The document outlines the key components of industrial robots including manipulator components, end effectors, control systems, applications, and programming languages. It describes how manipulators consist of joints and links that provide various degrees of freedom and discusses common joint types. The document also examines different robot configurations, control system types from limited sequence to intelligent control, applications in material handling and processing, and programming methods like teach pendant and offline programming.

1. 1
Industrial robots
Outlines :
● Manipulator components
● Robot control systems
● End Effectors
● Industrial robot applications
● Robot programming language

2. 2
Industrial Robot Defined
A general-purpose, programmable machine
possessing certain anthropomorphic characteristics

Hazardous work environments

Repetitive work cycle

Consistency and accuracy

Difficult handling task for humans

Multishift operations

Re-programmable, flexible

Interfaced to other computer systems

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Manipulator components
 Manipulator consists of joints
and links
 Joints provide relative motion
 Links are rigid members between
joints
 Various joint types: linear and rotary
 Each joint provides a “degree-of-
freedom”
 Most robots possess five or six
degrees-of-freedom
 Robot manipulator consists of
two sections:
 Body-and-arm – for positioning of
objects in the robot's work volume
 Wrist assembly – for orientation of
objects
Base
Link0
Joint1
Link2
Link3Joint3
End of Arm
Link1
Joint2

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Manipulator Joints
 Translational motion
 Linear joint (type L)
 Orthogonal joint (type O)
 Rotary motion
 Rotational joint (type R)
 Twisting joint (type T)
 Revolving joint (type V)

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Polar Coordinate Body-and-Arm Assembly
 Notation scheme (TRL):

6. 6
Cylindrical Body-and-Arm Assembly
 Notation scheme (TLO) :

7. 7
Cartesian Coordinate
Body-and-Arm Assembly
 Notation scheme (LOO):

8. 8
Jointed-Arm Robot
 Notation scheme (TRR) :

9. 9
SCARA Robot
 Notation scheme (VRO):
 Stands for Selectivity
Compliant Assembly
Robot Arm

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Wrist Configurations
 Wrist assembly is attached to end-of-arm
 End effector is attached to wrist assembly
 Function of wrist assembly is to orient end effector
 Body-and-arm determines global position of end effector
 Two or three degrees of freedom:
 Roll
 Pitch
 Yaw
 Notation : (RRT)

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Grippers and Tools

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Joint Drive Systems
 Electric
 Uses electric motors to actuate individual joints
 Preferred drive system in today's robots
 Hydraulic
 Uses hydraulic pistons and rotary vane actuators
Noted for their high power and lift capacity
 Pneumatic
 Typically limited to smaller robots and simple
material transfer applications

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Industrial Robot Control System
 Limited sequence control
 Playback with point-to-point control
 Playback with continuous path control
 Intelligent control

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Industrial Robot Control System
 Limited sequence control
 pick-and-place operations using
mechanical stops to set positions.
 These robots do not require any sort of
programming, and just uses the
manipulator to perform the operation.
 every joint can only travel to the
intense limits .

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Industrial Robot Control System
 Playback Robots with Point to Point Control
 They can be programmed (taught) to move from a point
within the work envelope to another point within the
work envelope.
 Application: machine loading and unloading
applications as well as more-complex applications, such
as spot welding and assembly .

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Industrial Robot Control System
 Playback Robots with Continuous Path Control
 This type of robots can control the path, and can end on any specified
position.
 These robots commonly move in the straight line. The initial and final
point is first described by the programmer.
 it can also move in a curved path
by moving its arm at the desired points.
 Applications :
 are arc welding,
 spray painting,
 and gluing operations.

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Industrial Robot Control System
 Intelligent control
 The intelligent control robot is capable of
performing some of the functions and
tasks carried out by human beings.
 It can detect changes in the work
environment by means of sensory
perception.
 It is equipped with a variety of sensors
providing visual (computer vision) and
tactile (touching) capabilities to respond
instantly to variable situations.

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Industrial Robot Applications
 Material handling applications
 Material transfer – pick-and-place, palletizing
 Machine loading and/or unloading
 Processing operations
 Welding
 Spray coating
 Cutting and grinding
 Assembly and inspection

20. 20
Robotic Arc-Welding Cell
 Robot performs flux-
cored arc welding
(FCAW) operation at one
workstation while fitter
changes parts at the
other workstation

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Robot programming
 Type of Robot Programming
 Joint level programming
 basic actions are positions (and possibly movements)
 joint angles in the case of rotational joints .
 linear positions in the case of linear or prismatic joints.
 Robot-level programming
 the basic actions are positions and orientations (and perhaps trajectories) of Pe and
the frame of reference attached to it.
 High-level programming
 Object-level programming
 Task-level programming

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Robot programming methods
 Typically performed using one of the following
 On line
 teach pendant
 lead through programming
 Off line
 robot programming languages
 task level programming

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Robot programming methods
 Online teach pendant programming
 hand held device with switches used to control the robot
motions
 End points are recorded in controller memory
 sequentially played back to execute robot actions
 trajectory determined by robot controller
 suited for point to point control applications

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Robot programming methods
 Lead Through Programming
 lead the robot physically through the required sequence
of motions
 trajectory and endpoints are recorded, using a sampling
routine which records points at 60-80 times a second
 when played back results in a smooth continuous
motion
 large memory requirements

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Robot programming methods
 On-Line/Teach Box
 Advantage:
 Easy
 No special programming skills or training
 Can specify other conditions on robot movements
(type of trajectory to use – line, arc)
 Disadvantages:
 Potential dangerous (motors are on)

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 Off-line Programming
 Programs can be developed without needing to use the robot
 The sequence of operations and robot movements can be optimized or easily
improved
 Previously developed and tested procedures and subroutines can be used
 Existing CAD data can be incorporated-the dimensions of parts and the geometric
relationships between them, for example.
 Programs can be tested and evaluated using simulation techniques, though this
can never remove the need to do final testing of the program using the real robot
 Programs can more easily be maintained and modified
 Programs can more be easily properly documented and commented.

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