OBJECTIVE
Realize the
fundamentals of Robot Technology. Know
the general characteristic of Robot. Understand the basic components of Robots.
Recognize Robot anatomy be informed of Robot generation.
Be aware of Robot
selection.
DEFINITION
Robot
technology is an applied science that is referred to as a combination of
machine tools and computer applications. Include such diverse fields as machine
design, control theory, Microelectronics, Computer Programming, Artificial intelligence, Human Factors and
Production Theory.
GENERAL CHARACTERISTICS
A
specialized machine tools with a degree of flexibility that distinguishes them
from fixed-purpose automation.
Is essential
a mechanical arm that is bolted to the Floor, A machine, the ceiling or in some
cases the wall fitted with its Mechanical Hand, and taught to do repetitive
task in a controlled, ordered environment ability to move Mechanical Arm to
perform work.
Robot interface with their work environment
once a Mechanical hand has been attached to the Robots’ Tool mounting plate.
DEFINITIONS
- WORK ENVELOPE: The set of points representing the maximum extend or reach of the Robot hand or working tool in all direction.
- PAYLOAD: The ability to carry, continuously and satisfaction, a given maximum weight at a given speed.
- VELOCITY: The maximum speed at which the tip of a Robot is capable of moving at full extension, expressed in inches or Millimeters per Second.
- CYCLE: Time it takes for Robot to complete one cycle of picking up a given object at a given height, moving it to a given distance, lowering it, releasing it and returning to the starting point
- ACCURACY: A Robot’s ability to position the End Effector at a specified point in space upon receiving a control command without previously having attained that position.
- REPEATIBILITY: The ability of a Robot to Return consistently to a previously defined and achieved location.
- RESOLUTION: The smallest incremental change in position that it make or its control system can measure.
- SIZE: The physical size of a Robot, which influences its capacity and its capabilities.
BASIC COMPONENTS
The basic
components of an industrial Robot are the Manipulator and the End Effector(which
is the part of an Manipulator) and the Power Supply and the Controller.
The
Manipulator, which is the Robot’s Arm, consist of segments jointed together
with axes capable of motion in various directions allow the Robot to perform
work.
The Effector
which is a gripper tool, a special device, or fixed attached to the Robot’s
Arm, actually performs the work.
Power Supply
provides and regulates the energy that is converted to motion by the Robot
Actuator, and it may be either – electric, Pneumatic or hydraulic.
The
controller initiates, terminates, and coordinates the motion of sequences of a Robot.
Also it accepts the Robot and provides the outputs to interface with the
outside world.
MANIPULATOR
IS A MECHANICAL UNIT THAT PROVIDES MOTION
SIMILAR TO THAT OF A HUMAN ARM?
Its primary
function is to provide the specific motions that will enable the tooling at the
end of the arm to do the required work.
A Robot
movement can be divided into two general categories: Arm and Body (shoulder and
Elbow) Motions and the wrist Motions.
The
individual joint motions associated with these categories are referred to as
degree of Freedom.
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Each axis is
equal to one degree of freedom. Typically, an industrial Robots are equipped
with 46 degrees of Freedom.
The wrist
can reach a point in space with specific orientation by any of three Motions: A
Pitch or Up-and-Down Motion; A Yaw, or Side-to-Side Motion; And A roll, Or
Rotating Motion and The joint labeled pitch, Yaw and Roll are called
Orientation Axes.
The points
that manipulator bends, slides, or rotates are called joints or position axes.
Manipulation
is carried out using mechanical devices, such as Linkages, Gears, Actautors,
and Feedback devices.
Position
axes are called as world coordinates, is identifies as being fixed location
within the manipulators that serves as absolute frame or reference.
- THE X-AXIS TRAVEL MOVES THE MANIPULATOR IN AN IN-AND-OUT MOTION.
- THE Y-AXIS MOTION CAUSES THE MANIPULATOR TO MOVE SIDE-TO-SIDE.
- THE Z AXIS MOTION CAUSES THE MANIPULATOR TO MOVE IN AND UPAND-DOWN MOTION.
The
mechanical design of a Robot manipulator design of a Robot manipulator relates
directly to its work envelope and motion characteristics.
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END EFFECTOR
IS THE
DEVICE THAT IS MECHANICALLY OPENED AND CLOSED?
Act as the
tool-mounting plate.
Depending on
the type of operation, conventional End Effector are equipped with various
devices and tool attachments, as follows:
- Grippers
- Hooks
- Scoops
- Electromagnets
- Vacuum cups
- Adhesive Fingers
End Effector
is generally custom-made to meet special handling requirements.
Mechanical
Grippers are most commonly used and are equipped with two or more fingers. The
selection of an appropriate End Effector for a specific application depends
upon factors such as Payload, Environment, Reliability and cost.
POWER SUPPLY
The function
of the Power Supply is to provide and regulate energy that is required for a Robot
to be operated.
THERE ARE
THREE BASIC TYPES O POWER SUPPLIES:
- ELECTRIC
- HYDRAULIC
- PNEUMATIC
Electricity
is the most common source of Power and is used extensively with industrial Robots.
The second
most common source is PNEUMATIC, and the least common is HYDRAULIC POWER.
The power
supply has a Direct Relation to the Payload Rating.
CONTROLLER
The
controller is a communication an information processing device that initiates,
terminates and coordinates the motions and sequences of a Robot.
It accepts
necessary input to the Robot and provides the output drive signals to a
controlling motor or actuator to correspond with the Robot Movements and outside
world.
The heart of
the controller is the computer and it Solid-State Memory.
THE INPUT
AND OUTPUT SECTION OF A CONTROL SYSTEM MUST PROVIDE A COMMUNICATION NTERFACE
BETWEEN THE ROBOT CONTROLLER COMPUTER AND FOLLOWING PARTS:
- FEEDBACK SENSORS
- PRODUCTION SENSORS
- PRODUCTION MACHINE TOOLS
- TEACHING DEVICE
- PROGRAM STORAGE DEVICES
- HARD COPY DEVICES
The computer
controls the motion of the Robot Arm by means of Drive Signals that pass
through the drive interface to the Actuators on the Arm.
Robots are
often classified under the three major categories, according to the type of
control system used:
- NONSERVO – OPEN LOOP SYSTEM
- SERVO – CLOSED LOOP SYSTEM
- SERVO-CONTROLLED – CLOSED LOOP SYSTEMS WITH CONTINUOUSLY CONTROLLED PATH
ROBOT ANATOMY
Robot
Anatomy is concerned with the Physical Construction and Characteristics of the
Body, Arm, and Wrist, which are components of Robot Manipulator.
Movements
between the various components of the Body, Arm and Wrist are provided by a
series of joints.
Attached to
the Robot wrist is the End Effector (or End-of-Arm Tolling) that performs the
works.
The End
Effector is not considered a part of the Robot’s Anatomy.
ROBOT
CONFIGURATIONS:
- Industrial Robots are available in a wide range of shapes, sizes, speed, load capacities, and other capabilities.
- The vast majority of Tody’s commercially available Robots possess five distinct configurations:
A.
RECTANGULAR (OR CARTESIAN)
B. CYLINDIRICAL (OR POST-TYPE)
C. SPHERICAL (OR
POLAR)
D. JOINTED ARM (ARTICULATED OR REVOLUTE)
E. SCARA (SELECTIVE COMPLAINCE
ASSEMBLY ROBOT ARM)
ROBOT
GENERATIONS
THE FIVE
GENERATIONS OF ROBOT CONTROLLERS AFTER THE HIGHTECH INCEPTION IN 1960 ARE AS
FOLLOWS:
- FIRST GENERATION:
REPEATING ROBOTS- These were generally Pick and Place Robots, with mechanical
sequences defining stop points.
- SECOND GENERATION:
Hardwired controllers provided the first programmable units.
- THIRD GENERATION:
Programmable logic controllers (PLC), Introduced in the
industries over thirteen years ago, provides a Microprocessor-Based Robotic
controller that is easy to program.
- FOURTH GENERATION:
When control beyond the PCL is required, a microcomputer may
control the entire system, including other programmable machinery I a Robot
Workcell.
- FIFTH GENERATION:
Robot controller will involve complete Artificial intelligence (AI), Miniature
Sensors, and Decision making capability.
An artificial
Biological Robot might provide the impetus for sixth and higher generation Robots.
SUMMARY
ROBOT
TECHNOLOGY is an applied science that is referred to as combination of machine
tool fundamentals and computer applications.
The basic
components of an Industrial Robot are:
- MANIPULATOR
- END EFFECTOR
- POWER SUPPLY
- CONTROL SYSTEM
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Robot
Anatomy is concerned with the physical construction and operation of the
manipulator and has five basic configurations:
- RECTANGULAR
- CYLINDRICAL
- SPHERICAL
- JOINTED-ARM
- SCARA
SO FAR, There
have been five Generation of Robot Controllers and we are merging now to Sixth,
seventh and Even higher generations.
Robots with
increasing Intelligence, Sensory Capability, Dexterity, and Sophisticated
control systems have become Dominant factor in modern Manufacturing.
THE
THREE FACTORS THAT INFLUENCE THE SELECTION OF ROBOTS IN MANUFACTURING ARE:
DYNAMIC PROPERTIES AND PERFORMANCE, ECONOMICS AND SAFETY.
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