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Technology that is concerned with the use of mechanical, electronic and computer based systems in the operation and control of production Eg : transfer lines, CNC machines, ROBOT etc., Classes of automation 1. Fixed automation 2. Programmable automation. 3. Flexible automation
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Automation
Fundamentals
What is a Robot? Classification of Robots - JIRA (Japanese Industrial Robot Association)
Class1: Manual-Handling Device Class2: Fixed Sequence Robot Class3: Variable Sequence Robot Class4: Playback Robot Class5: Numerical Control Robot Class6: Intelligent Robot
Fundamentals
What is a Robot? Classification of Robots - RIA (Robotics Institute of America)
Variable Sequence Robot(Class3) Playback Robot(Class4) Numerical Control Robot(Class5) Intelligent Robot(Class6)
Fundamentals
What is a Robot? Classification of Robots
- AFR (Association Franaise de Robotique) Type A: Manual Handling Devices/ telerobotics Type B: Automatic Handling Devices/ predetermined cycles Type C: Programmable, Servo controlled robot, continuous point-to-point trajectories Type D: Same type with C, but it can acquire information.
Fundamentals
History of Robotics
1922: Karel apeks novel, Rossums Universal Robots, word Robota (worker) 1952: NC machine (MIT) 1955: Denavit-Hartenberg Homogeneous Transformation 1967: Mark II (Unimation Inc.) 1968: Shakey (SRI) - intelligent robot 1973: T3 (Cincinnati Milacron Inc.) 1978: PUMA (Unimation Inc.) 1983: Robotics Courses 21C: Walking Robots, Mobile Robots, Humanoid Robots
Robots increase productivity, safety, efficiency, quality, and consistency of products. Robots can work in hazardous environments without the need. Robots need no environmental comfort. Robots work continuously without experiencing fatigue of problem. Robots have repeatable precision at all times. Robots can be much more accurate than human. Robots replace human workers creating economic problems. Robots can process multiple stimuli or tasks simultaneously.
Robots lack capability to respond in emergencies. Robots, although superior in certain senses, have limited capabilities in Degree of freedom, Dexterity, Sensors, Vision system, real time response. Robots are costly, due to Initial cost of equipment, Installation costs, Need for Peripherals, Need for training, Need for 8 programming.
Locomotion
or manipulation,
physicalsuch as move or manipulate
4D:
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Definition
According to WEBSTER Robot is an automatic apparatus or device that performs functions, ordinarily ascribed to human beings or operate with what appears to be almost human intelligence
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Definition
A robot is a reprogrammable, multi functional manipulator designed to move materials, parts, tools or specialized devices through variable programmed motions for the performance of the variety of the tasks
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Manipulators
Robot arms, industrial robot
Rigid bodies (links) connected by joints Joints: revolute or prismatic
Drive: electric or hydraulic
End-effector (tool) mounted on a flange or plate secured to the wrist joint of robot
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Laws of robotics
1st law: A robot may not injure a human being, or through in action, allow one to come to harm. 2nd law A robot must obey the orders given to it by the human beings except where such orders would conflict with the 1st law. 3rd law A robot must protect its own existence as long as such protection does not conflict the 1st and 2nd laws Zeroth law: A robot may not injure humanity, or, through inaction, allow humanity to come to harm
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CLASSIFICATION:
CLASSIFIED INTO SIX CATEGORIES
Arm Geometry: Rectangular; Cylindrical; Spherical; Jointed-arm (vertical); Joined-arm (horizontal). Degrees Of Freedom: Robot Arm; Robot Wrist. Power Sources: Electrical; Pneumatic; Hydraulic; Any Combination.
Type Of Motion: Slew Motion; Joint-interpolation; Straight-line Interpolation; Circular Interpolation. Path Control: Limited Sequence; Point-to-point; Continuous Path; Controlled Path.
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Provides 3 linear axes of movement at right angles to each other, providing movement in X, Y, and Z axes (similar to milling machine) sub classification
cantilevered cartesian co ordinate robot. good repeatability and accuracy.
gantry type cartesian co ordinate robot.
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PPP
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Advantages
1. 2. 3. 4. 5.
6.
7. 8. 9. 10.
Easily controlled/programmed movements High accuracy Constant accuracy/speed/payload capacity over entire range Control system simplicity Familiar X, Y, Z coordinates easily understood Inherently stiff structure Large area coverage Large payload capacity Structural simplicity, offering good reliability Easy to expand, modular fashion Where linear movement / high accuracy is needed
Applications
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Advantages
Easily controlled/programmed movements Control system simplicity Good accuracy Fast operation Good access to fronts and sides Structural simplicity In radial workplace layouts, where: the work is approached primarily in the horizontal plane no obstructions are present
Applications
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RPP
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RRP
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Applications
Suitable for lifting and shifting applications which do not require sophisticated path movements to be traced. Extremely suitable for applications where reaching into horizontal or inclined tunnels may be required. Combines both vertical & linear movements with rotary movement in the horizontal plane about the vertical axis. Its motion sweep out a partially cylindrical working volume
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Eg:
SCARA
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Articulated: RRR
SCARA: RRP
(Selective Compliance Assembly Robot Arm)
Hand coordinate:
n: normal vector; s: sliding vector; a: approach vector, normal to the tool mounting plate
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Advantages
Extremely good maneuverability and access within its programmable area Fast operation High accuracy Relatively high payload capacity (due to stiff structure in the vertical direction) Assembly type operations (assembly tasks predominantly require movement in the horizontal plane coupled with simple vertical movement for picking, placing and 28 insertion operations)
Applications
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Robot Coordinates
Fig. 1.4
Cartesian/rectangular/gantry (3P) : 3 cylinders joint Cylindrical (R2P) : 2 Prismatic joint and 1 revolute joint Spherical (2RP) : 1 Prismatic joint and 2 revolute joint Articulated/anthropomorphic (3R) : All revolute(Human arm) Selective Compliance Assembly Robot Arm (SCARA): 2 paralleled revolute joint and 1 additional prismatic joint
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Robot Workspace
Easy to operate
More reliable High repeatability Low flexibility
Eg:
1. Point to point robot
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Off-line programming system of robotics Graphical Simulation of robotic work cell. Analysis of the robot configuration
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Manufacturing Applications
1.
Applications
Material handling, machine loading & unloading applications Pick & place applications
Palletizing & de-palletizing
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Manufacturing Applications
2. Processing applications
Spot welding, arc welding, spray painting, forging
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Welding
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Manufacturing Applications
3. Assembly and inspection
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Manufacturing Applications
Manufacturing Applications
Construction field
Mining applications
Military applications
Fire fighting applications
Medical applications
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Teaching robots Agriculture robot House hold robot As security guards Bank tellers Retail robots As garbage collectors
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Robot Components
Manipulator End Effector Actuators Sensors Controller Processor : Main body of robot (Links, Joints, other structural element of the robot) : The part that is connected to the last joint(hand) of a manipulator : Muscles of the manipulators (servomotor, stepper motor, pneumatic and hydraulic cylinder) : To collect information about the internal state of the robot ( or ) To communicate with the outside environment : Similar to cerebellum. It controls and coordinates the motion of the actuators. : The brain of the robot. It calculates the motions and the velocity of the robots joints, etc.
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Manipulator
Major linkages:
used to position the manipulator in space
Minor linkages:
used to position the end effector
End effector:
used to perform particular task
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1 D.O.F.
2 D.O.F.
3 D.O.F.
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Robot Joints
Prismatic Joint: Linear, No rotation involved.
(Hydraulic or pneumatic cylinder)
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Controller
Memory:
store the data / program
Sequencer:
Interprets the data stored in the memory
Computational unit:
Provides the necessary computations to aid the sequencer
Interfaces:
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Sensory Devices
Attached to the shaft of the actuator Monitor the state of each joint
i.e., position, velocity, acceleration etc.,
Eg:
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End Effectors
An End effector is a device that attached to the wrist of the robot arm, to perform specific task.
It is also called robots hand. End effector may be gripper (or) tool.
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End Effector
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Grippers
An end effector to grasp or hold the objects. Classification:
Mechanical
Single
Double
Multiple
Mechanical Grippers
Cam actuation type
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Mechanical Grippers
Gear & Rack Actuation type
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Mechanical Grippers
Linkage Actuation type
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Vacuum cup
1. Made of elastic material such as rubber or soft plastic
2. Provision for vacuum creation is required
Highly reliable
Low cost
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Magnetic gripper
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Magnetic gripper
Used
Ability
Residual
A
Hooks
To handle container parts
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