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What is an industrial robot ???

Robot is a programmable, multi-function manipulator

designed to move material, parts, tool or special

devices through variable programmed motions for

the performance of a variety of tasks.

George Devol => Programmed article transfer.

Ford Motor company => Universal transfer device.



PHYSICAL

CONFIGURATIONSOF INDUSTRIAL

ROBOTS

POLARCORDINATE

CONFIG

CYLINDRICALCOORDNATE

CONFIG

JOINTED ARMCONFIG

CARTESIANCOORDINATE

COFIG



POLARCOORDINATE

CONFIGURATION

(SPHERICAL COORDINATE ) work space : Partial space.

Rotatory base at the bottom and pivot to raise or lower the telescopic arm



CYLINDRICALCOORDINATE

CONFIGURATION

Vertical column swivels about vertical axis.

Several orthogonal slides for moving the arm

up or down and in or out with respect to thebody.



JOINTED ARMCONFIGURATION

Jointed arm similar to human arm .

Arm consists of several straight members connected

by joints which are analogous to human shoulder,

elbow and wrist.

Cincinati Milacron T model



CARTESIANCOORDINATE

CONFIGURATION

3 orthogonal slides parallel to X,Y,Z,

axes of CCS.

Workspace: 3D rectangular shaped



BASIC ROBOT MOTIONS

To accomplish the task end effectors are attached at the end

of the arm.

Depending on the type of the operation, these end effectors

are manipulated .

Degrees of freedom: It is the ability of the robot to move the

end effector in required sequence of operations to perform the

task.



3Arm &Body

Motions

3 Wristmotions

6 degreefreedom

robot



Hydraulics• Used in large robots where much floor space is available.

• Advantage : mechanical simplicity, high strength, high speed.

Electric motor( DC stepping / servo motors)

• Used where less floor space is required.

• Less physical strength and speed as that of Hydraulics.

• Better accuracy and repeatability.

Pneumatic

• Smaller and less sophisticated.

• Used for high cycle rate operations like pick and place



End Effectors



Method of PROGRAMMING

Robot

Manual

Method

Walk throughMethod

Lead through

Method

Offline

programming

Method



VAL ( Victor’s Assembly Language) developed by

Unimation Inc. for PUMA (Assembly) Robot.

Program defining the motion sequence can be

developed offline.

MCL ( Machine Control Language) developed by

McDonnell-Douglas Corp.MCL is an enhancement of APT designed to

control a complete manufacturing cell.





2.Repetitive tasks

3.Difficult handling4.Multishift

operation

1.Hazardous or

uncomfortable

working conditions.



1.Simle repetitive operations are needed.

2. Cycle times are greater than 5secs.

3. Parts can be delivered in proper location and orientation4. Part weight is suitable( when max limit of 1100 pounds)

5. No inspection is required.

6. One or two persons can be replaced in a 24 hr period.

7. Setups and changeovers are not frequent.



Applications of

Industrial

Robots

Material Transfer

Machine loading

Welding

Spray coating

Process operations

Assembly

Inspection



Material TransferOperations include

Simple pick n place o/p.

Transfer of work parts from one conveyor to another

Palletizing

Loading parts from conveyor to carton boxes.



Advantages for going Robot welding over manual welding :

Higher productivity

Improved Safety

More consistent welds

Fatigue factor of the welder is reduced.

ARC welding robot

SPOT welding robot



Process operations• End effector manipulated into the tool.

• Operations include

1.Gripping the w.p & bringing in contact with tool

2.Drilling, Grinding, Polishing, wire brushing and

water jet cutting.



Y robots are to be used for spray painting ?????

1. Fumes & mist from the spraying operation => creates toxic

atmosphere.

2. Noise from the spray nozzle => Impairing hearing on prolong

exposure.3. Fire hazard => Mist of paint in air can cause flash fires.

4. Possible cancer dangers : Ingredients are carcinogenic.



Advantages of robot painting

• Safety

• Coating consistency

•

Lower material usage• Less energy consumption

• Greater productivity

(Robo painting video )



Assembling Robots

Most economical way of producingassembled components in mass production.



Part inspection Quality production

100% component inspection Equipped with mechanical probes, optical sensing

for inspection.

No chance of selecting defective components.

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Industrial Robots Auto Saved]