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02/10/2016
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Mekanisme Robot - 3 SKS
(Robot Mechanism)
Latifah Nurahmi, PhD
!! latifah.nurahmi@gmail.com !!
First Term - 2016/2017
C.250
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About the class
Lab work 1 : 20%
UTS : 30%
Lab work 2 : 20%
UAS : 30%
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Class Schedule
1+2• Introduction of robotics and transformations
3+4• Position analysis of serial manipulators
5+6• Jacobian analysis of serial manipulators
7• Lab work 1 – Serial manipulators
8• Mid exam (UTS)
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Class Schedule
9+10• Position analysis of parallel manipulators
11+12• Jacobian analysis of parallel manipulators
13+14• Design of parallel manipulators
15• Lab work 2 – Parallel manipulators
16• Final exam (UAS)
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References
1. Lung-Wen Tsai. Robot Analysis: The Mechanics of Serial and Parallel Manipulators. John Wiley and Sons, Inc. 1999.
2. Xianwen Kong and Clément Gosselin. Type Synthesis of Parallel Mechanisms. Springer-Verlag Berlin Heidelberg, Vol 33. 2007.
3. Jorge Angeles. Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithm. Springer Verlag New York, 2nd edition. 2003.
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Robot terminology
Robot :« any anthropomorphicmechanical system beingbuilt to do routine manual work for humanbeings »
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Robot terminology
Robot : « a re-programmable multi-functionalmanipulator designed to move material, parts, tools, or specialized devices, through variable programmed motions for variety of tasks »
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Lil history of robotics
The word « ROBOT » entered English vocabulary in 1923s
Actual development of robot was in 1940s
Initial purpose was because hazardous environments
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Types of robot
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Humanoid robots
Anthropomorphic mechanical system
Still in research
Nao robot - France ASIMO Honda - Japan
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Mobile robots
Automatic machine/mechanical system that is capableof locomotion.
Tank Robot
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Mobile robots
Gekko RobotWater snake Robot
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Mobile robots
Boston Dynamics MITRolling Robot
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Industrial robots
Typical manipulator
Having fixed part and moving part
Application:
1. Surgical operation 4. Packaging
2. Flight simulator 5. Assembly line
3. Machining / manufacturing 6. etc
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Industrial robots
Cable driven robotFlight simulatorUsing six cables
Machining / manufacturingParallel manipulatorsSprint Z3
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Industrial robots
Surgical robotParallel ManipulatorDavinci robot
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Industrial robots
Packaging (Pick and Place)Parallel ManipulatorDelta robotABB Sweden
Assembly line Serial ManipulatorsKUKA robotABB Sweden
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Classifications of Industrial Robots
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Classifications of Industrial Robots
By degrees of freedom (DOF)
Stewart-gough platform(6-DOF)
Lower-mobility manipulator(n < 6) - DOF
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Classifications of Industrial Robots
By kinematic structures
Parallel structures(Closed-loop mechanism)
Serial Structures(Open-loop mechanism)
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Classifications of Industrial Robots
By motion type (motion pattern)
3-RRR parallel manipulatorPlanar motion (2T1R)
Spherical motion (3R)
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Classifications of Industrial Robots
By workspace geometry
Cartesian robot(gantry robot) SCARA (3T1R)
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Classifications of Industrial Robots
By workspace geometry
Spherical robot Cylindrical robot
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Classifications of Industrial Robots
By workspace geometry
Anthropomorphic robot- All R-joints
- Joint 1 ⊥ Joint 2
- Joint 2 ⃦ Joint 3
- 3-axis spherical wrist
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Sense of Mechanisms
What is « kinematic chain » ?
What is a « Mechanism » ?
What is « Machine » ?
What is « DOF » ?
What is « Link » ?
What is « Joint » ?
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Sense of Mechanisms
Kinematic link: assemblage of links connected by
joints.
Open-loop chain and closed loop chain.
Mechanism: when one of the links in kinematic chain is
fixed.
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Sense of Mechanisms
Mechanism used only for motion transmission
Machine used to transform external energy into
a useful work
DOF (Degree Of Freedom)
6 in space 3 rotations and 3 translations
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Assignment
Mention types of joints, its dof, and its motion type
Find one parallel manipulator and its application
Describe that parallel manipulator is composed of
how many leg (kinematic chain), how many joint and
what type of joint used!
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Degrees of Freedoms (DOF)
X Y
Z
3 Rotations3 Translations=6 DOF
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Types of Joints
S
E
C
R
P
H
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Motion type (Motion pattern)
Planar motion: 2T1R (2 x,y translations + 1 z rotation)
Schoenflies motion: 3T1R (3 translations + 1 rotation)
Spherical motion: 3R (3 rotations about a fixed point or fixed
axis)
etc
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Workspace
Workspace: volume of space that can be reached by the EE
(End-Effector)
Reachable workspace: every point in the volume of space
that can be reached by the EE in at least one orientation.
Dextrous workspce: every point in the volume of space that
can be reached by the EE in all possible orientations.
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Workspace
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Industries
Manual production: slow, low consistency, low quality
(few)
Hard automation: faster, more precise, high retooling set
(much)
Flexible automation: less time to set up
(average)
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Worldwide statistics
At the end of 2011, total of industrial robots used ~ 1.150.000 – 1.400.000 units
- Europe = 352.000- Japan = 300.000- North America= 200.000- Germany = 163.000- S.Korea = 124.000- China = 100.000- Italy = 61.000- France = 34.000- Spain = 30.000- UK = 14.000
Japan and S.Korea have the highest « Robot density » , 340 robots/10.000 employees
- Anthropomorphic, Total= 67%- Cartesian, Total= 19%- SCARA, Total= 9%- Cylindrical, Total= 4%
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