Advanced manufacturing and industrial robots
- 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