General Robotics1

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Robotics

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Robotics

Any automatically operated machine that will

replaces human effort, though it may not

resemble human beings in appearance orperform functions in a human like manner.

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Introduction

An industrial robot is a general purposeprogrammable machine processing certainanthropomorphic features.

A Robot is any mechanical device operatedautomatically to perform seemingly humanway.

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Introduction

The most anthropomorphic feature of anindustrial robot is its mechanical arm ormanipulator.

The control unit of a modern industrial robotis a computer that can be programmed toexecute rather sophisticated subroutines, thusproviding the robot with an intelligence thatsometimes seems almost human.

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Introduction

The robots manipulator combined with a highlevel controller allows an industrial robot toperform a variety of task such as loading and

unloading of machine tools, spot weldingautomobile bodies and spray painting.

The robots are typically used as substitutes forhuman workers in these tasks.

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History of Robotics

Modern use of the term stems from the play

written in 1920 by the Czech Author Karel

Capek, which depicts Society as havingbecome dependent on mechanical workers

called robots that are capable of doing any

kind of physical or mental work.

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History of Robotics

The word "robotics" was also coined by a

writer. Russian-born American science-fiction

writer Isaac Asimov first used the word in

1942 in his short story "Runabout."

Asimov had a much brighter and more

optimistic opinion of the robot's role in

human society than did Capek.

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History of Robotics

He generally characterized the robots in his short

stories as helpful servants of man and viewed

robots as "a better, cleaner race."

Asimov also proposed three "Laws of Robotics"

that his robots, as well as sci-fi robotic characters

of many other stories, followed.

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Laws of Robotics

1. A robot may not injure a human being or,through inaction, allow a human being tocome to harm.

2. A robot must obey the orders given it byhuman beings except where such orderswould conflict with the First Law.

3. A robot must protect its own existence aslong as such protection does not conflict withthe First or Second Law.

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INDUSTRIAL ROBOTICS

Industrial robotics is an automationtechnology that has received considerable

attentions since about 1960.

Industrial robot (UNIMATE) was firstcreated by George C. Devol.

First modified and commercial version was

given by Joseph Engleberger (Father ofRobotics).

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Industrial Robotics

Industrial robotics can be considered a

combination of numerical-control andteleoperator technologies.

Numerical control provides the concept of a

programmable industrial machine, andteleoperator technology contributes the notion

of a mechanical arm to perform useful work.

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Applications

Spot welding, Spray painting, material

handling, assembly, inspection in automobile

industry

Working with hazardous materials or heavy

duty jobs.

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The robot manipulator.

The most widely accepted definition of an

industrial robot is one developed by the Robotic

Industries Association:

An industrial robot is a re-programmable,

multifunctional manipulator deign to move

materials, parts, tools or specialized devices

through variable programmed motions for the

performance of a variety of tasks.

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Technology of Robotics

The technology of robotics is concerned with thedesign of the mechanical manipulator and the

computer systems used to control it.

The mechanical manipulator of an industrial

robot is made up of a sequence of link and joint

combinations.

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Manipulator configuration
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Basic components of a Robot system

Manipulator

Sensory devices

Controller Power conversion unit

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Manipulator

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End effectors

An end effector is a device which is attached

to the wrist of the robot to perform a specific

task.

The task may be spot welding, spray painting

or part handling.

The end effector is the special purpose tooling

which enables the robot to perform a

particular job.

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Classification of Grippers

End effector

Gripper Tools

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Grippers

Grippers are used to hold work-parts (in pick and

place operations, machine loading or assembly work)

or tools.

Mechanical grippers These grippers retain theobject by physical contact and friction.

Suction or vacuum pumps used for flat objects

Magnetic gripper devices used for ferrous objects. Hooks used for lifting parts from the conveyors.

Scoops or ladles used for fluids or powder etc.

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Few examples of tools used with

robots

1. Spot welding gun

2. Arc welding tools

3. Spray painting gun 4. Drilling spindle

Grinders

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2. Sensory Device

Informs the robot controller about the status

of the manipulator.

May be done continuously or only at the end

of the desired motion.

Information may be either analog, digital or a

combination.

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Sensory Device

Two general class of sensor:

Nonvisual

Visual

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3. Controller

(Functions)

1. They initiate and terminate the motion of the

individual components of the manipulator in

a desired sequence and at specified points.

2. They store position and sequence data in

their memory.

3. They permit the robot to be interfaced to the

outside world via sensors mounted in the

area where work is being performed.

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Types of controller

Open loop control

Simple step sequencer

Pneumatic logic system

Electronic sequencer

Closed loop or servo controlled robot

computer

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4. Power conversion unit

To provide the necessary energy to the

manipulators actuators.

Take signal from the sequencer

(digital/analog) and convert into a meaningful

power level of actuator.

Power amplifier-------- servomotor-actuated

system

Remote compressor-- pneumatic/hydraulic

device

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Classification of robot

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Classification by coordinate system

Cylindrical coordinate robot

Spherical coordinate robot

Jointed arm robot Cartesian coordinate robot

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Cylindrical Coordinate Robot


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A spherical coordinated Robot

General View of the geometry of the robots major axis

Working volume of the robot


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Pure Spherical jointed robot


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Cartesian Coordinate Robot


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Cartesian Coordinate Robot

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General Robotics1