01 overview of robots

1-2 Ch 1: Overview of robots Serial robot Humanoid robot Serial manipulators are the most common industrial robots.. 1-3 Parallel robot Mobile robot Ch 1: Overview of robots A para

207008 – Robot công nghiệp

Ch 8: Linear Control of Manipulators

Ch 9: Nonlinear Control of Manipulators

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Ch 1: Overview of robots

Serial robot

Humanoid robot

Serial manipulators are the most common industrial robots They are designed

as a series of links connected by motor-actuated joints that extend from a

base to an end-effector

A humanoid robot is a robot with its body shape built to resemble that of the human body

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Parallel robot

Mobile robot

Ch 1: Overview of robots

A parallel manipulator is a mechanical system that uses several

computer-controlled serial chains to support a single platform, or end-effector A mobile robot is an automatic machine that is capable of

movement in any given environment

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• What are Robots?

– Machines with sensing, intelligence and mobility

• Why use Robots?

– Perform 4A tasks in 4D environments

Industrial robots Mobile robots

Kinematics

Dynamics

Control

Kinematics/Control Sensing and Sensors Motion planning Mapping/Localization

Automation Augmentation Assistance Autonomous

Dangerous, Dirty,

Dull, Difficult

Ch 1: Overview of robots

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1.1 Robotic History – three stages

- 1921: The first reference to the word robot appears in a play opening

in London, entitled Rossum's Universal Robots The word robot comes from the Czech word, robota, which means drudgery or slave-like labor

- 1948: A teleoperator-equipped articulated arm is designed by Raymond Goertz for the Atomic Energy Commission

- 1961: The first industrial robot was online in a General Motors automobile factory in New Jersey It was Devol and Engelberger's UNIMATE It performed spot welding and extracted die castings

- 1980, The robot industry starts its rapid growth, with a new robot or company entering the market every month

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1.2 Typical applications in industry

Robots are used in a vast range of industries

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1.2 Typical applications in industry

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1.2 Typical applications in industry

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1.2 Typical applications in industry

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Application Automotive Industry

Application General Industry

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• Cartesian Configuration

Classification based on type of workspace

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• Cylindrical Configuration

Classification based on type of workspace

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• Spherical Configuration

Classification based on type of workspace

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• Revolute/Jointed Configuration

Classification based on type of workspace

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Several organizations have defined classification systems for different types of robots One such organization is JARA, the Japan Robot Association (previously JIRA, the Japan Industrial Robot Association) They define six different classes of robot:

1 Manual handling device: This type of robot has multiple degrees of freedom, but all of its actions are performed under the direct control of

an operator Certain devices in this class may be referred to as co-bots (cooperative robots)

2 Fixed sequence robot: This type of robot repeats a fixed sequence

of actions without needing to be controlled by an operator However, the sequence of actions it performs cannot be modified (i.e it is not programmable)

Classification based on robot generations

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3.Variable sequence robot: This type of robot is similar to class 2, except that the sequence of actions can be reprogrammed easily allowing it to be quickly adapted to perform new tasks

4.Playback robot: This type of robot is first guided through a sequence

of actions by an operator, then repeats the same actions automatically

5.Numerical control robot: This type of robot moves through a sequence of actions, which it receives in the form of numerical data

6.Intelligent robot: A robot that senses its environment and responds to changes in it in order to continue performing its function

Classification based on robot generations

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Classification based on types of control

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• Electric Drives

Classification based on drive system

Common drive systems used in robotics are electric drive, hydraulic drive, and pneumatic drive

Electric drive robots are relatively

accurate compared to hydraulically

powered robots

Types: AC/DC servomotors, stepper

motors

Advantages: quiet, less floor space,

electric power readily available,

clean-air environments, precision

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• Pneumatic Drives

Pneumatic drives: air-driven actuators

Advantages: economical, easy installation, less costly than hydraulic drives, good speed and accuracy

Disadvantages: precision is less than electric drives (air is compressible), air needs conditioning, noisy, vibration

Classification based on drive system

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• Hydraulic Drives

Classification based on drive system

Advantages: precise motion control over a wide range of speeds and loads, robust, and greater strength

Disadvantages: expensive, high maintenance, not energy efficient, noisy, not suited for clean-air environments

Hydraulic drives are

electric pump connected

to a reservoir tank and a

hydraulic actuator

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1.4 Robot components

Clip: How robots work – YouTube

Robot Motion Range

Robot Motion Speed

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1.5 Robot specifications

Axis Movement Specifications:

Axes - The individual segments of each robot manipulator are connected with mechanical joints - each serves as an axis of movement The most

common industrial robots have six axes of movement The number and placement of axes determines the flexibility of each model

Robot Motion Range - Much like the joints between bones, robot axes have limits to each movement Every axis has a specific scope of motion On a typical

specifications sheet, the degree of movement shows up as positive or negative degree of movement from the center base position of each axis

Robot Motion Speed - Each axis moves at a different speed They are listed as degrees traveled per second Focus on this criterion when you need to match

certain speed specifications for your application

Repeatability - Industrial robots are known for their accuracy But this ability to return to an exact location again and again, known as a robot's repeatability, can

vary with each model More precision-driven applications will require tighter repeatability figures Repeatability is listed as a millimeter of alteration plus or minus from the point

Robot Specifications for Weight:

Payload - The weight capacity of each robot manipulator is its payload This is a critical specification and includes the tooling weight as well You can rule out a

number of robots with this robot specification category alone

Robot Mass - Every robot has a specific weight or mass This number only indicates how much the robot manipulator weighs It does not include the weight of

the robot's controller This specification may not be quite as important unless you are trying to install your robot on a table or shelf

Specifications and Work Envelope:

V-Reach - How high can the robot go? A robot's vertical reach specification refers to the height of the robot when it extends upwards from the base Use this to

determine whether or not a model is tall enough for your application and location

H-Reach - How far can a robot reach? The horizontal reach measures the distance of the fully extended arm - from the base to the wrist Some applications will

require a wider work envelope with a big reach, others are satisfied with a contained, short horizontal reach

Structure - Robots are engineered with different structures The most common by far is the vertical articulated type, sometimes called a vertical jointed-arm

robot Other structure types include SCARA, Cartesian and parallel kinematic robots