Use for robots in our life.

2. “A robot is a programmable, multifunction manipulator
designed to move material, parts, tools, or special devices
through variable programmed motions for the performance of
a variety of tasks”
Robot Institute of America
Industrial Robots Definition
A robot is a programmable arm simulator

4. Motivation for using robots to perform task which would otherwise
be performed by humans.
• Safety
• Efficiency
• Reliability
• Worker Redeployment
• Cost reduction
The Advent of Industrial Robots

5. – Arm or Manipulator
– End effectors
– Drive Mechanism
– Controller
– Custom features: e.g. sensors and transducers
Main Components of Industrial Robots

6. Arm or Manipulator
• The main anthropomorphic element of a robot.
• In most cases the degrees of freedom depends on the arm
• The work volume or reach mostly depends on the functionality
of the Arm

7. Sensors in robotics
Types of sensors :
– Tactile sensors (touch sensors, force sensors, tactile array sensors)
– Proximity and range sensors (optical sensors, acoustical sensors,
electromagnetic sensors)
– Miscellaneous sensors (transducers and sensors which sense variables
such temperature, pressure, fluid flow, thermocouples, voice sensors)
– Machine vision systems

8. Sensors in robotics
Uses of sensors:
– Safety monitoring
– Interlocks in work cell control
– Part inspection for quality control
– Determining positions and related information about objects

9. Sensors in robotics
Desirable features of sensors:
Accuracy
Operation range
Speed of response
Calibration
Reliability
Cost and ease of operation

10. • Size of the working envelope
• Precision of movement
– Control resolution
– Accuracy
– Repeatability
•Lifting capability
•Number of robot axes
•Speed of movement
– maximum speed
– acceleration/deceleration time
•Motion control
– path control
– velocity control
•Types of drive motors
– hydraulic
– electric
– pneumatic
Performance Specifications of Industrial Robots

11. •Acceleration/deceleration times are crucial for cycle time.
•Determined by
– Weight of the object
– Distance moved
– Precision with which object must be positioned
Speed of Movement
Speed with which the robot can manipulate the end effector

12. • Path control - how accurately a robot traces a given path (critical for
gluing, painting, welding applications);
• Velocity control - how well the velocity is controlled (critical for
gluing, painting applications)
• Types of control path:
- point to point control (used in assembly, palletizing, machine
loading); - continuous path control/walkthrough (paint spraying,
welding).
- controlled path (paint spraying, welding).
Motion Control

13. • Hydraulic
– High strength and high speed
– Large robots, Takes floor space
– Mechanical Simplicity
– Used usually for heavy payloads
• Electric Motor (Servo/Stepper)
– High accuracy and repeatability – Low cost
– Less floor space – Easy maintenance
• Pneumatic
– Smaller units, quick assembly
– High cycle rate – Easy maintenance
Type of Drive System

14. Robot Implementation Planning
Identify Objectives (Benefits)
• Increase productivity
• Reduce labor cost
• Reduce cycle time
• Eliminate undesired jobs
• Safety reasons: protect from exposure to hazardous conditions
• Increase product quality

15. Robot Implementation Planning
Consider Drawbacks
• The impact upon the workers
• The impact upon production schedule and maintenance
• Questions of potential model changes or process changes

16. Fixed automation:
Expensive
Can become obsolete early (dedicated for a single task)
Large inventories
Difficulties in commissioning and high maintenance costs
Faster and more accurate
Flexible (robot) automation:
Reprogrammable for different tasks
Quick to commission
Easy to maintain
Cheaper to design.
Robot Implementation Planning
Fixed versus Flexible Automation