Professional Documents
Culture Documents
EASY FOR
HUMANS
*Reasoning
*Adapting to new
situations
*Flexible to
changing
requirements
*Integrating
multiple sensors
*Resolving
conflicting data
*Synthesizing
unrelated
information
*Creativity
Industrial Applications
Automation in Manufacturing
Goal: To integrate various operations to
-Improve Productivity
-Increase product quality and Uniformity
-Minimize cycle times and effort
-Reduce labor cost
*Computers- allows us to integrate
virtually all phases of manufacturing
operations.
*Computer-integrated
manufacturing(CIM)- Is the
computerized integration of all aspects
of design, planning, manufacturing,
distribution, and management.
AUTOMATION TECHNOLOGIES:
A. Numerical Control(NC):
-capability of flexibility of
operations, low cost, and ease of
making different parts with lower
operator skill.
B. Adaptive Control(AC):
- Continuously monitor the
operation and make necessary
adjustments in process
parameters.
* Flexible Manufacturing
System(FMS)- Integrate manufacturing
cells into a large unit, containing
industrial robots servicing
several machines, all interfaced with a
central host computer.
*Artificial Intelligence(AI)-Involves the
use do machines, computers and
industrial robots to replace human
intelligence.
* Expert Systems(ES)-Intelligent
programs to perform tasks and
solve difficult real life problems.
ROBOT APPLICATIONS
* Need to replace human labor
by robots:
-Work environment hazardous for
human beings
-Repetitive tasks
-Boring and unpleasant tasks
-Multishift operations
-Infrequent changeovers
-Performing at a steady pace
-Operating for long hours without rest
-Responding in automated operations
-Minimizing variation
Peripheral equipment
D. System Design
Microprocessor control
Software
Multiple levels of control
E. Construction Phase
It is a good procedure for the system to
be set up and thoroughly tested at the
suppliers facility.
This will minimize the interruption of
current production procedures.
F. Installation Phase
It is a good practice for the supplier to
supervise the step-by-step installation of
the system.
G. Training and Documentation
Future Applications
a. The medical applications of the
robot:
Routine examinations
Surgical procedures
b. Underwater applications
Involve prospecting for minerals
on the floor of the ocean.
Salvaging of sunken vessels,
repair the ship either at sea or in dry
dock.
Mobile firefighters to be used by
Air force and Navy.
c. Surveillance and Guard duty
In military
Power generating plants, oil
refineries and other civilian facilities that
are potential targets of terrorist groups.
In summary:
Aerospace
Agriculture
Construction
Health
Nuclear
Textile
Surveillance and guard duty
Navigation systems
Firefighting
Household robot
Industrial Robotics
-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
* Reprogrammable, flexible
* Interfaced to other computer systems
1. Robot Anatomy
*Manipulator- consists of joints
and links. Two sections:
a. body and arm for
positioning objects in robots work
volume
b. Wrist assembly- for
orientation of objects
*Joints- provide relative motion:
linear or rotary. Each joints provides a
degree of freedom
*Links- rigid members between
joints
*degree of freedom- one joint one
degree of freedom
*Simple robots- 3 degrees of freedom
in XYZ axis
*Modern robot arms- up to 7 degrees
of freedom
*XYZ, roll , pitch and Yaw
*Crust Crawler- 5 degrees of freedom
MANIPULATOR JOINTS
A. Translational Motion
*Linear (type L)
*Orthogonal joint (Type O)
B. Rotary Motion
*Rotational(type R)
*Twisting (Type T)
*Revolving (Type V)
ROBOTIC JOINTS
- different robotic joints can be used to
provide a variety of degrees of freedom
a. Rotary Joints
*Waist Joint
*Elbow Joints
b. Linear/Prismatic Joints
*Sliding Joints
*Simple Axial Direction
2. Robot Control Systems
3. End Effectors
4. Industrial Robot Applications
5. Robot Programming
Joint Notation Scheme
-Uses the joint symbols (L, O, R, T, V) to
designate jointtypes used to construct
robot manipulator
-Separates body-and-arm assembly
from wrist assembly using a colon (:)
Example: TLR : TR
*Work Envelope- The volume of space
in which a robot can operate
-define the space around
that is accessible to the mounting point
for the end-effector
Classification of Robots
1. Cartesian
2. Cylindrical
3. Spherical/Polar
1. Cartesian Coordinate
Body and Arm assembly
*Notation LOO
-consists of 3 sliding joints, two of
which are orthogonal
-other names include rectilinear
robot and XYZ robot
Frame
-most familiar system
-uses three axes at 90 degrees to
each other
-right hand rule
Cartesian robot
-three prismatic joints
-pick and place
2. Polar coordinate
Body and Arm assembly
*Notation TRL
-1 sliding arm (L joint) actuated
relative to body, which can rotate about
a vertical axis (T joint) and horizontal
axis (R joint)
*similar to finding a point on the
earths surface (Radius, latitude,
longitude)
Spherical/Polar Robot
*Spot, gas and arc welding
*Reaching horizontal or inclined
tunnels/areas
3. Cylindrical coordinate
Body and arm assembly
*Notation TLO
-a vertical columns, relative to
which an arm assembly is moved up
or down
- the arm can be moved in or out
relative to column
*Jointed-Arm Robot
-Notation TRR
*SCARA robot
-Selectively Compliant Assembly
Robot Arm
-Notation VRO
-similar to jointed-arm robot
except that vertical axes are used for
shoulders and elbow joints to be
complaint in horizontal direction for
vertical insertion tasks
-developed to meet the needs of
modern assembly
-fast movement w/ light payloads
-rapid placement of electronic
components on PCB
-combination of two horizontal
rotational axes and one linear joint
*Revolute Robot or puma
- most resembles the human arm
-robot rotates like the human
waist
-ideal for spray painting and
welding as it mimics human movement
*Humanoid Robot
-previously developed for
recreational and enetertainment value
- use for household chores aid for
elderly aid
*Wrist assembly- attached to end-ofarm and use to orient end effector
3 degress of freedom- roll, pitch , yaw
*Notation: RRT
*End effector- attached to wrist
assembly
JOINT DRIVE SYSTEMS
1.Electric- uses electric motors,
preferred drive system in todays robot
2. hydraulic- for high power and lift
capacity. Uses hydraulic pistons and
rotary vane actuators
3. Pneumatic- limited to smaller robots
and simple material transfer applications
Actuators
*Motors- control the movement
of a robot
A. DC Motors
-most common and cheapest
-powered w/ two wires
-draws large amount of current
-cannot be wired straight to PIC
-no accuracy and speed
B. Stepper Motors
-many electromagnets
-controlled by sequential turning
on and off of magnets
-poor control w/ a large angle
-better step angle achieved w/
toothed disc
C. Servo Motors
-smoothest control
-rotate to specific point
-offer good torque and control
-ideal for powering robot arm
-degree of revolution is limited
-not suitable for continuous
rotation
-motor,gearbox,driver controller,
and potentiometer
D. End Effector
-correct name for the hands
attached to the end of robot
-used for grasping, drilling . etc
-can be Grippers or Tools
*tools- to perform process
*grippers- to grasp/manipulate object
A. mechanical
-two finger most common
-applies force that causes
enough friction
-not suitable for brittle
B. magnetic
-ferrous material required
-electro and permanent magnets
used
C. pneumatic
-suction cups for plastic/rubber
-smooth even surface reqd
CAPABILITIES
-Inexpensive machines ($500)
-Required skill level is relatively low
-Can weld many ferrous and non-ferrous
materials
Different results and
requirements must be expected
(shielding gas, technique, electrode, etc)
-Power of machine will determine what it
can weld
More power thicker material
GMAW can be automated more easily
than other methods
INDUSTRIES
-Automotive
Almost exclusive
-Pressure Vessels
-Heavy rail and construction equipment
-At Home
Easy and inexpensive
-Automobile/Agricultural repair
TIG - Welding
-Tungsten Inert Gas (TIG) or Gas
Tungsten Arc Welding (GTAW)
-AC or DC Electric Arc
-Non-consumable tungsten electrode
-Shielding Gas
-Hand fed filler
HISTORY
-Early 1900s welding non-ferrous
materials was difficult
Reacted with air making welds
weak and porous
-Process was improved in the 1930s
and 1940s
Gas shielding increased weld
quality
AC machines allowed for high
quality welds on aluminum and
magnesium
EQUIPMENT
-Welding Torch
Directs shielding gas and holds
electrode
-Power Supply
AC typically used for aluminum
and magnesium
DC with a negatively charged
electrode is typically used for steels
-Electrode
Made from tungsten or tungsten
alloys
ISO standards for each alloy
-Filler Rod
-Shielding Gas
Argon is most common
Helium is sometimes used when
PROCESS
-Arc creates weld pool to bond material
AC or DC used depending on
base material
-Shielding gas protects the weld pool
from atmospheric gas effects
Porosity and impurities
-Technique
Requires two hands
Torch is moved forward as filler
rod is dipped into the weld pool
Filler rod must remain inside the
gas shield at all times
Considered one of the most
difficult welding methods low melt
alloys increase difficulty
CAPABILITIES
-Produces welds with very similar
material properties of the base metal
-GTAW can produce high quality welds
on materials such as aluminum,
magnesium, titanium, copper, nickel,
steel.
-Dissimilar materials copper and
stainless
ADVANTAGES
-Large surfaces may be welded
-Produces a high quality bond
-Low cost
-Simple
-little surface preparation required
-Dissimilar metals can be welded
DISADVANTAGES
-Brittle materials cannot be processed
-Only simple shapes
- Plates and Cylinders
-Thickness of flyer plate is limited
-There are many safety concerns when
storing and detonating explosives
Common Bi-Metals Produced
-Copper to Steel
-Nickel to steel
-Aluminum to steel
-Tungsten to steel
-Titanium to steel
-Copper to aluminum