crank
linkage. A prismatic pair is also called as sliding pair. A prismatic joint
can be formed with a polygonal cross-section to resist rotation.
Robot Configurations
Some of the commonly used configurations in Robotics are
 Cartesian/Rectangular Gantry
 Cylindrical
 Spherical
 Articulated
 Selective Compliance Assembly Robot Arm (SCARA)
Robot Configurations
 Cartesian/Rectangular Gantry: These Robots are made of 3 Linear
joints that orient the end effector, which are usually followed by
additional revolute joints.
Work Envelope Concept
 Depending on the configuration and size of the
links and wrist joints, robots can reach a collection
of points called a Workspace.

 Workspace may be found empirically, by moving


each joint through its range of motions and
combining all space it can reach and subtracting
what space it cannot reach
Robot Configurations
Cartesian Robot - Work Envelope
Robot Configurations
 Cylindrical: Cylindrical coordinate Robots have 2 prismatic joints and
one revolute joint.
Robot Configurations
Cylindrical Robot - Work Envelope
Robot Configurations
 Spherical joint: They follow a spherical coordinate system, which has
one prismatic joints and two revolute joint.
Robot Configurations
Spherical Robot - Work Envelope
Robot Configurations
 Articulated: An articulated robot’s joints are all revolute, similar to a
human’s arm.
Robot Configurations
 Selective Compliance Assembly Robot Arm (SCARA): They have
two revolute joints that are parallel and allow the Robot to move in a
horizontal plane, plus an additional prismatic joint that moves
vertically
Robot Configurations
Reference Frames
 World Reference Frame which is a universal coordinate frame, as
defined by the x-y-z axes. In this case the joints of the robot move
simultaneously so as to create motions along the three major axes.

 Joint Reference Frame which is used to specify movements of each


individual joint of the Robot. In this case each joint may be accessed
individually and thus only one joint moves at a time.

 Tool Reference Frame which specifies the movements of the Robots


hand relative to the frame attached to the hand. The x’,y’and z’ axes
attached to the hand define the motions of the hand relative to this
local frame. All joints of the Robot move simultaneously to create
coordinated motions about the Tool frame.
Robot Reference Frames
Robot Reference Frames
Robot Reference Frames
Wrist Motions
 typically has 3 degrees of freedom
 Roll involves rotating the wrist about the arm axis
 Pitch up-down rotation of the wrist
 Yaw left-right rotation of the wrist
 End effector is mounted on the wrist
Wrist Motions
Control Methods
 Non Servo Control
 implemented by setting limits or mechanical stops for
each joint and sequencing the actuation of each joint to
accomplish the cycle
 end point robot, limited sequence robot
 No control over the motion at the intermediate points,
only end points are known

24
 Programming accomplished by
 setting desired sequence of moves
 adjusting end stops for each axis accordingly
 the sequence of moves is controlled by a “squencer”,
which uses feedback received from the end stops to
index to next step in the program
 Low cost and easy to maintain, reliable
 relatively high speed
 repeatability of up to 0.01 inch
 limited flexibility
 typically hydraulic, pneumatic drives
 Servo Control
 Point to point Control
 Continuous Path Control
 Closed Loop control used to monitor position,
velocity (other variables) of each joint
Point-to-Point Control
 Only the end points are programmed, the path used to
connect the end points are computed by the controller
 user can control velocity, and may permit linear or
piece wise linear motion
 Feedback control is used during motion to ascertain
that individual joints have achieved desired location
 Often used hydraulic drives, recent trend towards
servomotors
 loads up to 500lb and large reach
 Applications
 pick and place type operations
 machine loading
Continuous Path Controlled
 in addition to the control over the endpoints, the path
taken by the end effectors can be controlled
 Path is controlled by manipulating the joints
throughout the entire motion, via closed loop control
 Applications:
 spray painting, polishing, grinding, arc welding
Robot Programming
 Typically performed using one of the following
 On line
 teach pendant
 lead through programming
 Off line
 robot programming languages
 task level programming
Use of Teach Pendant
 hand held device with switches used to control the
robot motions
 End points are recorded in controller memory
 sequentially played back to execute robot actions
 trajectory determined by robot controller
 suited for point to point control applications
 Easy to use, no special programming skills required
 Useful when programming robots for wide range of
repetitive tasks for long production runs
 RAPID
Lead Through Programming
 lead the robot physically through the required
sequence of motions
 trajectory and endpoints are recorded, using a
sampling routine which records points at 60-80 times
a second
 when played back results in a smooth continuous
motion
 large memory requirements
Programming Languages
 need to interface robot control system to external
sensors, to provide “real time” changes based on sensory
equipment
 computing based on geometry of environment
 ability to interface with CAD/CAM systems
 meaningful task descriptions
 off-line programming capability
Assignment
 Discuss an activity that you think could be automated
by using a robot.
 Define the tasks that the robot will perform.
 What kind of special tooling is required? Sketch if you
will use any.
 Can the activity be justified economically? Show your
development – do not simply say yes or no.

You might also like

pFad - Phonifier reborn

Pfad - The Proxy pFad of © 2024 Garber Painting. All rights reserved.

Note: This service is not intended for secure transactions such as banking, social media, email, or purchasing. Use at your own risk. We assume no liability whatsoever for broken pages.


Alternative Proxies:

Alternative Proxy

pFad Proxy

pFad v3 Proxy

pFad v4 Proxy