IV REPORT

We were taken to an industrial visit as a part of our course Robotics and

Automation to MAS Robotics Training Pvt. LTD. The IVs main focus was to
understand the basics of the Working of one of the famous robot ABB IRB
1600 series and the way the control system in a robot takes place.
First we were introduced to the places where the robots are used in industries.
We were shown clips of the various places where these robots are implemented
for various industries like a molding factory, in Amaron Batteries to fix the
battery caps, in BMW for the robot car assembly etc.
Coming to ABB IRR 1600 its one of the famous robot of all kinds. It is one of
the robot that has maximum reach and a good payload. The main features for
this robot is its holding capacity, maximum reach , flexible workspace, speed,
accuracy, its different mounting places and it is Fondary plus IP 67 protection
norm applicable robot.Fondary plus IP 67 states that it is resistant to dust and is
water resistant up to 1 meter.
The basic working mechanism of a robot starts from the controller and it end
backs to the controller. In case there is a sensor in the robot, it senses and sends
its output to the controller, the controller which in turn passes the information to
the actuator controller with which the actuators or the motor move with the help
of joints or drives and the output is sensed and a feedback is again sent back to
the controller .Thus the working mechanism of a robot is a closed loop
mechanism.
There are various type of actuators used of which the most preferred ones are
linear and circular and in the same way the most commonly used motors are
Induction motor or a servo motor. Induction motor works on the principle of
magnetic induction where as a servo has a negative feedback mechanism which
makes the motor rotate for each and every degree. There is a shaft reader which
is implied with the help of an encoder which sends the feedback and controls
the servo rotation.
Then we were introduced to the model of ABB IRB 1600 robot present in the
training place. The robot is an articulated robot which has two or more axis.
They are mostly contained of servo motors to help in the position wise arm
controlling. The model of robot placed there was a 6 degree of freedom of robot
which basically has 6 motors. The robot was mounted to the ground and the
ground had a twisting joint. The arm configuration was TRR: TRT where TRR
is the configuration of body and arm and TRT is the configuration of the wrist.
The models payload and reach rating is 6/1.2. Which means the payload is 6 kg
and the reach of its arm is 1.2m.
The joint wise description are as follows
Joint 1 Axis 1 Swivel or Swing
Joint 2 Axis 2 Horizontal front or back
Joint 3 Axis 3 Vertical
Joint 4 Axis 4 Rotation
Joint 5 Axis 5 Bending
Joint 6 Axis 6 Rotation
We use 6 motors for the following motions along X axis, Y axis, Z axis and 3
for rotation along each one the three axis.
The whole robot make-up of the manipulator that is mounted in the workplace
and the input to the manipulator goes through the controller which is placed
near to the manipulator and the main component is the Tech panel that is kind
of the remote that is used to operate the robot via communication with the
Robot manipulators.