The document discusses industrial robots, including their basic components, types of joints, movement and precision, power sources, sensors, end effectors, and applications. An industrial robot generally consists of rigid links connected by joints to form an arm with an end effector or hand. It is controlled by a computer and can be programmed to perform automated tasks through variable motions. The document covers various robotic systems and their use in manufacturing.
Industrial robots are essential to modern manufacturing. The first modern robots, called Unimates, were developed in the late 1950s and early 1960s by George Devol and Joe Engelberger. Since then, robots have advanced through four generations and are now reprogrammable, multifunctional manipulators used to transfer materials, parts, tools, and devices through variable programmed motions. Common robot components include arms, end effectors like grippers or tools, drive mechanisms, controllers, and sensors. Robots are useful for applications like material handling, machine loading/unloading, welding, assembly, and inspection. While robots provide advantages like increased output and consistency, they still have limitations and rely on human creativity, decision making
This document discusses forward and inverse kinematics, including:
1. Forward kinematics determines the position of the robot hand given joint variables, while inverse kinematics calculates joint variables for a desired hand position.
2. Homogeneous transformation matrices are used to represent frames, points, vectors and transformations in space.
3. Standard robot coordinate systems include Cartesian, cylindrical, and spherical coordinates. Forward and inverse kinematics equations are provided for position analysis in each system.
1) The document discusses robot dynamics and defines equations for velocity and kinetic energy.
2) It presents equations to calculate the velocity of points on robot links using transformation matrices and derivatives with respect to joint variables.
3) Equations are provided to calculate the kinetic energy of elements of mass on robot links as a function of linear and angular velocities, allowing the total kinetic energy to be determined by summing over all links.
1. The document discusses forward kinematics of robot manipulators. It defines key concepts like links, joints, Denavit-Hartenberg parameters, and homogeneous transformation matrices.
2. The forward kinematics problem is solved by assigning coordinate frames to each link and determining the transformation between frames using link variables and homogeneous transformations.
3. The position and orientation of the end effector is determined by multiplying the homogeneous transformation matrices representing each link transformation.
This document discusses robot kinematics and position analysis. It covers forward and inverse kinematics, including determining the position of a robot's hand given joint variables or calculating joint variables for a desired hand position. Different coordinate systems for representing robot positions are described, including Cartesian, cylindrical and spherical coordinates. The Denavit-Hartenberg representation for modeling robot kinematics is introduced, allowing the modeling of any robot configuration using transformation matrices.
The document provides information on industrial robotics, including definitions of robots, their basic components, types of control systems, programming methods, applications, and accuracy/repeatability. It discusses the manipulator, end-effector, power supply, and control system as the four basic robot components. It also describes point-to-point, continuous path, and computed trajectory control robots, as well as sequence, playback, and intelligent levels of robot control.
The document discusses considerations for robot cell layout design involving multiple robots and machine interfaces. It describes three common robot cell layouts: robot-centered, in-line, and mobile. For in-line cells, it discusses three types of part transfer systems and provides an example to calculate machine interference. The document also outlines several important considerations for work cell design, including modifications to equipment, part positioning, identification, protecting robots, required utilities, cell control, and safety measures.
The document provides an introduction to robot technology, including definitions and terminology. It defines a robot as an electro-mechanical device with multiple degrees of freedom that is programmable to perform tasks. Industrial robots are designed to handle materials, parts, tools or devices through variable programmed motions. The study of robotics is interdisciplinary, involving mechanical, electrical, electronic and computer engineering. Robotic systems consist of manipulators, drive systems, controls, end effectors, sensors and software. Different robot configurations include Cartesian, cylindrical, spherical and articulated designs. Selection of robots depends on factors like size, degrees of freedom, velocity, precision and load capacity.
Industrial robots are essential to modern manufacturing. The first modern robots, called Unimates, were developed in the late 1950s and early 1960s by George Devol and Joe Engelberger. Since then, robots have advanced through four generations and are now reprogrammable, multifunctional manipulators used to transfer materials, parts, tools, and devices through variable programmed motions. Common robot components include arms, end effectors like grippers or tools, drive mechanisms, controllers, and sensors. Robots are useful for applications like material handling, machine loading/unloading, welding, assembly, and inspection. While robots provide advantages like increased output and consistency, they still have limitations and rely on human creativity, decision making
This document discusses forward and inverse kinematics, including:
1. Forward kinematics determines the position of the robot hand given joint variables, while inverse kinematics calculates joint variables for a desired hand position.
2. Homogeneous transformation matrices are used to represent frames, points, vectors and transformations in space.
3. Standard robot coordinate systems include Cartesian, cylindrical, and spherical coordinates. Forward and inverse kinematics equations are provided for position analysis in each system.
1) The document discusses robot dynamics and defines equations for velocity and kinetic energy.
2) It presents equations to calculate the velocity of points on robot links using transformation matrices and derivatives with respect to joint variables.
3) Equations are provided to calculate the kinetic energy of elements of mass on robot links as a function of linear and angular velocities, allowing the total kinetic energy to be determined by summing over all links.
1. The document discusses forward kinematics of robot manipulators. It defines key concepts like links, joints, Denavit-Hartenberg parameters, and homogeneous transformation matrices.
2. The forward kinematics problem is solved by assigning coordinate frames to each link and determining the transformation between frames using link variables and homogeneous transformations.
3. The position and orientation of the end effector is determined by multiplying the homogeneous transformation matrices representing each link transformation.
This document discusses robot kinematics and position analysis. It covers forward and inverse kinematics, including determining the position of a robot's hand given joint variables or calculating joint variables for a desired hand position. Different coordinate systems for representing robot positions are described, including Cartesian, cylindrical and spherical coordinates. The Denavit-Hartenberg representation for modeling robot kinematics is introduced, allowing the modeling of any robot configuration using transformation matrices.
The document provides information on industrial robotics, including definitions of robots, their basic components, types of control systems, programming methods, applications, and accuracy/repeatability. It discusses the manipulator, end-effector, power supply, and control system as the four basic robot components. It also describes point-to-point, continuous path, and computed trajectory control robots, as well as sequence, playback, and intelligent levels of robot control.
The document discusses considerations for robot cell layout design involving multiple robots and machine interfaces. It describes three common robot cell layouts: robot-centered, in-line, and mobile. For in-line cells, it discusses three types of part transfer systems and provides an example to calculate machine interference. The document also outlines several important considerations for work cell design, including modifications to equipment, part positioning, identification, protecting robots, required utilities, cell control, and safety measures.
The document provides an introduction to robot technology, including definitions and terminology. It defines a robot as an electro-mechanical device with multiple degrees of freedom that is programmable to perform tasks. Industrial robots are designed to handle materials, parts, tools or devices through variable programmed motions. The study of robotics is interdisciplinary, involving mechanical, electrical, electronic and computer engineering. Robotic systems consist of manipulators, drive systems, controls, end effectors, sensors and software. Different robot configurations include Cartesian, cylindrical, spherical and articulated designs. Selection of robots depends on factors like size, degrees of freedom, velocity, precision and load capacity.
Contents
Introduction to industrial robots
Application of robots in different areas
Application of robot in manufacturing industries
Types of industrial robots and their application
Advantages of industrial robots
Disadvantages of industrial robots
References
The document discusses forward kinematics, which is finding the position and orientation of the end effector given the joint angles of a robot. It covers different types of robot joints and configurations. It introduces the Denavit-Hartenberg coordinate system for defining the relationship between successive links of a robot. The document also discusses forward kinematic calculations, inverse kinematics, robot workspaces, and trajectory planning.
This document discusses various applications of industrial robots including material handling, machine loading and unloading, assembly, inspection, welding, spray painting, mobile robots, and recent developments in robotics. It provides details on how robots are used for tasks like transferring parts between machines, loading/unloading machines, putting parts together, inspecting products, welding metals, and painting large objects. Robots allow for improved quality, safety, productivity and flexibility compared to human workers performing these automated industrial tasks.
This document discusses key parameters and specifications for industrial robots. It describes six key parameters: (i) number of axes, (ii) load carrying capacity, (iii) maximum speed, (iv) reach and stroke, (v) tool orientation, and (vi) precision and accuracy. It provides details on each parameter, including defining major and minor axes, how load capacity depends on weight of the end effector, how speed is measured, differences between reach and stroke, and how tool orientation is determined by the robot's axes.
This document discusses the use of sensors in robotics. It begins by introducing how sensors give robots human-like sensing abilities like vision, touch, hearing, and movement. It then describes several key sensors used in robotics - vision sensors that allow robots to see their environment, touch sensors that allow robots to feel contact and interpret emotions, and hearing sensors that allow robots to perceive speech. The document also lists and describes other common sensors like proximity, range, tactile, light, sound, temperature, contact, voltage, and current sensors and their applications in robotics.
1) Sensors are devices that detect physical quantities and convert them into signals that can be measured. They are needed for industrial monitoring, safety, and automation.
2) Common sensors include position, proximity, range, touch, and force sensors. Position sensors like LVDT and RVDT convert linear or angular displacement into electrical signals.
3) Sensors have characteristics like range, sensitivity, accuracy, and response time that determine their effectiveness. Understanding sensor types and properties is important for robotics applications.
This document provides an overview of industrial robotics, including robot anatomy, control systems, end effectors, applications, and programming. It describes the typical components of a robot like links, joints, drives, and sensors. Common robot configurations and their joint notation are shown. The document also discusses robot programming methods including leadthrough and textual languages, as well as simulation for offline programming.
Transfer mechanisms are commonly used in mass production to continuously move identical or similar components through an automated production line. There are different types of transfer mechanisms including linear, synchronous, and asynchronous systems that move parts continuously or intermittently. Rotary indexing mechanisms also exist, such as Geneva mechanisms, to rotate parts being processed. A study on the semiconductor industry found that environmental factors like temperature variations could degrade product coatings if transfer times were too long, and reducing handoffs between employees mitigated this. Both hazardous work and repetitive, physically demanding tasks are suitable for automation rather than manual work. Automation can provide cost savings, increased efficiency, competitiveness, and productivity for manufacturers.
This document discusses the design and applications of industrial robot manipulators. It describes how a robotic arm is composed of rigid links connected by joints, and defines important robot terms like degrees of freedom, joint types, link parameters, and work volume. It also categorizes common robot system configurations and explains robot kinematics, dynamics, motion types, and trajectory planning.
The document discusses manipulator Jacobians in robotics. A manipulator Jacobian is a matrix that is used to transform the velocity of robot joints into the velocity of the end effector. It has an upper half that describes the linear velocity of the end effector and a lower half that describes the angular velocity. The Jacobian allows the relationship between joint velocities and end effector velocities to be expressed mathematically. Examples are given to demonstrate how to calculate the Jacobian for specific robot manipulators.
This document discusses five common configurations of industrial robot arms: spherical, cylindrical, Cartesian, SCARA, and articulated. For each configuration, the document provides a brief description, examples of advantages and disadvantages, and in some cases example motions. The configurations vary in their work envelope shape and size, programming complexity, accuracy, and other factors. Spherical and cylindrical robots were more common historically but are now less common in new designs.
This document provides an overview of robot fundamentals including:
- The three laws of robotics which govern robot behavior to protect humans.
- A timeline of major developments in robotics from the 1920s to the 1990s.
- The main components of an industrial robot including the manipulator, end effector, drive source, control system, and sensors.
- Common robot programming methods like manual teaching, walkthrough, and offline programming.
- Applications of industrial robots in areas like materials handling, machine loading, welding, and assembly.
- Performance specifications that characterize robots like work volume, speed, accuracy, load capacity, and repeatability.
Chapter 1 Intro to industrial robot automationAfiq Sajuri
This document provides an introduction to industrial robots and automation. It defines a robot and lists the key components: controller, manipulator, actuator, end effectors, and sensors. The chapter then discusses the advantages of robots in not getting tired or sick and working in dangerous environments, as well as disadvantages like not being creative. It also outlines six main types of robots: Cartesian, cylindrical, spherical, SCARA, articulated, and parallel robots. Finally, it gives examples of robot automation in production systems like welding, painting, assembly, and material handling.
The document discusses robot kinematics and control. It covers topics like coordinate frames, homogeneous transformations, forward and inverse kinematics, joint space trajectories, and cubic polynomial path planning. Specifically:
1) Kinematics is the study of robot motion without regard to forces or moments. It describes the spatial configuration using coordinate frames and homogeneous transformations.
2) Forward kinematics determines end effector position from joint angles. Inverse kinematics determines joint angles for a desired end effector position.
3) Joint space trajectories plan motion by describing joint angle profiles over time using functions like cubic polynomials and splines.
4) Cubic polynomials satisfy constraints like initial/final position and velocity to generate smooth motion profiles for a single revol
This document summarizes different mechanisms for straight line motion, including the Paucellier mechanism and Robert mechanism. The Paucellier mechanism uses six rigid bars of fixed lengths arranged to produce exact straight line motion from one point. The Robert mechanism is a four bar linkage that converts rotary motion into approximate straight line motion. Both mechanisms have applications in machinery for converting rotational motion into reciprocal or linear motion.
This document defines robots and describes different types of industrial robots. It begins by defining a robot as a machine that can carry out complex actions automatically through programming to resemble human movements and functions. The main components of a robot are then outlined as the robot arms, sensors, end parts, controller, and drive. Several common types of industrial robots are also described, including Cartesian, cylindrical, spherical/polar, SCARA, articulated, and parallel robots. Each robot type is suited for different assembly or manufacturing tasks.
1) The document discusses various topics related to robotics including definitions, degrees of freedom, robot arm and wrist configurations, joint classifications, robot safety, components and control systems.
2) It provides details on common robot arm configurations including rectangular, cylindrical, spherical and revolute coordinated systems.
3) The document also describes robot control systems including limited sequence control, playback with point-to-point control and continuous path control as well as intelligent control.
Robotics and automation _ power sources and sensorsJAIGANESH SEKAR
Hydraulic, pneumatic and electric drives – determination of HP of motor and gearing ratio – variable speed arrangements – path determination – micro machines in robotics – machine vision – ranging – laser – acoustic – magnetic, fiber optic and tactile sensors.
Introduction to robotics, Laws,Classification,Types, Drives,Geometry Mohammad Ehtasham
Introduction to robotics , Basic overview ,Classification of robotics,laws of robotics,Types of robot, Robot Geometry, Robot drives, Some of the key benefits of robots in industry and society
Kumar Prasanth completed all courses and online assessments offered by IFP School on Sustainable Mobility: Technical and Environmental Challenges for the Automotive Sector from their 2014 4-week session. The certificate, signed by the Dean of IFP School Philippe Pinchon on December 23, 2014, confirms Kumar Prasanth's participation and achievement in the program.
Contents
Introduction to industrial robots
Application of robots in different areas
Application of robot in manufacturing industries
Types of industrial robots and their application
Advantages of industrial robots
Disadvantages of industrial robots
References
The document discusses forward kinematics, which is finding the position and orientation of the end effector given the joint angles of a robot. It covers different types of robot joints and configurations. It introduces the Denavit-Hartenberg coordinate system for defining the relationship between successive links of a robot. The document also discusses forward kinematic calculations, inverse kinematics, robot workspaces, and trajectory planning.
This document discusses various applications of industrial robots including material handling, machine loading and unloading, assembly, inspection, welding, spray painting, mobile robots, and recent developments in robotics. It provides details on how robots are used for tasks like transferring parts between machines, loading/unloading machines, putting parts together, inspecting products, welding metals, and painting large objects. Robots allow for improved quality, safety, productivity and flexibility compared to human workers performing these automated industrial tasks.
This document discusses key parameters and specifications for industrial robots. It describes six key parameters: (i) number of axes, (ii) load carrying capacity, (iii) maximum speed, (iv) reach and stroke, (v) tool orientation, and (vi) precision and accuracy. It provides details on each parameter, including defining major and minor axes, how load capacity depends on weight of the end effector, how speed is measured, differences between reach and stroke, and how tool orientation is determined by the robot's axes.
This document discusses the use of sensors in robotics. It begins by introducing how sensors give robots human-like sensing abilities like vision, touch, hearing, and movement. It then describes several key sensors used in robotics - vision sensors that allow robots to see their environment, touch sensors that allow robots to feel contact and interpret emotions, and hearing sensors that allow robots to perceive speech. The document also lists and describes other common sensors like proximity, range, tactile, light, sound, temperature, contact, voltage, and current sensors and their applications in robotics.
1) Sensors are devices that detect physical quantities and convert them into signals that can be measured. They are needed for industrial monitoring, safety, and automation.
2) Common sensors include position, proximity, range, touch, and force sensors. Position sensors like LVDT and RVDT convert linear or angular displacement into electrical signals.
3) Sensors have characteristics like range, sensitivity, accuracy, and response time that determine their effectiveness. Understanding sensor types and properties is important for robotics applications.
This document provides an overview of industrial robotics, including robot anatomy, control systems, end effectors, applications, and programming. It describes the typical components of a robot like links, joints, drives, and sensors. Common robot configurations and their joint notation are shown. The document also discusses robot programming methods including leadthrough and textual languages, as well as simulation for offline programming.
Transfer mechanisms are commonly used in mass production to continuously move identical or similar components through an automated production line. There are different types of transfer mechanisms including linear, synchronous, and asynchronous systems that move parts continuously or intermittently. Rotary indexing mechanisms also exist, such as Geneva mechanisms, to rotate parts being processed. A study on the semiconductor industry found that environmental factors like temperature variations could degrade product coatings if transfer times were too long, and reducing handoffs between employees mitigated this. Both hazardous work and repetitive, physically demanding tasks are suitable for automation rather than manual work. Automation can provide cost savings, increased efficiency, competitiveness, and productivity for manufacturers.
This document discusses the design and applications of industrial robot manipulators. It describes how a robotic arm is composed of rigid links connected by joints, and defines important robot terms like degrees of freedom, joint types, link parameters, and work volume. It also categorizes common robot system configurations and explains robot kinematics, dynamics, motion types, and trajectory planning.
The document discusses manipulator Jacobians in robotics. A manipulator Jacobian is a matrix that is used to transform the velocity of robot joints into the velocity of the end effector. It has an upper half that describes the linear velocity of the end effector and a lower half that describes the angular velocity. The Jacobian allows the relationship between joint velocities and end effector velocities to be expressed mathematically. Examples are given to demonstrate how to calculate the Jacobian for specific robot manipulators.
This document discusses five common configurations of industrial robot arms: spherical, cylindrical, Cartesian, SCARA, and articulated. For each configuration, the document provides a brief description, examples of advantages and disadvantages, and in some cases example motions. The configurations vary in their work envelope shape and size, programming complexity, accuracy, and other factors. Spherical and cylindrical robots were more common historically but are now less common in new designs.
This document provides an overview of robot fundamentals including:
- The three laws of robotics which govern robot behavior to protect humans.
- A timeline of major developments in robotics from the 1920s to the 1990s.
- The main components of an industrial robot including the manipulator, end effector, drive source, control system, and sensors.
- Common robot programming methods like manual teaching, walkthrough, and offline programming.
- Applications of industrial robots in areas like materials handling, machine loading, welding, and assembly.
- Performance specifications that characterize robots like work volume, speed, accuracy, load capacity, and repeatability.
Chapter 1 Intro to industrial robot automationAfiq Sajuri
This document provides an introduction to industrial robots and automation. It defines a robot and lists the key components: controller, manipulator, actuator, end effectors, and sensors. The chapter then discusses the advantages of robots in not getting tired or sick and working in dangerous environments, as well as disadvantages like not being creative. It also outlines six main types of robots: Cartesian, cylindrical, spherical, SCARA, articulated, and parallel robots. Finally, it gives examples of robot automation in production systems like welding, painting, assembly, and material handling.
The document discusses robot kinematics and control. It covers topics like coordinate frames, homogeneous transformations, forward and inverse kinematics, joint space trajectories, and cubic polynomial path planning. Specifically:
1) Kinematics is the study of robot motion without regard to forces or moments. It describes the spatial configuration using coordinate frames and homogeneous transformations.
2) Forward kinematics determines end effector position from joint angles. Inverse kinematics determines joint angles for a desired end effector position.
3) Joint space trajectories plan motion by describing joint angle profiles over time using functions like cubic polynomials and splines.
4) Cubic polynomials satisfy constraints like initial/final position and velocity to generate smooth motion profiles for a single revol
This document summarizes different mechanisms for straight line motion, including the Paucellier mechanism and Robert mechanism. The Paucellier mechanism uses six rigid bars of fixed lengths arranged to produce exact straight line motion from one point. The Robert mechanism is a four bar linkage that converts rotary motion into approximate straight line motion. Both mechanisms have applications in machinery for converting rotational motion into reciprocal or linear motion.
This document defines robots and describes different types of industrial robots. It begins by defining a robot as a machine that can carry out complex actions automatically through programming to resemble human movements and functions. The main components of a robot are then outlined as the robot arms, sensors, end parts, controller, and drive. Several common types of industrial robots are also described, including Cartesian, cylindrical, spherical/polar, SCARA, articulated, and parallel robots. Each robot type is suited for different assembly or manufacturing tasks.
1) The document discusses various topics related to robotics including definitions, degrees of freedom, robot arm and wrist configurations, joint classifications, robot safety, components and control systems.
2) It provides details on common robot arm configurations including rectangular, cylindrical, spherical and revolute coordinated systems.
3) The document also describes robot control systems including limited sequence control, playback with point-to-point control and continuous path control as well as intelligent control.
Robotics and automation _ power sources and sensorsJAIGANESH SEKAR
Hydraulic, pneumatic and electric drives – determination of HP of motor and gearing ratio – variable speed arrangements – path determination – micro machines in robotics – machine vision – ranging – laser – acoustic – magnetic, fiber optic and tactile sensors.
Introduction to robotics, Laws,Classification,Types, Drives,Geometry Mohammad Ehtasham
Introduction to robotics , Basic overview ,Classification of robotics,laws of robotics,Types of robot, Robot Geometry, Robot drives, Some of the key benefits of robots in industry and society
Kumar Prasanth completed all courses and online assessments offered by IFP School on Sustainable Mobility: Technical and Environmental Challenges for the Automotive Sector from their 2014 4-week session. The certificate, signed by the Dean of IFP School Philippe Pinchon on December 23, 2014, confirms Kumar Prasanth's participation and achievement in the program.
An automatic centrifugal clutch is interposed in a power transmission system between an engine and a driving wheel. A motor, which is capable of generating electricity, is supplied with electricity from a battery to generate auxiliary power. The motor is connected to a crankshaft of the engine. An acceleration data acquisition component acquires the accelerator operation amount and the accelerator operation speed. A delay time setting component sets a delay time according to the acceleration data. A motor controller supplies the motor 13 with a magnitude of electricity in accordance with the acceleration operation amount after the delay time has elapsed from the moment when an accelerator grip was moved from an idle position
This document provides 63 multiple choice or short answer questions related to mechanical engineering topics like thermodynamics, refrigeration, fluid mechanics, materials, manufacturing, and project management. The questions cover concepts such as specific heats, gas laws, psychrometrics, buoyancy, pumps, turbines, stress and strain, metals and alloys, machining processes, cost analysis, scheduling techniques, and more.
The document provides information about a written test conducted by BHEL for engineering trainees. It mentions that there were 240 questions total, with 120 technical questions in mechanical engineering covering topics like thermodynamics, mechanics, production tech, etc. The remaining 120 questions tested general aptitude in areas like quantitative aptitude, reasoning, English. It then provides 30 sample technical questions from the test related to concepts in mechanics, materials, machines. It concludes by stating the general aptitude sections were easy but time was a factor due to the large number of questions.
This document summarizes the placement process at Bajaj for 2008 in Delhi. It consisted of 3 rounds:
1) A 1-hour written test with 53 questions split between 25 technical and 28 aptitude questions. Marks were deducted for incorrect answers.
2) A group discussion round with 2 topics discussed in small groups for 30 minutes total, with 10 minutes for preparation.
3) A personal interview. Performance in the group discussion alone was not used for shortlisting.
The written test covered both technical topics related to machinery as well as aptitude questions involving data interpretation, logical reasoning, and other skills. A variety of formats were used, including multiple choice, matching, and short answers.
Industrial robots are programmable manipulators designed to move materials and tools. They consist of an arm, end effectors, drive mechanism, controller, and optional sensors. Robots have various types of joints that allow rotational, radial, and vertical movement. Common configurations include Cartesian, cylindrical, polar, and joint-arm designs. Robots are also classified based on their control system as either point-to-point or continuous-path robots.
1) The document discusses the fundamentals of robotic manipulators, including their classification, parts, motions, and work envelopes.
2) The major types of robot configurations are Cartesian, cylindrical, spherical, SCARA, and articulated, which are defined by their joint types and resulting work spaces.
3) Robotic manipulators consist of links connected by joints and powered by electric, hydraulic, or pneumatic drives to position an end effector through programmed motions.
This document discusses industrial robots and their components and characteristics. It covers topics such as definitions of automation and robotics, different types of industrial robots, robot anatomy, configurations, power sources, technical features like work volume and precision of movement. Some key points discussed include that robots are a form of programmable automation, the main components of robots include manipulators, end effectors, actuators, sensors, controllers and software. Common robot configurations are polar, cylindrical, cartesian and jointed arm. Hydraulic and electric are main power sources. Precision is described by spatial resolution, accuracy and repeatability.
The document discusses industrial robots and automation. It defines an industrial robot as a reprogrammable, multifunctional manipulator designed to move material, parts, tools, or devices through variable programmed motions to perform tasks. Robots can be classified as a form of programmable automation. The document covers various topics related to industrial robots including types of automation, robot components, configurations, drives, and technical features like work volume and precision of movement.
The document discusses various topics related to industrial robots. It provides classifications of robots, their applications in manufacturing, and how they work. It states that 90% of robots are used for industrial manufacturing tasks like materials handling (38%), welding (29%), and assembly (10%). It also describes how robots improve quality and flexibility in auto manufacturing.
The document discusses various topics related to industrial robots. It provides classifications of robots, their applications in manufacturing, and how they work. It states that 90% of robots are used for industrial manufacturing tasks like assembly, material handling, welding, and painting. It also explains that robots allow automating dangerous, repetitive, and precise tasks to improve quality and efficiency.
This document provides information about robotics engineering as a professional elective. It begins with definitions of robotics and industrial robots. It then discusses various components of industrial robots including manipulators, sensors, tooling, and controllers. It describes different types of robot configurations including Cartesian, cylindrical, polar, and jointed-arm. It also covers topics like drive systems, specifications, applications, and the Denavit-Hartenberg convention for representing robot kinematics.
An industrial robotic arm has several main components: a controller that acts as the "brain" and runs programs to operate the robot; an arm that positions the end effector using joints like shoulders, elbows, and wrists; an end effector like a gripper or vacuum that interacts with objects; drives like hydraulics, electrics, or pneumatics that power movement of the arm links; and sensors that provide feedback to the controller about the robot's environment.
robot are essential in now day to manufacturing industries. it's widely used in automobile industries, aerospace, in foundry industries, manufacturing industries. main benefit of robots is it's gives high accuracy, more flexibility, reliable, also used to produce things at large scale in short period of duration. another benefits are it's works easily in hazardous environment, also at high temperature.
This document is a lab report submitted by two students, B. Haridhar and G. Akhil, for their Bachelor of Technology degree. It describes the design of a pick and place robot for loading and packing lead battery cells. The report provides background on industrial robots and pick and place robots. It discusses the classification of robots, key components of pick and place robots like actuators and sensors, and how basic pick and place robot movement works through rotary joints. The overall aim is to analyze problems in automated battery loading and design a robot solution.
Industrial robots were first developed in the 1950s and have since been used widely in factory automation. An industrial robot typically consists of a controller, robotic arm, end effector, drive system, and sensors. The controller acts as the robot's brain and allows its parts to operate together through programmed instructions. Robots provide benefits such as increased efficiency, higher product quality, improved worker safety, and longer working hours compared to humans. However, robots also have disadvantages like high initial capital costs, requiring expertise to program and operate, and some limitations in the tasks they can perform. Overall, robots can help improve manufacturing productivity if implemented as part of a well-integrated automated system.
Automation and Robotics 20ME51I WEEK 8 Theory notes.pdfGandhibabu8
The document provides an overview of fundamentals of robotics, including:
- Definitions of robots and industrial robots. Robots are computer-controlled machines that can be programmed to manipulate objects and accomplish tasks.
- Components of industrial robots including the mechanical unit, drive system, control system, and tooling attached to the wrist.
- Configurations of robots such as articulated, polar, SCARA, Cartesian, cylindrical, and delta robots which differ in their axes of movement and work volumes.
- Degrees of freedom refer to the independent movements a robot can perform and most robots have five to six degrees of freedom allowing positioning and orientation.
- End effectors like grippers attach
Industrial robots have six basic components: a manipulator, end effector, actuators, sensors, controller, and teach pendant. The manipulator consists of links and joints that give the robot its degrees of freedom. Actuators like electric motors provide movement. Sensors provide feedback and safety. The controller coordinates movement based on taught positions. Programming modes include teach, walk, and software modes. Key robot characteristics are payload, reach, precision, and repeatability. Safety systems use sensors to detect intrusions and stop robots to prevent harm.
A Presentation on Robotics, it's history, the first robot, Asimov's fictional laws, types of robots, it's advantages and disadvantages and it's basic components.
This document provides an overview of robot fundamentals and components. It defines a robot and discusses robot anatomy, which includes end effectors, joints, manipulators and kinematics. It also describes different robot coordinate systems and common robot configurations like cylindrical, polar, jointed arm and Cartesian, detailing their advantages and disadvantages. The document serves as a reference for the basic concepts, components and terminology used in robotics.
Slide show demonstrating pick and place robot and its parts.
Also effects are implanted in the slide.
It can be helpful for students for academic projects.
This document provides an overview of industrial robot technology, including its basic components and functions. It discusses the definition of industrial robots, as well as their typical applications in welding, painting, and pick and place operations. The six basic components of industrial robots are described as the manipulator, end effector, actuators, sensors, controller, and teach pendant. Common actuator types include electric motors, pneumatic cylinders, and hydraulic cylinders. Sensors are used to provide feedback and increase a robot's capabilities. The controller coordinates the robot's motions based on programmed instructions and sensor input. A teach pendant is used to teach locations to the robot controller during programming.
This document provides an introduction and overview of robotics. It defines robotics as the study of designing, constructing, and using robots. A robot is described as a machine that resembles a human and performs mechanical and routine tasks on command. The key parts of a robot are then outlined as the manipulator, pedestal, controller, end effectors, and power source. Examples of robot applications discussed include industrial uses like machine loading and welding as well as medical, service, and space applications.
This document discusses advanced machining processes, which utilize chemical, electrical, or high-energy beams to remove material as they are needed for difficult-to-machine materials or complex part geometries. It introduces various advanced processes like chemical machining, electrochemical machining, electrical discharge machining, laser beam machining, electron beam machining, and others. These processes allow machining of very hard materials, brittle materials, or parts that are too small, complex, or fragile for traditional machining techniques.
This document discusses potential applications for powder metal parts in the automotive industry. It outlines specific component examples for powder metal use in engines, transmissions, chassis, exhaust systems, pumps and hydraulics. Some key applications mentioned include camshaft lobes, connecting rods, synchronizer rings, planetary carriers, shock absorber parts, and oil pump gears. The document also provides pictures to illustrate powder metal parts currently used in engines, transmissions, body applications, and pumps. It briefly discusses powder forging and metal injection molding as two powder metal production processes.
The document discusses the benefits of meditation for reducing stress and anxiety. Regular meditation practice can help calm the mind and body by lowering heart rate and blood pressure. Studies have shown that meditating for just 10-20 minutes per day can have significant positive impacts on both mental and physical health over time.
NOTIFICATION ON SECOND RESCHEDULING OF EXAM DATES FOR AFFILIATED COLLEGES MAY...Prasanth Kumar RAGUPATHY
NOTIFICATION ON SECOND RESCHEDULING OF EXAM DATES FOR
AFFILIATED COLLEGES MAY/JUNE 2012 EXAMINATIONS
As per the original Time Table given, Anna University Theory Examinations for
Affiliated Colleges, Constituent Colleges and University Departments of Anna
Universities of Technology (AUTs) (May/June 2012) were to commence on 3.5.2012.
But due to administrative reasons, the examinations on 3rd, 4th, 5th May 2012 were
rescheduled on 28th, 29th and 30th May 2012 and the examinations on 28th, 29th and 30th
May 2012 were rescheduled on 7th, 8th, and 9th June 2012.
Now all the examinations starting from 7.5.2012 are rescheduled again
shifting by exactly 7 days.
This document contains a list of vocabulary words along with their definitions. It begins with words like "abase" meaning "make someone lower in rank or position" and "abdicate" meaning "formally give up an office." It continues providing definitions for roughly 60 additional words, with parts of speech and examples for many. The list covers a wide range of topics and includes words such as "aesthetic," "altruistic," "amalgamate," and "anathema."
This document contains question bank for the 6th semester Mechanical Engineering course on Design of Transmission Systems at Anna University. It includes questions from 4 units - Design of Belt, Rope and Chain Drives; Design of Gear Drives; Design of Gear Boxes; and Design of Clutches and Brakes. The questions are both short answer type and long answer/design problems. Some examples of long answer questions include designing belt drives, gear drives, gear boxes, wire rope drives and clutch/brake systems.
The document contains questions related to gas dynamics and jet propulsion. It covers topics such as compressible and incompressible fluids, stagnation pressure and temperature, Mach number, zones of action and silence, open and closed systems, intensive and extensive properties, shock waves, normal and oblique shocks, jet and rocket propulsion, rocket engine classifications, specific impulse, specific consumption, thrust coefficient, propulsive efficiency, Fanno and Rayleigh flows, and one-dimensional isentropic flow through nozzles, ducts, and diffusers. The questions range from definitions and differentiations to derivations and multi-step calculations involving isentropic flow equations.
This document contains 10 questions each from 10 units on the topic of finite element analysis. The questions cover various fundamental concepts in FEA including finite element modeling techniques like shape functions, interpolation functions, stiffness matrices, boundary conditions etc. They also involve solving sample problems using techniques like Gauss elimination, Rayleigh-Ritz method, Galerkin's method and computing stresses, displacements, temperatures etc.
This document contains a question bank for an Automobile Engineering course, with questions ranging from 2-16 marks. It includes questions on topics such as vehicle systems, engine components and systems, fuels, batteries, ignition systems, transmission, steering, suspension, brakes and alternative fuel technologies. The questions cover definitions, explanations, comparisons, and involve diagrams and sketches in some longer answer questions.
This document provides definitions and short explanations of management concepts. It covers topics such as the five functions of management (planning, organizing, staffing, leading, controlling), managerial skills, productivity, goals, policies, procedures, budgets, management by objectives, decision making, risk analysis, and social responsibility. It also discusses organizational structure, types of organizational charts, departmentation, power, authority, and leadership styles. The document is a study guide that defines and explains various foundational management principles in brief form.
The document discusses various concepts related to the principles of management. It defines management as a continuous process of designing and maintaining an environment for people to work together to efficiently achieve goals. It describes management as both an art and a science. The key functions of management are identified as planning, organizing, staffing, directing and controlling. Scientific management and contributions of theorists like Taylor, Fayol and others are summarized.
The document provides guidelines for preparing project reports for B.E., B.Tech., and B.Arch. degrees at Anna University in Chennai, India. It specifies the required sections and their order, including a cover page, bonafide certificate, abstract, table of contents, lists of tables and figures, chapters, appendices, and references. Formatting requirements are also outlined, such as the report dimensions, binding, fonts, spacing, and page numbering. Sample templates are provided for the cover page, bonafide certificate, and table of contents.
The document summarizes the pattern of a placement test taken at BHEL. It consisted of 240 multiple choice questions with 120 questions each on technical and aptitude/general English sections. The technical questions covered basics of mechanical engineering, directly from textbooks on power systems and objective question banks. The aptitude section included questions on error identification, antonyms, synonyms and passages. Thirty questions involved relating statements using relations such as equal, greater than, less than. The test was timed for 150 minutes to complete all 240 questions.
The document summarizes the process and rounds of a placement paper for Bajaj. It consisted of 3 rounds - 1) A 1 hour written test with 53 questions split between technical and aptitude sections. 2) A group discussion round with topics related to food production and marketing. 3) A personal interview. The technical section included questions on engineering concepts like materials, machining, cycles etc. The aptitude section included questions on data interpretation from tables and charts, logical reasoning and statements.
This article is intended to serve as a comprehensive guide to creating a resume for a fresh graduate. This post clearly articulates all the sections that are needed to be included in a standard resume. Each section is explained with examples. You can also find sample resumes at the end of this article. Please note that this article doesn’t cover anything related to formatting of a resume. Formatting of resume using Word shall be covered as a separate blog post in near future. Also resume formats vary from country to country. This format in particularly is the de facto standard followed by freshers in India. This article was written after extensively researching many resumes on the internet.
Teacher ::
a) Student: Class
b) Nurse: Doctor
c) Employee: Manager
d) Apprentice: Master
e) Secretary: President
The relationship between assistant and teacher is that of helper/aide to the person in charge. The parallel relationship here is apprentice to master, as an apprentice helps and learns from their master, similar to an assistant helping and learning from a teacher.
The answer is d) Apprentice: Master.
A, B, C, D, E
Subject: English, Maths, Science, Social Science, Hindi
Condition:
1. A teaches English
2. B teaches Maths
3. C teaches Science
4. D teaches Social Science
5. E teaches Hindi
1. Who teaches Social Science?
2. Which subject is taught by B?
3. What is the subject taught by the third assistant?
4. Which assistant teaches Hindi?
5. What is the subject taught by D?
6. Who is the third assistant?
7. Which subject is taught by the first assistant?
8. What is the
Hospital pharmacy and it's organization (1).pdfShwetaGawande8
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How to stay relevant as a cyber professional: Skills, trends and career paths...Infosec
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Cross-Cultural Leadership and CommunicationMattVassar1
Business is done in many different ways across the world. How you connect with colleagues and communicate feedback constructively differs tremendously depending on where a person comes from. Drawing on the culture map from the cultural anthropologist, Erin Meyer, this class discusses how best to manage effectively across the invisible lines of culture.
Decolonizing Universal Design for LearningFrederic Fovet
UDL has gained in popularity over the last decade both in the K-12 and the post-secondary sectors. The usefulness of UDL to create inclusive learning experiences for the full array of diverse learners has been well documented in the literature, and there is now increasing scholarship examining the process of integrating UDL strategically across organisations. One concern, however, remains under-reported and under-researched. Much of the scholarship on UDL ironically remains while and Eurocentric. Even if UDL, as a discourse, considers the decolonization of the curriculum, it is abundantly clear that the research and advocacy related to UDL originates almost exclusively from the Global North and from a Euro-Caucasian authorship. It is argued that it is high time for the way UDL has been monopolized by Global North scholars and practitioners to be challenged. Voices discussing and framing UDL, from the Global South and Indigenous communities, must be amplified and showcased in order to rectify this glaring imbalance and contradiction.
This session represents an opportunity for the author to reflect on a volume he has just finished editing entitled Decolonizing UDL and to highlight and share insights into the key innovations, promising practices, and calls for change, originating from the Global South and Indigenous Communities, that have woven the canvas of this book. The session seeks to create a space for critical dialogue, for the challenging of existing power dynamics within the UDL scholarship, and for the emergence of transformative voices from underrepresented communities. The workshop will use the UDL principles scrupulously to engage participants in diverse ways (challenging single story approaches to the narrative that surrounds UDL implementation) , as well as offer multiple means of action and expression for them to gain ownership over the key themes and concerns of the session (by encouraging a broad range of interventions, contributions, and stances).
Information and Communication Technology in EducationMJDuyan
(𝐓𝐋𝐄 𝟏𝟎𝟎) (𝐋𝐞𝐬𝐬𝐨𝐧 2)-𝐏𝐫𝐞𝐥𝐢𝐦𝐬
𝐄𝐱𝐩𝐥𝐚𝐢𝐧 𝐭𝐡𝐞 𝐈𝐂𝐓 𝐢𝐧 𝐞𝐝𝐮𝐜𝐚𝐭𝐢𝐨𝐧:
Students will be able to explain the role and impact of Information and Communication Technology (ICT) in education. They will understand how ICT tools, such as computers, the internet, and educational software, enhance learning and teaching processes. By exploring various ICT applications, students will recognize how these technologies facilitate access to information, improve communication, support collaboration, and enable personalized learning experiences.
𝐃𝐢𝐬𝐜𝐮𝐬𝐬 𝐭𝐡𝐞 𝐫𝐞𝐥𝐢𝐚𝐛𝐥𝐞 𝐬𝐨𝐮𝐫𝐜𝐞𝐬 𝐨𝐧 𝐭𝐡𝐞 𝐢𝐧𝐭𝐞𝐫𝐧𝐞𝐭:
-Students will be able to discuss what constitutes reliable sources on the internet. They will learn to identify key characteristics of trustworthy information, such as credibility, accuracy, and authority. By examining different types of online sources, students will develop skills to evaluate the reliability of websites and content, ensuring they can distinguish between reputable information and misinformation.
(𝐓𝐋𝐄 𝟏𝟎𝟎) (𝐋𝐞𝐬𝐬𝐨𝐧 3)-𝐏𝐫𝐞𝐥𝐢𝐦𝐬
Lesson Outcomes:
- students will be able to identify and name various types of ornamental plants commonly used in landscaping and decoration, classifying them based on their characteristics such as foliage, flowering, and growth habits. They will understand the ecological, aesthetic, and economic benefits of ornamental plants, including their roles in improving air quality, providing habitats for wildlife, and enhancing the visual appeal of environments. Additionally, students will demonstrate knowledge of the basic requirements for growing ornamental plants, ensuring they can effectively cultivate and maintain these plants in various settings.
Brand Guideline of Bashundhara A4 Paper - 2024khabri85
It outlines the basic identity elements such as symbol, logotype, colors, and typefaces. It provides examples of applying the identity to materials like letterhead, business cards, reports, folders, and websites.
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Post init hook in the odoo 17 ERP ModuleCeline George
In Odoo, hooks are functions that are presented as a string in the __init__ file of a module. They are the functions that can execute before and after the existing code.
2. Contents
•What is an industrial robot? •The robot joints
•The basic components of a •Robot classification
·
robot •Physical classification
•Power sources for robots •Control classification
•Hydraulic drive •Robot reach
•Electric drive
•Robot motion analysis and
•Pneumatic drive control
•Robot sensors •Robot Programming and
•The hand of a robot Languages
(end-effector) •Robot Selection
•Robot Movement and •Robot applications
Precision •Robot Economic
3. What is an industrial robot?
The word "robot" is derived from a satirical fantasy play,
"Rossum's Universal Robots," written by Karel Capek in
1921. In his play, Capek used the word to mean, "forced
labor." The Robotics Industries Association (RIA), formerly
known as the Robotics Institute of America, defines robot in
the following way:
An industrial robot is a programmable multi-
functional manipulator designed to move materials, parts,
tools, or special devices through variable programmed
motions for the performance of a variety of tasks.
4. An industrial robot consists of a number
of rigid links connected by joints of
different types, controlled and monitored
by a computer. To a large extent, the
physical construction of a robot
resembles a human arm. The link
assembly mentioned above is connected
to the body, which is usually mounted on
a base. This link assembly is generally
referred to as a robot arm. A wrist is
attached to the arm. To facilitate gripping
or handling, a hand is attached at the end Figure 1
of the wrist. In robotics terminology, this
hand is called an end-effector. The
complete motion of the end-effector is
accomplished through a series of motions
and positions of the links, joints, and
wrist. A typical industrial robot with six-
degrees of freedom is shown in.
5. The widespread use of CNC in manufacturing is ideal for the use of industrial robots to
perform repetitive tasks. Such tasks may involve handling heavy and sometimes hazardous
materials. Sophisticated CNC machining centers can contain palette changers and special
interfaces that can easily accommodate industrial robots.
7. Material handling robots are used in many industries. It may be
surprising to find such robots used even in the fast food industry.
8. This material handling robot is used in preparing
palettes for shipping. Repetitive tasks are ideal
to be performed by such machines.
9. Shown is a Fanuc M-16i Robotic Arm used in a precision grinding
process on automotive parts.
10. Shown is a Fanuc
Robot arm lifting
three heavy boxes at
once. In using
robotics, human
safety factors in such
a task are completely
eliminated. This also
greatly reduces the
risks of repetitive
stress injuries to
factory workers.
11. Handling of dangerous materials is an important task for Robots to
perform. The size and weight of some automotive parts may be too
cumbersome and hazardous for humans to manipulate in certain
processes.
12. Shown is a robotic arm used in conjunction with a small punch press.
Together these two machines could comprise a small manufacturing
cell. The use of Robotics in such a setup can greatly reduce the
chance of human error and injury.
13. It is now commonplace to find automotive manufacturers using
robotics in many phases of the automotive assembly line. Here an
automotive spray booth utilizes a Fanuc Robot arm is used to precisely
deposit paint on this car body. The use of robotics can improve the
quality of certain manufactured goods.
14. Here a Fanuc S-420W material handling robot is used in the
electronic appliances industry. You will note several others in the
background used in other steps of the manufacturing process.
15. Another Fanuc A-510 robot arm used in the food industry. Improved
productivity is an important factor in using robotic equipment is
repetitive production line operations. It can greatly reduce the
human factors which can lead to errors and risk of injury.
16. Shown are two Fanuch Robot arms employed to perform precision
welding tasks. This type of process would be extremely difficult to
achieve by humans.
17. THE BASIC COMPONENTS OF A ROBOT
The basic components of a robot include the manipulator, the
controller, and the power supply sources. The types and
attributes of these components are discussed next.
Power Sources for Robots
An important element of a robot is the drive system. The drive
system supplies the power, which enables the robot to move. The
dynamic performance of the robot is determined by the drive
system adopted, which depends mainly on the type of application
and the power requirements.
The three types of drive systems are generally used for
industrial robots:
1.Hydraulic drive
2.Electric drive
3.Pneumatic drive
18. Hydraulic Drive
•A hydraulic drive system gives a robot great speed and
strength.
•These systems can be designed to actuate linear or rotational
joints.
•The main disadvantage of a hydraulic system is that it occupies
floor space in addition to that required by the robot.
•Problems of leaks, making the floor messy.
•Because they provide high speed and strength, hydraulic
systems are adopted for large industrial robots.
•Hydraulic robots are preferred in environments in which the
use of electric-drive robots may cause fire hazards, for example,
in spray painting.
19. Electric Drives
•Compared with a hydraulic system,
•An electric system provides a robot with less speed and strength.
•Electric drive systems are adopted for smaller robots.
•Robots supported by electric drive systems are more accurate,
exhibit better repeatability
•Cleaner to use.
20. Pneumatic Drive
•Pneumatic drive systems are generally used for smaller robots.
•These robots, with fewer degrees of freedom, carry out simple
pick-and-place material-handling operations, such as picking up
an object at one location and placing it at another location. These
operations are generally simple and have short cycle times.
•Pneumatic robots are less expensive than electric or hydraulic
robots.
•Most pneumatic robots operate at mechanically fixed end points
for each axis.
•A big advantage of such robots is their simple modular
construction, using standard commercially available components.
This makes it possible for a firm to build its own robots at
substantial cost savings for simple tasks such as pick and place,
machine loading and unloading, and so forth.
21. Robotic Sensors
The motion of a robot is obtained by precise movements at its joints and wrist. While
the movements are obtained, it is important to ensure that the motion is precise and
smooth. The drive systems should be controlled by proper means to regulate the
motion of the robot. Along with controls, robots are required to sense some
characteristics of their environment. These characteristics provide the feedback to
enable the control systems to regulate the manipulator movements efficiently. Sensors
provide feedback to the control systems and give the robots more flexibility.
Sensors such as visual sensors are useful in the building of more accurate and
intelligent robots. The sensors can be classified in many different ways based on their
utility. In this section we discuss a few typical sensors that are normally used in
robots:
1.Position sensors. They are used to monitor the position of joints.
2.Range sensors. Range sensors measure distances from a reference point to
other points of importance.
3.Velocity sensors. Velocity sensors are used to estimate the speed with which a
manipulator is moved
4.Proximity sensors. Proximity sensors are used to sense and indicate the
presence of an object within a specified distance or space without any physical
contact
22. The Hand of a Robot: End-Effector
The end-effector (commonly known as robot hand) mounted on
the wrist enables the robot to perform specified tasks. Various
types of end-effectors are designed for the same robot to make it
more flexible and versatile.
End-effectors are categorized into two major types:
1. Grippers:
2. Tools.
23. Grippers are generally used to grasp and hold an object and
place it at a desired location. Grippers can be classified as:
•Mechanical grippers,
•Vacuum or suction cups,
•Magnetic grippers,
•Adhesive grippers,
•Hooks,
•Scoops,
•Others. Figure 2
Grippers usually operate in jaw type fashion by having fingers
which either attach to the gripper, or are part of the
construction, open and close. The attached fingers can be
replaced with new or different fingers, allowing for flexibility,
see Figure 2. Grippers can operate with two fingers or more.
24. End-effector - Tools
At times, a robot is required to manipulate a tool to perform an
operation on a workpart. Spot-welding tools, arc-welding
tools, spray-painting nozzles, and rotating spindles for
drilling and grinding are typical examples of tools used as
end-effectors.
25. Gripper designs:
There are many
approaches to gripper
designs. These Figures
shows the various
linkages which result in
pivoting action for
gripping.
26. Robot Movement and Precision
Speed of response and stability are two important characteristics
of robot movement.
Speed defines how quickly the robot arm moves from one point
to another.
Stability refers to robot motion with the least amount of
oscillation. A good robot is one that is fast enough but at the
same time has good stability.
The precision of robot movement is defined by three basic
features:
1.Spatial resolution
2.Accuracy
3.Repeatability
27. 1. Spatial Resolution
The spatial resolution of a robot is the smallest increment of
movement into which the robot can divide its work volume. It
depends on :
•the system's control resolution and
•the robot's mechanical inaccuracies.
The control resolution is determined by the robot's position
control system and its feedback measurement system. The
controller divides the total range of movements for any
particular joint into individual increments that can be addressed
in the controller. The bit storage capacity of the control memory
defines this ability to divide the total range into increments. For
a particular axis, the number of separate increments is given by
Number of increments = 2n
where n is the number of bits in the control memory.
28. EXAMPLE
A robot's control memory has 8-bit storage capacity. It has
two rotational joints and one linear joint Determine the
control resolution for each joint, if the linear link can vary
its length from as short as 0.2 m to as long as 1.2 m.
Solution
Control memory = 8 bit
From the equation above, number of increments = 28 = 256
(a) Total range for rotational joints = 360
Control resolution for each rotational joint = 360/256
= 1.40625
(b) Total range for linear joint = 1.2 - 0.2 = 1.0 m
Control resolution for linear joint = 1/256 = 0.003906 m
= 3.906 mm
29. 2. Accuracy
Accuracy can be defined as the ability of a robot to position its
wrist end at a desired target point within its reach.
In terms of control resolution, the accuracy can be defined as one-
half of the control resolution.
3. Repeatability
Repeatability refers to the robot's ability to position its end-
effector at a point that had previously been taught to the robot.
The repeatability error differs from accuracy as described below
30. Let point A be the target point as shown in Figure a. Because of the
limitations of spatial resolution and therefore accuracy, the programmed
point becomes point B. The distance between points A and B is a result of
the robot's limited accuracy due to the spatial resolution. When the robot is
instructed to return to the programmed point B, it returns to point C instead.
The distance between points B and C is the result of limitations on the
robot's repeatability. However, the robot does not always go to point C
every time it is asked to return to the programmed point B. Instead, it forms
a cluster of points. This gives rise to a random phenomenon of repeatability
errors. The repeat- ability errors are generally assumed to be normally
distributed. If the mean error is large, we say that the accuracy is poor.
However, if the standard deviation of the error is low, we say that the
repeatability is high.
We pictorially represent the concept of low and high repeatability as well as
accuracy in Figure b, c, d, and e. Consider the center of the two concentric
circles as the desired target point. The diameter of the inner circle
represents the limits up to which the robot end-effector can be positioned
and considered to be of high accuracy. Any point outside the inner circle is
considered to be of poor or low accuracy. A group of closely clustered
points implies high repeatability, whereas a sparsely distributed cluster of
points indicates low repeatability.
32. Figure (a) Accuracy and repeatability; (b), high accuracy and high
repeatability; (c) high accuracy and low repeatability; (d) low
accuracy and high repeatability; (e) low accuracy and low
repeatability.
33. THE ROBOTIC JOINTS
A robot joint is a mechanism that permits relative movement
between parts of a robot arm.
The joints of a robot are designed to enable the robot to move
its end-effector along a path from one position to another as
desired.
The basic movements required for the desired motion of most
industrial robots are:
•Rotational movement.- This enables the robot to place its
arm in any direction on a horizontal plane.
•Radial movement. This enables the robot to move its end-
effector radially to reach distant points.
•Vertical movement. This enables the robot to take its end-
effector to different heights.
34. These degrees of freedom, independently or in combination with
others, define the complete motion of the end-effector. These
motions are accomplished by movements of individual joints of
the robot aim. The joint movements are basically the same as
relative motion of adjoining links. Depending on the nature of this
relative motion, the joints are classified as prismatic or revolute.
Prismatic joints are also known as sliding as well as linear joints.
They are called prismatic because the cross section of the joint is
considered as a generalized prism. They permit links to move in a
linear relationship.
Revolute joints permit only angular motion between links.
35. The five joint types are:
1. Linear joint (L). The relative movement between the input link
and the output link is a linear sliding motion, with the axes of the
two links being parallel.
2. Orthogonal joint (O). This is also a linear sliding motion, but
the input and output links are perpendicular to each other during the
move.
3. Rotational joint (R). This type provides a rotational relative
motion of the joints, with the axis of rotation perpendicular to the
axes of the input and output links.
4. Twisting joint (T). This joint also involves a rotary motion, but
the axis of rotation is parallel to the axes of the two links.
5. Revolving joint (V). IN this joint type, the axis of the input link
is parallel to the axis of rotation of the joint, and the axis of the
output link is perpendicular to the axis of rotation.
36. (a) two forms of linear joint-
type L;
(b) two forms of orthogonal
joint-type O;
(c) rotational joint-type R;
(d) twisting joint-type T;
(e) revolving joint-type V.
38. A typical robot manipulator can be divided into two sections:
•A body-and-arm assembly, and
•A wrist assembly.
There are usually 3 degrees of freedom associated with the body-and-arm, and
either 2 or 3 degrees of freedom usually associated with the wrist.
At the end of the manipulator's wrist is an object that is related to the task that
must be accomplished by the robot. For example, the object might be a workpart
that is to be loaded into a machine, or a tool that is manipulated to perform some
process. The body- and-arm of the robot is used to position the object and the
robot's wrist is used to orient the object.
To establish the position of the object, the body-and-arm must be capable of
moving the object in any of the following three directions:
1.Vertical motion (z-axis motion)
2.Radial motion (in-and-out or y-axis motion)
3.Right-to-left motion (x-axis motion or swivel about a vertical axis on the
base)
39. To establish the orientation of the object, we can define 3 degrees of freedom for
the robot's wrist. The following is one possible configuration for a 3 d.o.f. wrist
assembly:
•Roll. This d.o.f. can be accomplished by a T-type joint to rotate the object
about the arm axis.
•Pitch. This involves the up-and-down rotation of the object, typically done
by means of a type R joint.
•Yaw. This involves right-to-left rotation of the object, also accomplished
typically using an R-type joint.
These definitions are illustrated in the following
Typical
configuration
of a 3-degree-
of-freedom
wrist assembly
showing roll,
pitch, and
Yaw yaw.
40. ROBOT CLASSIEFICATION AND ROBOT REACH
Normally robots are classified on the basis of their physical
configurations. Robots are also classified on the basis of the
control systems adopted.
Classification Based on Physical Configurations
Four basic configurations are identified:
1.Cartesian configuration;
2.Cylindrical configuration;
3.Polar configuration;
4.Jointed-arm configuration.
41. Cartesian Configuration
Robots with Cartesian configurations, consist of links connected
by linear and orthogonal joints (L and O). The configuration of
the robot's arm can be designated as LOO. Because the
configuration has three perpendicular slides, they are also called
rectilinear robots.
43. Cylindrical Configuration
In the cylindrical configuration, as shown in Figure 7, robots
have one twisting (T) joint at the base and linear (L) joints
succeed to connect the links. The robot arm in this configuration
can be designated as TLO. The space in which this robot operates
is cylindrical in shape, hence the name cylindrical configuration.
45. Polar Configuration
Polar robots, as shown in Figure 8, have a work space of spherical
shape. Generally, the arm is connected to the base with a twisting (T)
joint and rotatory (R) and/or linear (L) joints follow. The designation
of the arm for this configuration can be TRL or TRR. Robots with the
designation TRL are also called spherical robots. Those with the
designation TRR are also called articulated robots.
47. Jointed-Arm Configuration
The jointed-arm configuration, is a combination of cylindrical and
articulated configurations. The arm of the robot is connected to
the base with a twisting joint. The links in the arm are connected
by rotatory joints.
49. Classification Based on Control Systems
Based on the control systems adopted, robots are classified
into the following categories:
1.Point-to-point (PTP) control robot
2.Continuous-path (CP) control robot
3.Controlled-path robot
50. Point-to-Point (PTP)
The PTP robot is capable of moving from one point to another point. The
locations are recorded in the control memory. PTP robots do not control the
path to get from one point to the next point. The programmer exercises some
control over the desired path to be followed by programming a series of points
along the path. Common applications include component insertion, spot
welding, hole drilling, machine loading and unloading, and crude assembly
operations.
Continuous-Path (CP)
The CP robot is capable of performing movements along the controlled path.
With CP control, the robot can stop at any specified point along the controlled
path. All the points along the path must be stored explicitly in the robot's
control memory. Straight-line motion is the simplest example for this type of
robot. Some continuous- path controlled robots also have the capability to
follow a smooth curve path that has been defined by the programmer. In such
cases the programmer manually moves the robot arm through the desired path
and the controller unit stores a large number of individual point locations
along the path in memory. Typical applications include spray painting,
finishing gluing, and arc welding operations.
51. Controlled-Path Robot
In controlled path robots, the control equipment can generate
paths of different geometry such as straight lines, circles, and
interpolated curves with a high degree of accuracy. Good
accuracy can be obtained at any point along the specified path.
Only the start and finish points and the path definition function
must be stored in the robot's control memory. It is important to
mention that all controlled-path robots have a servo capability to
correct their path.
52. Robot Reach
Robot reach, also known as the work envelope or work volume, is the space
of all points in the surrounding space that can be reached by the robot arm
or the mounting point for the end-effector or tool. The area reachable by the
end-effector itself is not considered part of the work envelope. Reach is one of
the most important character tics to be considered in selecting a suitable robot
because the application space should not fall out of the selected robot's reach.
Robot reach for various robot configurations is shown in the following Figure
For a Cartesian configuration the reach is a rectangular-type space.
For a cylindrical configuration the reach is a hollow cylindrical space.
For a polar configuration it is part of a hollow spherical shape.
For a jointed-arm configuration does not have a specific geometric shape.
65. A Four-Jointed Robot in Three
Dimensions:
Most robots possess a work volume with
three dimensions. Consider the four
degree-of-freedom robot in Figure 7.18.
Its configuration is TRL: R. Joint 1 (type
T) provides rotation about the z axis.
Joint 2 (type R) provides rotation about a
horizontal axis whose direction is
determined by joint 1. Joint 3 (type L) is
a piston that allows linear motion in a
direction determined by joints 1 and 2.
And joint 4 (type R) provides rotation
about an axis that is parallel to the axis of
joint 2.
The values of the four joints
are, respectively, 1, 2, 3 and 4. Given
these values, the forward transformation
is given by:
Figure 7.18 A four degree robot with configuration
TRL:R.
66.
67.
68.
69. ROBOT PROGRAMMING AND LANGUAGES
The primary objective of robot programming is to make the robot
understand its work cycle. The program teaches the robot the
following:
•The path it should take
•The points it should reach precisely How to interpret the sensor
data
•How and when to actuate the end-effector
•How to move parts from one location to another, and so forth
70. Programming of conventional robots normally takes one of two
forms:
(1) Teach-by-showing, which can be divided into:
• Powered leadthrough or discrete point programming
• Manual leadthrough or walk-through or continuous
path programming
(2) Textual language programming
In teach-by-showing programming the programmer is
required to move the robot arm through the desired motion
path and the path is defined in the robot memory by the
controller.
Control systems for this method operate in either:
1. teach mode : is used to program the robot
2. run mode: is used to run or execute the program.
71. Powered leadthrough programming uses a teach pendant to
instruct a robot to move in the working space.
A teach pendant is a small handled control box equipped with
toggle switches, dials, and buttons used to control the robot's
movements to and from the desired points in the space.
These points are recorded in memory for subsequent playback. For
playback robots, this is the most common programming method
used. However, it has its limitations:
•It is largely limited to point-to-point motions rather than
continuous movement, because of the difficulty in using a teach
pendant to regulate complex geometric paths in space. In cases
such as machine loading and unloading, transfer tasks, and spot
welding, the movements of the manipulator are basically of a
point-to-point nature and hence this programming method is
suitable.
72. Manual leadthrough programming is for continuous-path
playback robots. In walk-through programming, the programmer
simply moves the robot physically through the required motion
cycle. The robot controller records the position and speed as the
programmer leads the robot through the operation.
If the robot is too big to handle physically, a replica of the robot
that has basically the same geometry is substituted for the actual
robot. It is easier to manipulate the replica during programming.
A teach button connected to the wrist of the robot or replica acts
as a special programming apparatus. When the button is
pressed, the movements of the manipulator become part of the
program. This permits the programmer to make moves of the arm
that will not be part of the program. The programmer is able to
define movements that are not included in the final program with
the help of a special programming apparatus.
73. Teach-by-showing methods have their limitations:
1. Teach-by-showing methods take time for programming.
2. These methods are not suitable for certain complex functions,
whereas with textual methods it is easy to accomplish the
complex functions.
3. Teach-by-showing methods are not suitable for ongoing
developments such as computer-integrated manufacturing
(CIM) systems.
Thus, textual robot languages have found their way into robot
technology.
74. Textual language programming methods use an
English-like language to establish the logical sequence of a work
cycle. A cathode ray tube (CRT) computer terminal is used to
input the program instructions, and to augment this procedure a
teach pendant might be used to define on line the location of
various points in the workplace.
Off-line programming is used when a textual language program is
entered without a teach pendant defining locations in the
program.
75. Programming Languages
Different languages can be used for robot programming, and
their purpose is to instruct the robot in how to perform these
actions. Most robot languages implemented today are a
combination of textual and teach-pendant programming.
Some of the languages that have been developed are:
WAVE VAL
AML RAIL
MCL TL- 10
IRL PLAW
SINGLA VAL II
76. VAL II
It is one of the most commonly used and easily learned languages.
It is a computer-based control system and language designed for the
industrial robots at Unimation, Inc.
The VAL II instructions are clear, concise, and generally self explanatory.
The language is easily learned.
VAL II computes a continuous trajectory that permits complex motions
to be executed quickly, with efficient use of system memory and reduction
in overall system complexity.
The VAL if system continuously generates robot commands and can
simultaneously interact with a human operator, permitting on-line
program generation and modification.
A convenient feature of VAL If is the ability to use libraries of
manipulation routines. Thus, complex operations can be easily and quickly
programmed by combining predefined subtasks.
77. Programming With VAL II
The first step in any robot programming exercise is the
physical identification of location points using the teach
pendant. We do not have to teach all the points that the robot is
programmed to visit; only a few key points have to be shown
(e.g., the comer of a pallet). Other points to which it can be
directed can be referenced from these key points. The
procedure is simple. First use the keys or button of the teach
pendant to drive the robot physically to the desired location
and then type the command HERE with the symbolic name for
that location. For example,
HERE P1
This command will identify the present location as P1.
78. Rules for the location name are as follows:
1. It is any string of letters, numbers, and periods.
2. he first character must be alphabetic.
3. There must be no intervening blank.
4. Every location name must be unique.
5. There may be a limit on the maximum number of characters
that can be used.
The following example illustrates the general command format
for VAL II:
100 APPRO P1 15
In this example, 100 is the label that refers to this instruction,
APPRO is the instruction to the robot to approach the
location named P1 by a distance of 15 mm.
79. In the following, we describe the most commonly used VAL II
commands.
MOVE P1 This causes the robot to move in joint interpolation
motion from its present location to location P1.
MOVES P1 Here, the suffix S stands for straight-line interpolation
motion.
MOVE P1 VIA This command instructs the robot to move from its
P2 present location to P1, passing through location P2.
APPRO P1 10 This command instructs the robot to move near to the
location P1 but offset from the location along the tool
z-axis in the negative direction (above the part) by a
distance of 10
DEPART 15 Similar to APPRO, this instructs the robot to depart by
a specified distance (15 mm) from its present position.
The APPRO and DEPART commands can be modified
to use straight-line interpolation by adding the suffix S.
80. DEFINE PATH 1= The first command (DEFTNE) defines a path that consists
PATH(P1,P2,P3,P5) of series of locations P1, P2, P3, and P5 (all previously
defined). The second command (MOVE) instructs the robot
to move through these points in joint interpolation. A
MOVE PATH 1 MOVES command can be used to get straight-line
interpolation
ABOVE & BELOW These commands instruct the elbow of the robot to point up
and down, respectively.
SPEED 50 IPS This indicates that the speed of the end- effector during
program execution should be 50 inch per second (in./s).
SPEED 75 This instructs the robot to operate at 75% of normal speed.
OPEN Instructs end effector to open during the execution of the
next motion.
CLOSE Instructs the end-effector to close during the execution of
the next motion.
OPENI Causes the action to occur immediately.
CLOSEI Causes the action to occur immediately
81. If a gripper is controlled using a servo-mechanism, the following
commands may also be available.
CLOSE 40 MM The width of finger opening should be 40 mm.
CLOSE 3.0 LB This causes 3 lb of gripping force to be applied against the part..
GRASP 10, 100 This statement causes the gripper to close immediately and
checks whether the final opening is less than the specified
amount of 10 mm. If it is, the program branches to statement
100 in the program
SIGNAL 4 ON This allows the signal from output port 4 to be turned on at one
point in the program and
SIGNAL 4 OFF turned off at another point in the program.
WAIT10 ON This command makes the robot wait to get the signal on line 10
so that the device is on there.
82. logarithmic, exponential, and similar functions. The following
relational and logical operators are also available.
EQ Equal to
NE Not equal to
GT Greater than
GE Greater than or equal to
LT Less than
LE Less than or equal to
AND Logical AND operator
OR Logical OR
NOT Logical complement
83. TYPE "text“ This statement displays the message given in the
quotation marks. The statement is also used to display output
information on the terminal.
PROMPT "text", INDEX This statement displays the message
given in the quotation marks on the tenninal. Then the system
waits for the input value, which is to be assigned to the variable
INDEX.
In most real-life problems, program sequence control is required.
The following statements are used to control logic flow in the
program.
GOTO 10 This command causes an unconditional branch to
statement 10.
84. IF (Logical expression) If the logical expression is true, the group
THEN of statements between THEN and ELSE
is executed. If the logical expression is
(Group of instructions) false, the group of statements between
ELSE and END is executed. The program
ELSE continues after the END statement.
The group of instructions after the DO
(Group of instructions)
statement makes a logical set whose
variable value would affect the logical
END
expression with the UNTIL statement.
DO
After every execution of the group of
instructions, the logical expression is
(Group of instructions)
UNTIL(Logical expression) valuated. If the result is false, the DO
loop is executed again; if the result is
true, the program continues.
85. SUBROUTINES can also be written and called in VAL II
programs. Monitor mode commands are used for functions such
as entering locations and systems supervision, data processing,
and communications. Some of the commonly used monitor
mode commands are as follows:
EDIT (Program name) This makes it possible to edit the
existing program or to create a new program by the specified
program name.
86. EXIT This command stores the program in controller memory and quits
the edit mode.
STORE (Program name) This allows the program to be stored on a
specified device.
READ (Program name) Reads a file from storage memory to robot
controller.
LIST (Program name) Displays program on monitor.
PRINT (Program name) Provides hard copy.
DIRECTORY Provides a listing of the program names that are stored
either in the controller memory or on the disk.
ERASE (Program name) Deletes the specified program from memory or
storage.
EXECUTE (Program name) Makes the robot execute the specified
program. It may be abbreviated as EX or EXEC.
ABORT Stops the robot motion during execution.
STOP The same as abort.
87. EXAMPLE 1:
Develop a program in VAL II to command a PUMA robot to unload a
cylindrical part of 10 mm diameter from machine 1 positioned at point
P1 and load the part on machine 2 positioned at P2. The speed of robot
motion is 40 in./s. However, because of safety precautions, the speed is
reduced to 10 in./s while moving to a machine for an unloading or
loading operation.
89. EXAMPLE 2:
Suppose we want to drill 16 holes according to the pattern shown in the
Figure. The pendant procedure can be used to teach the 16 locations, but
this would be quite time-consuming and using the same program in
different robot installations would require all points to be taught at each
location. VAL II allows location adjustment under computer control.
The program allows all holes to be drilled given just one location, called STA
at the bottom right-hand corner of the diagram. Actually, two programs
are required, since one will be a subroutine.
92. ROBOT SELECTION
This phenomenal growth in the variety of robots has made the
robot selection process difficult for applications engineers.
Once the application is selected, which is the primary
objective, a suitable robot should be chosen from the many
commercial robots available in the market.
The technical features are the prime considerations in the
selection of a robot. These include features such as:
(1) degrees of freedom,
(2) control system to be adopted,
(3) work volume,
(4) load-carrying capacity, and
(5) accuracy and repeatability.
93. The characteristics of robots generally considered in a selection
process include :
1. Size of class
2. Degrees of freedom
3. Velocity
4. Actuator type
5. Control mode
6. Repeatability
7. Lift capacity
8. Right-Left-Traverse
9. Up-down-traverse
10. In-Out-Traverse
11. Yaw
12. Pitch
13. Roll
14. Weight of the robot
94. We elaborate on some of these characteristics.
1. Size of class. The size of the robot is given by the maximum dimension (x)
of the robot work envelope. Four different classes are identified:
• Micro (x <=1M)
• Small (1<x <=2 m)
• Medium (2 <x<=5m)
• Large (x >5m)
2. Degrees of freedom. The degrees of freedom can be one, two, three, and so
on. The cost of the robot increases with increasing number of degrees of
freedom.
95. 3. Velocity. Velocity considerations are affected by the robot's arm
structure. There are various types of arm structures. For example, the
arm structure can be classified into the following categories:
• Rectangular
• Cylindrical
• Spherical
• Articulated horizontal
• Articulated vertical
4. Actuator types. Actuator types have been discussed in the earlier sections.
They are:
• Hydraulic
• Electric
• Pneumatic
Sometimes, a combined electrical and hydraulic control system may be
preferred.
96. 5. Control modes. Possible control modes -include:
•Nonservo
•Servo point-to-point (PTP)
•Servo continuous path (CP)
•Combined PTP and CP
Characteristics such as lift capacity, weight, velocity, and repeatability
are divided into ranges. Based on the ranges, the characteristics are
categorized in subclasses. For example, lift capacity can be categorized
as 0-5 kg, 5-20 kg, 20-40 kg, and so forth.
A simple approach to selecting a robot is to identify all the required
features and the features that may be desirable.
97. The desirable features may play an important role in the selection of robots.
These desirable features in an individual robot may be ranked on a scale of,
say, 1 to 10 and the desirability of these features itself may be assigned
weights. Finally, rank the available robots that have these features based on
cost and quality considerations.
98. EXAMPLE
A manufacturing company is planning to buy a robot. For the type of
application, the robot should have at least six required features. It will be
helpful to have more features that would add some flexibility in its usage
capabilities. The company is looking at six more desirable features. Five
robots are selected from the initial elimination process ba ed on required
features. The rating score matrix R is given as:
The entry in position (i, j ) represents the score given to the ith robot model
based on how well it satisfies the j th desirable feature. The score is given
on a scale of 0 to 10. These scores are assigned by the applications
engineers based on their experience and practical requirements.
Furthermore, if the importance of desirable features is given by the
following weight vector, determine the priority ranking of robots for the
given application.
W = (0.9 0.3 0.6 0.5 0.8 0.4 )
99.
100.
101. Robot Applications
The common industrial applications of robots in manufacturing involve
loading and unloading of parts. They include:
• The robot unloading parts from die-casting machines
• The robot loading a raw hot billet into a die, holding it during forging,
and unloading it from the forging die
• The robot loading sheet blanks into automatic presses, with the parts
falling out of the back of the machine automatically after the press
operation is performed
• The robot unloading molded parts formed in injection molding
machines
• The robot loading raw blanks into NC machine tools and unloading the
finished parts from the machines
Safety and relief from handling heavy loads are the key advantages of
using robots for loading and unloading operations.
102. A Single-Machine Robotic Cell Application
Consider a machining center with input—output conveyors and a robot
to load the parts onto the machine and unload the parts from the
machine as shown in the Figure. A typical operation sequence
consists of the following steps:
• The incoming conveyor delivers the parts to a fixed position.
• The robot picks up a part from the conveyor and moves to the
machine.
• The robot loads the part onto the machine.
• The part is processed on the machine.
• The robot unloads the part from the machine.
• The robot puts the part on the outgoing conveyor.
• The robot moves from the output conveyor to the input
conveyor.
This operation sequence of the robotic cell is accomplished by a cell
controller. Production rate is one of the important performance
measures of such cells. We provide an example of determining the
cycle time and production rate of a robotic cell.
103.
104. EXAMPLE
Compute the cycle time and production rate for a single-machine robotic cell
for an 8-h shift if the system availability is 90%. Also determine the percent
utilization of machine and robot. On average, the machine takes 30 s to process
a part. The other robot operation times are as follows:
Robot picks up a part from the conveyor 3.0s
Robot moves the part to the machine 1.3s
Robot loads the part onto the machine l.0s
Robot unloads the part from the machine 0.7s
Robot moves to the conveyor 1.5s
Robot puts the part on the outgoing conveyor 0.5s
Robot moves from the output conveyor to the input conveyor 4.0s
105.
106.
107. A Single-Machine Cell with a Double-Gripper Robot
A double-gripper robot has two gripping devices attached to the
wrist. The two grip ping devices can be actuated independently.
The double gripper can be used to handle a finished and an
unfinished workpiece at the same time. This helps increase
productivity, particularly in loading and unloading operations
on machines. For example, with the use of a double-handed
gripper, the following robot operations could be performed
during the machine operation cycle time:
1. Move to conveyor
2. Deposit a part and pick up a new part
3. Move to the machine
However, it must be mentioned that this is possible only if the
machine operation cycle time is more than the combined time
for activities 1,2, and 3. Furthermore, there is no need to move
the robot arm from the output conveyor to the input conveyor.
108.
109. ECONOMIC JUSTIFICATION OF ROBOTS
We have seen in the previous section on robot applications
that robots are being used in a variety of industrial and
domestic environments. Some of these applications are
justified on the basis that the type of work, such as welding
or painting, is dangerous and unhealthy for humans. It
is, however, equally important to study whether the
robotization is also economically justified. A large number
of models for economic evaluation exist (for details, refer
to White et al, 1989). In this section we provide a simple
treatment by considering the payback period as a measure
of economic justification of robots.
110. Payback Period Method
The primary idea behind the payback period method is to determine how long it takes to
get back the money invested in a project. The payback period i can be determined from
the following relation:
net investment cost (NIC) of the robot
system including accessories
n=
net annual cash flows
Net investment cost = total investment cost of robot and accessories -investment
tax credits available from the government, if any
Net annual cash flows = annual anticipated revenues from robot installation
including direct labor and material cost savings - annual
operating costs including labor, material, and maintenance
cost of the robot system
111. Example
Detroit Plastics is planning to replace a manual painting
system by a robotic system. The system is priced at
$160,000.00, which includes sensors, grippers, and other
required accessories. The annual maintenance and
operation cost of the robot system on a single-shift basis
is $10,000.00. The company is eligible for a $20,000.00
tax credit from the federal government under its
technology investment program. The robot will replace
two operators. The hourly rate of an operator is $2000
including fringe benefits. There is no increase in
production rate. Determine the payback period for one-
and two-shift operations.
112. Solution
Net investment cost capital cost - tax credits = $160,000 - $20000.00 $=140000.00
Annual labor cost operator rate ($20/hr) X number of operators (2) X days per year
(250 d/yr) X single shift (8 h/d) = $80,000 (for a single shift)
For double-shift operation, the annual labor cost is $160,000.00.
For a single-shift operation:
Annual savings = annual labor cost - annual robot maintenance and operating cost
=$80,000.00 - $10,000.00= $70,000.00
The payback period for single-shift operation is Sl40,000,00/$70,000.00= 2 years
For double-shift operation,
Annual savings= $160,000.00 - $20,000.00= $140,000.00.
Therefore, the payback period for double-shift operation is $140,000.00/ $140,000.00
=1.00 years.
A payback period of 2 years or less is a very attractive investment. In this example we
have not considered any production rate increase with the robot system installation.
Typically, such a system results in 30 to 75% increase in productivity. Based on these
figures. this is an attractive proposal.