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CIM unit-3
- 1. UNIT-5
- 2. ο ο An Electro Mechanical device ο Performs Various Tasks ο Controlled by ο 1) Human (or) ο2) Automated robot
- 3. ο ο A Robot is a Re-programmable, Multi Functional Manipulator Designed To Move Materials, parts, Tools, Or Any Devices Through Various Programmed Motions For The Performance Of A Variety Of Tasks ROBOT DEFINITION:
- 4. ο S.NO HUMAN ROBOT AUTOMATIONS 1 BRAIN PROCESSORS COMPUTER CHIPS & SOFTWARE 2 SKIN,EARS, NOSE SENSORS LIGHTS & SOUNDS 3 EYES VISION SYSTEMS WORKS WITH OPTICAL CABLES (TV,CAMERA) 4 ARMS & HANDS EFFECTORS MANIPULATE & SUPPORT TOOLS 5 FEET TRANSPORTATION SYSTEMS MEVEMENT MECHANISMS Comparisons of human & robot
- 5. ο Components of Robot ο Manipulator - It is also called as Arm & Wrist ο End Effector - The end of the wrist in a robot is equipped with an end effector, also called as End of the Arm Tooling ο Power supply β It is the source of the energy to move & regulate the robot drive mechanisms ο Control system β It is known as controller, It is the brain & nerves of the robot
- 7. ο
- 8. ο ο Rotational transverse - Movement about a vertical axis ο Radial transverse β Extension & retraction of arm ο Vertical transverse β Up & Down motion ο Pitch - Up & Down movement of wrist ο Yaw β Side to Side movement of wrist ο Roll β rotation of wrist Six basic robot motions are
- 10. ο ο Robot Anatomy is concerned with the physical construction of the Manipulator (body, Arm & wrist of the machine). ο The entire Assembly of the body, Arm & wrist of the machine of called as a Manipulator. ο The attachment of robotβs wrist is a hand or a tool called the End Effectors. Robot Anatomy
- 11. ο Robot Anatomy ο Manipulator consists of joints and links ο Joints provide relative motion ο Links are rigid members between joints ο Various joint types: linear and rotary ο Each joint provides a βdegree-of- freedomβ ο Most robots possess five or six degrees- of-freedom ο Robot manipulator consists of two sections: ο Body-and-arm β for positioning of objects in the robot's work volume ο Wrist assembly β for orientation of objects
- 12. ο
- 13. ο
- 14. ο Type of the Robot Joints
- 15. ο
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- 19. ο
- 20. ο ο Polar configurations ο Cylindrical configurations ο Cartesian co-ordinate configurations ο Jointed arm configurations ο SCARA Four common configurations
- 21. ο Polar Coordinate Body-and-Arm Assembly ο Notation TRL: ο Consists of a sliding arm (L joint) actuated relative to the body, which can rotate about both a vertical axis (T joint) and horizontal axis (R joint)
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- 23. ο
- 24. ο Cylindrical Body-and-Arm Assembly ο Notation TLO: ο Consists of a vertical column, relative to which an arm assembly is moved up or down ο The arm can be moved in or out relative to the column
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- 27. ο Cartesian Coordinate Body-and-Arm Assembly ο Notation LOO: ο Consists of three sliding joints, two of which are orthogonal ο Other names include rectilinear robot and x-y-z robot
- 28. ο
- 29. ο Jointed-Arm Robot ο Notation TRR:
- 30. ο
- 31. ο ο Selected Compliance Assembly Robot Arm ο Here rotational Arm & Linear Arms motion occurred ο Work as cylindrical one SCARA
- 32. ο SCARA
- 33. ο ο INDUSTRIAL ROBOTS ο LABORATORY ROBOTS ο EXPLORER ROBOTS ο HOBBYIST ROBOTS ο CLASS ROOM ROBOTS ο EDUCATIONAL ROBOTS ο TELE ROBOTS Types of robots
- 34. ο ο PHYSICAL CONFIGURATIONS ο CONTROL SYSTEMS ο MOVEMENTS ο DRIVE SYSTEMS ο APPLICATIONS ο DEGREE OF FREEDOMS ο SENSOR SYSTEMS ο CAPABILITIES OF ROBOT SYSTEMS CLASSIFICATION OF ROBOTS
- 35. ο οA control system refers to a group of physical component connected or related in such a manner as to command direct or regulate itself or another system. Control systems
- 36. ο ο HYDRAULIC DRIVE ο ELECTRIC DRIVE ο PNEUMATIC DRIVE ο ADVANCED ACTUATORS Types of drive systems
- 37. ο ο SEQUENCE ROBOT ο PLAY BACK ROBOT ο INTELLIGENT ROBOT ο REPEATING ROBOT TYPES OF INDUSTRIAL ROBOTS
- 38. ο ο Its sophisticated for robots ο Associated in large robots ο This drive is only for rotational drive or linear drive HYDRAULIC DRIVE
- 39. ο ο It do not provide as much speed & power ο Associated in small robots ο Accuracy & repeatability is better ο Actuated by dc motor or stepper motor ο This drive is only for rotational drive, by drive train & gear systems ο Perform linear systems by pulley systems ELECTRIC DRIVE
- 40. ο ο For smaller systems with less d.O.F ο Performs pick & place operations only with fast cycles ο This system having compliance or ability to absorb some shock ο This is only for rotary operations. PNEUMATIC DRIVE
- 41. ο ο The controller act as a brain of the robot ο This is a information processing device. ο The inputs are both desired and measured positions. ο Velocity (or) other variables in a process whose o/p systems are drive signals to control the motors or actuators Robot control
- 42. ο οOpen loop control system οClosed loop or feedback control system TYPES OF CONTROL SYSTEM
- 43. ο οIt is also called as non-servo control οIt do not have a feedback capability οIt is controlled by a system of mechanical stops & limit switches Open loop control system
- 44. ο Element of open loop control systems Bread toaster (open loop ) control system
- 45. ο ο Closed loop system uses on a feed back loop to control the operation of the system. ο The sensors that continually monitor the robots axes and associated components for position and velocity Closed loop control system
- 46. ο Room heating (Closed loop) control system
- 47. ο
- 48. ο ο It is a device that is attached to the end of the wrist ο It act as a hand for robot ο It may be a Gripper, Vacuum Pump, tweezers, scalpel, blow-torch ο Some robots can change end effectors and be reprogrammed for different set of tasks End Effectors
- 49. ο ο It have several fingers, joints, & more DOF ο Any combination of these factors gives different grip modalities to the end effector Consideration of End Effector Design
- 50. ο ο The end effectors can be classified under 2 category 1. Grippers 2. End of arm tooling Classification of End Effectors
- 51. ο οIt is like the arm of an operator that establishes the connection between the work piece and robot οIt generally consist of a no of fingers which are kinematically linked and provided with motion to perform the gripping , opening or closing actions Grippers
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- 56. ο οIt is an End effector that uses mechanical finger actuated by mechanism to grasp the objects οThe mechanical grippers are actuated by hydraulic/ pneumatic/ solenoids/ motors, are designed based on strength considered Mechanical finger Gripper
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- 60. ο ο It generally have 2 opposite fingers or 3 fingers in 120o degree ο All these fingers are driven together, un till the object are gripped ο The 2 finger gripper can be further split as parallel motion or angular motion fingers Finger Grippers
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- 74. ο ο The robot is required to manipulate a tool rather than a work part. So the tool is used as the end effectors End of Arm Tooling
- 75. ο ο According to method to hold part in the gripper ο Mechanical gripper ο Vacuum gripper ο Magnetic gripper ο According to Special purpose tools ο Drills ο Welding guns ο Paint sprayers ο Grinders (cont) Classification of End of Arm Tooling
- 76. ο ο According to Multi-function capability of gripper ο Remote center compliance ο Special purpose grippers cont
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- 85. ο οIt has 5 senses as human like Touch, Sight, Sound, Smell, Taste. οIt measures environment data like touch, distance, light, sound, strain, rotation, magnetism,, smell, temperature, inclination, pressure. Robot Sensor Systems
- 86. ο οSensors are used for the elements which produces a signal relating to the quality being measured. FEATURES OF SENSORS ο Accuracy , Precision , Operating Range ο Speed, Cost, Ease of operation Reliable Purpose of Sensors
- 87. ο ο Self protection ο Programmable Automation ο Assembly operations ο Obstacles avoidances Need of sensors
- 88. ο ο Contact sensing: Switches, Piezo-electric ο Position: Potentiometer, Resolvers, Optical encoder ο Force: Spring, Strain Gauge ο Torque: Hollow Cylinders ο Proximity : Optical, Eddy current, Magnetic ο Touch sensing: Compliance ο Vision : Camera, Stereo vision Types of Sensors
- 89. ο Robot Programming ο Lead through programming ο Work cycle is taught to robot by moving the manipulator through the required motion cycle and simultaneously entering the program into controller memory for later playback ο Robot programming languages ο Textual programming language to enter commands into robot controller ο Simulation and off-line programming ο Program is prepared at a remote computer terminal and downloaded to robot controller for execution without need for lead through methods
- 90. ο Leadthrough Programming 1. Powered leadthrough ο Common for point-to- point robots ο Uses teach pendant 2. Manual leadthrough ο Convenient for continuous path control robots ο Human programmer physical moves manipulator
- 91. ο Lead through Programming Advantages ο Advantages: ο Easily learned by shop personnel ο Logical way to teach a robot ο No computer programming ο Disadvantages: ο Downtime during programming ο Limited programming logic capability ο Not compatible with supervisory control
- 92. ο Robot Programming ο Textural programming languages ο Enhanced sensor capabilities ο Improved output capabilities to control external equipment ο Program logic ο Computations and data processing ο Communications with supervisory computers
- 93. ο Coordinate Systems World coordinate system Tool coordinate system
- 94. ο Motion Commands MOVE P1 HERE P1 - used during lead through of manipulator MOVES P1 DMOVE(4, 125) APPROACH P1, 40 MM DEPART 40 MM DEFINE PATH123 = PATH(P1, P2, P3) MOVE PATH123 SPEED 75
- 95. ο Interlock and Sensor Commands Interlock Commands WAIT 20, ON SIGNAL 10, ON SIGNAL 10, 6.0 REACT 25, SAFESTOP Gripper Commands OPEN CLOSE CLOSE 25 MM CLOSE 2.0 N
- 96. ο Simulation and Off- Line Programming
- 97. ο Example A robot performs a loading and unloading operation for a machine tool as follows: ο Robot pick up part from conveyor and loads into machine (Time=5.5 sec) ο Machining cycle (automatic). (Time=33.0 sec) ο Robot retrieves part from machine and deposits to outgoing conveyor. (Time=4.8 sec) ο Robot moves back to pickup position. (Time=1.7 sec) Every 30 work parts, the cutting tools in the machine are changed which takes 3.0 minutes. The uptime efficiency of the robot is 97%; and the uptime efficiency of the machine tool is 98% which rarely overlap. Determine the hourly production rate.
- 98. ο Solution Tc = 5.5 + 33.0 + 4.8 + 1.7 = 45 sec/cycle Tool change time Ttc = 180 sec/30 pc = 6 sec/pc Robot uptime ER = 0.97, lost time = 0.03. Machine tool uptime EM = 0.98, lost time = 0.02. Total time = Tc + Ttc/30 = 45 + 6 = 51 sec = 0.85 min/pc Rc = 60/0.85 = 70.59 pc/hr Accounting for uptime efficiencies, Rp = 70.59(1.0 - 0.03 - 0.02) = 67.06 pc/hr