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Robotics: (VII Semester, B.Tech. Mechatronics)

The document discusses the fundamentals of robot technology, including robot anatomy, motions, configurations, and drive systems. It describes the key components of a robot including the body, arm, wrist, end effector, and joints. Common robot configurations are Cartesian, cylindrical, polar/spherical, articulated arm, and SCARA. The document focuses on robot anatomy, explaining each major component and configuration in detail.

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0% found this document useful (0 votes)
63 views73 pages

Robotics: (VII Semester, B.Tech. Mechatronics)

The document discusses the fundamentals of robot technology, including robot anatomy, motions, configurations, and drive systems. It describes the key components of a robot including the body, arm, wrist, end effector, and joints. Common robot configurations are Cartesian, cylindrical, polar/spherical, articulated arm, and SCARA. The document focuses on robot anatomy, explaining each major component and configuration in detail.

Uploaded by

maxs
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
You are on page 1/ 73

ROBOTICS

(VII Semester, B.Tech. Mechatronics)

Prepared By:
Nehul J. Thakkar
Asst. Professor
U.V.Patel College of Engineering
Ganpat University
Chapter 2: Fundamentals of Robot
Technology
 Robot Anatomy
 Robot Motions
 Work Volume
 Degree of Freedom (DOF)
 Robot Drive Systems
 Speed of Motions
 Load-carrying Capacity
 Control Systems
 Dynamic Performance
 Compliance
 End Effectors
 Sensors
7 October 2019 2 Cont.
Robot Anatomy

 The physical construction of the body, arm


and wrist of the machine
 The wrist is oriented in a variety of positions
 Relative movements between various
components of body, arm and wrist are
provided by a series of joints
 Joints provide either sliding or rotating
motions
 The assembly of body, arm and wrist is called
“Manipulator”
7 October 2019 3 Cont.
Robot Anatomy..

 Attached to the robot’s wrist is a hand which


is called “end effector”
 The body and arm joints position the end
effector and wrist joints orient the end
effector

7 October 2019 4 Cont.


Robot Anatomy..
Robot Configurations
 Variety of sizes, shapes and physical
configuration
1. Cartesian Coordinates Configuration
2. Cylindrical Configuration
3. Polar or Spherical Configuration
4. Articulated or Jointed-arm Configuration
5. Selective Compliance Assembly Robot Arm
(SCARA) Configuration

7 October 2019 5 Cont.


Robot Anatomy..
1. Cartesian Coordinate Configuration
 Uses three perpendicular slides to construct
x , y and z axes
 X-axis represents right and left motions,Y-
axis represents forward-backward motions
and Z-axis represents up-down motions
 Kinematic designation is PPP/LLL
 Other names are xyz robot or Rectilinear
robot or Gantry robot
 Operate within a rectangular work volume

7 October 2019 6 Cont.


Robot Anatomy..
1. Cartesian Coordinate Configuration..

7 October 2019 7 Cont.


Robot Anatomy..
1. Cartesian Coordinate Configuration..
 Advantages
 Linear motion in three dimension
 Simple kinematic model
 Rigid structure
 Higher repeatability and accuracy
 High lift-carrying capacity as it doesn’t vary at
different locations in work volume
 Easily visualize
 Can increase work volume easily
 Inexpensive pneumatic drive can be used for
P&P operation

7 October 2019 8 Cont.


Robot Anatomy..
1. Cartesian Coordinate Configuration..
 Disadvantages
 requires a large volume to operate in
 work space is smaller than robot volume
 unable to reach areas under objects
 must be covered from dust

 Applications
 Assembly
 Palletizing and loading-unloading machine tools,
 Handling
 Welding
7 October 2019 9 Cont.
Robot Anatomy..
2. Cylindrical Configuration
 Use vertical column which rotates and a slide
that can be moved up or down along the
column
 Arm is attached to slide which can be moved
in and out
 Kinematic designation is RPP
 Operate within a cylinder work volume
 Work volume may be restricted at the back
side

7 October 2019 10 Cont.


Robot Anatomy..
2. Cylindrical Configuration..

7 October 2019 11 Cont.


Robot Anatomy..
2. Cylindrical Configuration..
 Advantages
 Simple kinematic model
 Rigid structure & high lift-carrying capacity
 Easily visualize
 Very powerful when hydraulic drives used
 Disadvantages
 Restricted work space
 Lower repeatability and accuracy
 Require more sophisticated control
 Applications
 Palletizing, Loading and unloading
7 October 2019  Material transfer, foundry
12 and forging Cont.
Robot Anatomy..
3. Polar or Spherical Configuration
 Earliest machine configuration
 Has one linear motion and two rotary
motions
 First motion is a base rotation, Second
motion correspond to an elbow rotation and
Third motion is radial or in-out motion
 Kinematic designation is RRP
 Capability to move its arm within a spherical
space, hence known as ‘Spherical’ robot
 Elbow rotation and arm reach limit the design
of full spherical motion
7 October 2019 13 Cont.
Robot Anatomy..
3. Polar or Spherical Configuration..

7 October 2019 14 Cont.


Robot Anatomy..
3. Polar or Spherical Configuration..
 Advantages
 Covers a large volume
 Can bend down to pick objects up off the floor
 Higher reach ability
 Disadvantages
 Complex kinematic model
 Difficult to visualize
 Applications
 Palletizing
 Handling of heavy loads e.g. casting, forging

7 October 2019 15 Cont.


Robot Anatomy..
4. Jointed Arm Configuration
 Similar to human arm
 Consists of two straight components like
human forearm and upper arm, mounted o a
vertical pedestal
 Components are connected by two rotary
joints corresponding to the shoulder and
elbow
 Kinematic designation is RRR
 Work volume is spherical

7 October 2019 16 Cont.


Robot Anatomy..
4. Jointed Arm Configuration..

7 October 2019 17 Cont.


Robot Anatomy..
4. Jointed Arm Configuration..

7 October 2019 18 Cont.


Robot Anatomy..
4. Jointed Arm Configuration..
 Advantages
 Maximum flexibility
 Cover large space relative to work volume
objects up off the floor
 Suits electric motors
 Higher reach ability
 Disadvantages
 Complex kinematic model
 Difficult to visualize
 Structure not rigid at full reach
 Applications
7 October 2019  Spot welding, Arc welding
19 Cont.
Robot Anatomy..
5. SCARA Configuration
 Most common in assembly robot
 Arm consists of two horizontal revolute
joints at the waist and elbow and a final
prismatic joint
 Can reach at any point within horizontal
planar defined by two concentric circles
 Kinematic designation is RRP
 Work volume is cylindrical in nature
 Most assembly operations involve building up
assembly by placing parts on top of a partially
complete assembly
7 October 2019 20 Cont.
Robot Anatomy..
5. SCARA Configuration..

7 October 2019 21 Cont.


Robot Anatomy..
5. SCARA Configuration..

7 October 2019 22 Cont.


Robot Anatomy..
5. SCARA Configuration..
 Advantages
 Floor area is small compare to work area
 Compliance
 Disadvantages
 Rectilinear motion requires complex control of
the revolute joints
 Applications
 Assembly operations
 Inspection and measurements
 Transfer or components

7 October 2019 23 Cont.


Robot Motions
 Industrial robots perform productive work
 To move body, arm and wrist through a series
of motions and positions
 End effector is used to perform a specific task
 Robot’s movements divided into two
categories:
1. Arm and body motions
2. Wrist motions

 Individual joint motions referred as ‘ DOF ’


 Motions are accomplished by powered joints

7 October 2019 24 Cont.


Robot Motions..
 Three joints are associated with the action of
arm and body
 Two or three used to actuate the wrist
 Rigid members are used to connect
manipulator joints are called links
 Input link is closest to the base
 Output link moves with respect to the input
link

7 October 2019 25 Cont.


Robot Motions..
 Joints involve relative motions of the
adjoining links that may be linear or rotational
 Linear joints involve a sliding or translational
motion which can be achieved by piston,
telescopic mechanism
 May be called ‘Prismatic’ joint
 Represented as L or P joint
 Three types of rotating motion:
1. Rotational (R)
2. Twisting (T)
3. Revolving (V)

7 October 2019 26 Cont.


Robot Motions..

7 October 2019 27 Cont.


Robot Motions..
 Physical configuration of the robot can be described
by a joint notation scheme
 Considering the arm and body first
 Starting with the joint closest to the base till the joint
connected to the wrist
 Examples are LLL, TLL, TRL, TRR,VVR
 Wrist joints can be included for notation
 From joint closest to the arm to the mounting plate
for the end effector have either T or R type
 Examples are TRL : TRT, TRR : RT
 The scheme also provide that robot move on a track
or fixed to a platform
 Example TRL : TRT, L-TRL : TRT
7 October 2019 28 Cont.
Robot Motions..

7 October 2019 29 Cont.


Robot Motions..

7 October 2019 30 Cont.


Robot Motions..

7 October 2019 31 Cont.


Robot Work Volume
 The space within which the robot can
manipulate its wrist end
 different end effector might be attached to
wrist but not counted as part of the robot’s
work space
 Long end effector add to the extension of the
robot compared to smaller end effector
 End effector may not be capable of reaching
certain points within the robot’s normal work
volume
 Larger volume costs more but can increase
capabilities of robot
7 October 2019 32 Cont.
Robot Work Volume..
 It depends upon following physical
characteristics:
 Robot’s configuration
 Size of the body, arm and wrist components
 Limits of the robot’s joint movements

7 October 2019 33 Cont.


Robot Work Volume..

7 October 2019 34 Cont.


Robot Work Volume..

7 October 2019 35 Cont.


Degree of Freedom (DOF)

Rotate Base of Arm


Pivot Base of Arm
Bend Elbow
Wrist Up and Down
Wrist Left and Right
Rotate Wrist

7 October 2019 36 Cont.


Degree of Freedom..
 It is a joint , a place where it can bend or
rotate or translate
 Can identify by the number of actuators on
the arm
 Few DOF allowed for an application because
each degree requires motor, complicated
algorithm and cost
 Each configurations discussed before utilizes
three DOF in the arm and the body
 Three DOF located in the wrist give the end
effector all the flexibility

7 October 2019 37 Cont.


Degree of Freedom..
 A total 6 DOF is needed to locate a robot’s
hand at any point in its work space
 The arm and body joints move end effector
to a desired position within the limits of
robot’s size and joint movements
 Polar, cylindrical and jointed arm
configuration consist 3 DOF with the arm
and body motions are:
1. Rotational traverse: Rotation of the arm about
vertical axis such as left-and-right swivel of the
robot arm about a base

7 October 2019 38 Cont.


Degree of Freedom..

2. Radial traverse: Involve the extension and


retraction (in or out movement) of the arm
relative to the base
3. Vertical traverse: Provide up-and-down motion
of the arm
 For a Cartesian coordinate robot, 3 DOF are vertical
movement (z-axis motion), in-and-out movement (y-
axis motion), and right-and-left movement (x-axis
motion) which are achieved by slides of the robot
arm

7 October 2019 39 Cont.


Degree of Freedom..

7 October 2019 40 Cont.


Degree of Freedom..
 Wrist movement enable the robot to orient
the end effector properly to perform a task
 Provided with up to 3 DOF which are:
1. Wrist Pitch/Bend: Provide up-and-down
rotation to the wrist
2. Wrist Yaw: Involve right-and-left rotation of the
wrist
3. Wrist Roll/Swivel: Is the rotation of the wrist
about the arm axis

7 October 2019 41 Cont.


Degree of Freedom..

7 October 2019 42 Cont.


Degree of Freedom..

7 October 2019 43 Cont.


Drive Systems
 Capacity to move robot’s body, arm and wrist
 Determine speed of the arm movements,
strength of the robot & dynamic performance
 Type of applications that the robot can
accomplish
 Powered by three types of drive systems:
1. Hydraulic
2. Pneumatic
3. Electric

7 October 2019 44 Cont.


Drive Systems..

7 October 2019 45 Cont.


Drive Systems..
1. Hydraulic Drive
 Associated with large robot
 Provide greater speed & strength
 Add floor space
 Leakage of oil
 Provide either rotational or linear motions
 Applications such as:
• Spray coating robot
• Heavy part loading robot
• Material handling robot
• Translatory motions in cartesian robot
• Gripper mechanism

7 October 2019 46 Cont.


Drive Systems..
1. Hydraulic Drive..

7 October 2019 47 Cont.


Drive Systems..
1. Hydraulic Drive..

7 October 2019 48 Cont.


Drive Systems..
2. Pneumatic Drive
 Reserved for smaller robot
 Limited to “pick-and-place” operations with fast
cycles
 Drift under load as air is compressible
 Provide either rotational or linear motions
 Simple and low cost components
 Used to open and close gripper

7 October 2019 49 Cont.


Drive Systems..

7 October 2019 50 Cont.


Drive Systems..
3. Electric Drive
 Rotor, stator, brush and commutator assembly
 Rotor has got windings of armature and stator has
got magnets
 The brush and the commutator assembly switch
the current in armature windings
 The most commonly used are DC servomotors,
AC servomotors and stepper motors

7 October 2019 51 Cont.


Drive Systems..
3. Electric Drive..

Servomotor
7 October 2019 52 Cont.
Drive Systems..
3. Electric Drive..

7 October 2019 53 Cont.


Drive Systems..
3. Electric Drive..

7 October 2019 54 Cont.


Speed of Motion
 Speed determines how quickly the robot can
accomplish a given work cycle
 Desirable in production to minimize cycle
time
 Industrial robot speed range up to a
maximum of 1.7 m/s
 Speed would be measured at wrist
 Highest speed can be obtained by large robot
with fully extended arm

7 October 2019 55 Cont.


Speed of Motion..
 Most desirable speed depends on factors:
 Accuracy
 Weight of the object
 Distance

 Inverse relation between the accuracy and


the speed
 Heavier objects must be handled more slowly
 Capable of traveling one long distance in less
time than a sequence short distances whose
sum is equal to the long distance

7 October 2019 56 Cont.


Speed of Motion..
 Short distance may not permit for
programmed operating speed

7 October 2019 57 Cont.


Load-Carrying Capacity
 It depends upon size, configuration,
construction and drive system
 Robot arm must be in its weakest position to
calculate load-carrying capacity
 In polar, cylindrical and jointed-arm, the robot
arm is at maximum extension
 Ranges from less than a pond to several
thousand pounds
 Gross weight include the weight of the end
effector

7 October 2019 58 Cont.


Control Systems
 Controlling drive system to properly regulate
its motions
 Four categories according to control systems
1. Limited-sequence robot
2. Playback robots with PTP control
3. Playback robots with continuous path control
4. Intelligent robot

7 October 2019 59 Cont.


Speed of Response & Stability
 The speed of response refers to the capability
of the robot to move to the next position in
a short amount of time
 Stability is defined as a measure of the
oscillations which occur in the arm during
movement from one position to the next
 Good stability exhibit little or no oscillation
and poor stability indicated by a large amount
of stability
 Damping control stability but reduces the
speed of response

7 October 2019 60 Cont.


Speed of Response & Stability..

7 October 2019 61 Cont.


Spatial Resolution

7 October 2019 62 Cont.


Spatial Resolution..
 Defined as smallest increment of movement
into which the robot can divide its work
volume
 Depends on two factors: system’s control
resolution and the robot’s mechanical
inaccuracies
 Control resolution is determined by robot’s
position control system and its feedback
measurement system
 Ability to divide total range of movement for
the particular joint into individual increments
that can be addressed in the controller
7 October 2019 63 Cont.
Spatial Resolution..
 Joint range depends on the bit storage
capacity in the control memory
 Number of increments for a axis is given by
Number of Increments = 2n
 Have a control resolution for each joint in
case of several DOF
 Resolution for each joint to be summed
vectorially
 Total control resolution depend on the wrist
motions as well as the body and arm motions

7 October 2019 64 Cont.


Spatial Resolution..
 Mechanical inaccuracies come from elastic
deflection in the structure elements, gear
backlash, stretching of pulley cords, leakage of
hydraulic fluids and other imperfections in the
mechanical system
 Also affected by load being handled, the speed
of arm moving, condition of maintenance of
robot

7 October 2019 65 Cont.


Accuracy
 Ability to position its wrist end at a desired
target point within the work volume

7 October 2019 66 Cont.


Accuracy..
 Depends on spatial resolution means how
closely the robot can define the control
increments
 Lie in the middle between two adjacent
control increments
 One half of the control resolution

7 October 2019 67 Cont.


Accuracy..
 Depends on spatial resolution means how
closely the robot can define the control
increments
 Lie in the middle between two adjacent
control increments
 One half of the control resolution
 Same anywhere in work volume
 It may be changed in work volume due to
mechanical inaccuracies

7 October 2019 68 Cont.


Accuracy..
 Affected by many factors
 Mechanical inaccuracies
 Work range
 Weight

7 October 2019 69 Cont.


Repeatability
 Ability to position its wrist at a point in space
that had been taught
 Accuracy relates to its capacity to be
programmed to achieve a given target point
 Programmed point and target point may be
different due to limitations of resolution
 Repeatability refers to ability to return to the
programmed point when commanded to do
so

7 October 2019 70 Cont.


Repeatability..

7 October 2019 71 Cont.


Compliance
 Displacement of the wrist end in response to
a force or a torque exerted against it
 High compliance means that wrist is displaced
a large amount by small force known as
‘Springy’
 Reduce the robot precision of movement
under load
 Directional feature
 Reaction force of the part may cause
deflection to the manipulator

7 October 2019 72 Cont.


Thank You

7 October 2019 73

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