Kỹ thuật robot (robotics) là kỹ thuật liên ngành bao gồm kỹ thuật cơ khí, kỹ thuật điện điện tử, kỹ thuật máy tính, nội dung của kỹ thuật robot bao gồm nghiên cứu, thiết kế, chế tạo, vận hành và áp dụng robot. Kể từ giữa thế kỷ 20 cho đến nay, robot ngày càng đóng vai trò quan trọng trong mọi hoạt động của con người như sản xuất, dịch vụ, y tế, nghiên cứu khoa học, quốc phòng…Chương này trình bày về lịch sử robot, cấu tạo và phân loại robot, các lĩnh vực áp dụng của robot, cung cấp các khái niệm cơ bản sẽ được nghiên cứu chi tiết trong các chương sau
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Ch 1: Overview of robots
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Ch 1: Overview of robots
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• What are Robots?
– Machines with sensing, intelligence and mobility
• Why use Robots?
– Perform 4A tasks in 4D environments
Kinematics
Dynamics
Control
Kinematics/Control Sensing and Sensors Motion planning Mapping/Localization
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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 comesfrom the Czech word, robota, which means drudgery or slave-likelabor
- 1948: A teleoperator-equipped articulated arm is designed byRaymond Goertz for the Atomic Energy Commission
- 1961: The first industrial robot was online in a General Motorsautomobile factory in New Jersey It was Devol and Engelberger'sUNIMATE It performed spot welding and extracted die castings
- 1980, The robot industry starts its rapid growth, with a new robot orcompany 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 differenttypes of robots One such organization is JARA, the Japan RobotAssociation (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 offreedom, 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 notprogrammable)
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 easilyallowing 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 asequence of actions, which it receives in the form of numerical data
6.Intelligent robot: A robot that senses its environment and responds tochanges in it in order to continue performing its function
Classification based on robot generations
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Pick-and-Place Robot Industrial Robot
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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electric pump connected
to a reservoir tank and a
hydraulic actuator
Classification based on drive system
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1.4 Robot components
Clip: How robots work – YouTube
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Robot Motion Speed
-mm, radmm/s, rad/smmmm
mm