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What is an industrial
robot?
A robot is a reprogrammable, multifunctional
manipulator designed to handle material, parts,
tools or specialized devices through variable
programmed motions for the performance of a
variety of tasks.
Advantages of Robots
Disadvantages of
Robots
Degrees of Freedom
Dexterity
Sensors
Vision systems
Real-time Response
Do?
Industrial
Robots
Material handling
Material transfer
Machine
loading
unloading
Spot welding
Continuous arc welding
Spray coating
Assembly
Inspection
and/or
Material Handling
Manipulator
Assembly
Manipulator
Spot Welding
IES-Conventional
Briefly describe some of the similarities
between a robot and an NC machine.
IES Conventional
Name the basic components of all robots.
Write in short about welding robot.
[5 Marks]
Wrist Configurations
Wrist assembly is attached to end-of-arm
End effector is attached to wrist assembly
Function of wrist assembly is to orient end
effector
Body-and-arm determines global position of end
effector
End Effectors
The special tooling for a robot that enables
Degrees of Freedom
The degree of freedom or grip of a robotic system can
configuration.
Each of the five basic motion configurations utilizes
Types of Robot
Cartesian or Gantry
robot:
It's a robot whose arm
has
three
prismatic
joints, whose axes are
coincident
with
a
Cartesian coordinator.
Used for pick and place
work, application of
sealant,
assembly
operations,
handling
machine tools and arc
welding.
Types of Robot
Cylindrical robot:
It's a robot whose
axes
form
a
cylindrical
coordinate system.
Used for assembly
operations,
handling at machine
tools, spot welding,
and handling at die
casting machines.
Types of Robot
Spherical or Polar
robot:
It's a robot whose
axes form a polar
coordinate system.
Used for handling at
machine tools, spot
welding, diecasting,
fettling
machines,
gas welding and arc
welding.
Types of Robot
Articulated
or
Revolute Robot:
It's a robot whose
arm has at least
three rotary joints.
Used for assembly
operations,
die
casting,
fettling
machines,
gas
welding, arc welding
and spray painting.
Types of Robot
SCARA robot
TheSCARAacronym
stands
forSelective
Compliant
Assembly
Robot
ArmorSelective
Compliant
Articulated Robot Arm.
It's a robot which has two
parallel rotary joints to provide
compliance in a plane
Used for pick and place work,
application
of
sealant,
assembly
operations
and
Types of Robot
Parallel robot
IES - Conventional
What are the five different types of robot
systems?
Answer:
1. Cartesian or Gantry robot
2. Cylindrical robot
3. Spherical or Polar robot
4. Articulated or Revolute Robot
5. SCARA robot
IES - 2012
The configuration of a robot using a telescoping
arm that can be raised or lowered on a
horizontal pivot mounted on a rotating base is
called
(a) Polar
(b) Cylindrical
(c) Cartesian coordinate
(d) Jointed arm
Electric
Uses electric motors to actuate individual joints
Preferred drive system in today's robots
Hydraulic
Uses hydraulic pistons and rotary vane actuators
Noted for their high power and lift capacity
Pneumatic
Typically limited to smaller robots and simple
material transfer applications
Joint
Joint 1
1
Joint
Joint 2
2
Cell
Cell
Supervisor
Supervisor
Level 2
Controller
Controller
&
& Program
Program
Level 1
Joint
Joint 3
3
Joint
Joint 4
4
Joint
Joint 5
5
Joint
Joint 6
6
Sensors
Sensors
Level 0
Working Envelope
Robotic Arc-Welding
Cell
Robot
Robot Programming
through
Common for point-
to-point robots
Uses teach pendant
personnel
Logical way to teach a
robot
No computer
programming
Disadvantages:
Downtime during
programming
Limited programming
logic capability
Not compatible with
supervisory control
Teach by Pendant
Teach by Pendant
Teach by Pendant
IES-Conventional
IES 2011
IES 2010
Consider the following statements:
Good dynamic performance is usually difficult to
achieve in robots which contain a rotary base
because
1. Position, speed and acceleration of the other joints
cause variations in the reflected torque and moment
of inertia.
2. The moment of inertia reflected at the base depends
upon the weight of the object being carried.
3. The moment of inertia reflected at the base also
depends upon the distance between the base axis
and the manipulated object.
Which of the above statements is/are correct?
IES - 2006
Which one of the following is the third
basic component of robots besides power
supply and control (memory) console?
(a) Software
(b) Coaxial cable
(c) Mechanical unit arm (d) Microcomputer
IES - 2000
Consider the following characteristics of a robot:
1. The tip of the robot arm moves from one point to
another with its in-between path not being defined.
2. It can be used for drilling holes at difference points
in a workpiece.
3. It can be used for V butt joint welding between two
points.
4. The memory capacity required for its control unit is
low.
Which of these are the characteristics associated with
a point to point robot?
(a) 1 and 2(b) 1, 3 and 4
(c) 1, 2 and 4(d) 2, 3 and 4
CAD
Geometric Modeling
Engineering Analysis
Automated Drafting
GATE-2013
In a CAD package, mirror image of a 2D
point P(5,10) is to be obtained about a line
which
passes
through
the
origin
and
(b) (10, 5)
(d) (10,
GATE-2014
A robot arm PQ with end coordinates P(0, 0) and
Q(2, 5) rotates counter clockwise about P in the
XY plane by 90o. The new coordinate pair of the
end point Q is
(a) (2, 5)
(b) (5, 2)
(c) (5, 2)
(d) (2, 5)
GATE-2016
GATE-2016
The figure below represents a triangle PQR with initial
coordinates of the vertices as P(1,3), Q(4,5) and R(5,3.5).
The triangle is rotated in the X-Y plane about the vertex P
by angle in clockwise direction. If sin = 0.6 and cos =
0.8, the new coordinates of the vertex Q are
(a)(4.6, 2.8)
(b) (3.2, 4.6)
(c) (7.9, 5.5)
(d)(5.5, 7.9)
CAM
IES - 2006
Which item best describes a CAM
technology?
(a) Geometric modeling (b) Documentation
(c) Drafting
(d) Numerical control
ISRO-2011
In CAM, " Part programming" refers to
(a) Generation of cutter location data
(b) On-line Inspection
(c) Machine Selection
(d) Tool Selection
Automation
initial
investment
equipment
for
custom-engineered
Flexible Automation
system
Produce different products on the same
equipment in any order or mix. Continuous
production of variable mixtures of products
Medium Production Rates
Flexibility to deal with product design variations
e.g., CNC milling machine
Programmable Automation
programmable.
High
investment
in
general
purpose equipment
Most suitable for batch production
Lower production rates than fixed automation
IES - 2012
Programmable automation is suitable for
(a) Low production volume and large varieties of
parts
(b) Low production volume and small varieties of
parts
(c) High production volume and small varieties of
parts
(d) High production volume and large varieties of
parts
What is an FMS?
FMS Components
Most FMS systems comprise of three
main systems
Work machines (typically automated
CNC machines) that perform a series of
operations;
An
integrated
material
transport
system and a computer that controls
the flow of materials, tools, and
information (e.g. machining data and
machine malfunctions) throughout the
system;
Auxiliary work stations for loading and
FMS Goals
Advantages of FMS
Faster, lower- cost changes from one part to
Disadvantages of FMS
Limited ability to adapt to changes in product or
IES - 1996
Which of the following pairs are correctly
matched?
1. CNC machine Post processor
2. Machining centre.Tool magazine
3. DNC. FMS
(a) 1, 2 and 3(b) 1 and 2
(c) 1 and 3(d) 2 and 3
IES - 2006
Flexible manufacturing allows for:
(a) Tool design and production
(b) Automated design
(c) Quick and inexpensive product change
(d) Quality control
IES - 2004
Consider the following characteristics:
1. Single machine tool
2. Manual materials handling system
3. Computer control
4. Random sequencing of parts to machines
Which of the above characteristics are
associated with flexible manufacturing system?
(a) 1, 2 and 3 (b) 1 and 2
(c) 3 and 4 (d) 2, 3 and 4
IES - 2012
Rank order clustering as applied to
manufacturing automation is
(a) A technique of identifying process sequence
in production of a component
(b) A just in time (JIT) method
(c) An approach of grouping the machines into
cells in an FMS system
(d) A tool to generate bill of materials
IES-2010
Conv.
arrangement
with
more
than
one
IAS-2011
What is the difference between FMS and FMC?