Unit 2 Industrial Robotics

Learning Objectives:
This class will develop students’ knowledge in/on
 Introduction to Robotics
 Classification of Robots
 Robot accessories
 Robot Applications.
 Robot Programming
 Robotics Timeline

 1922 Czech author Karel Capek wrote a story called

Rossum’s Universal Robots and introduced the
word “Rabota”(meaning worker)
 1954 George Devol developed the first
programmable Robot.
 1955 Denavit and Hartenberg developed the
homogenous transformation matrices
 1962 Unimation was formed, first industrial Robots
appeared.
 1973 Cincinnati Milacron introduced the T3 model
robot, which became very popular in industry.
 1990 Cincinnati Milacron was acquired by ABB
 ROBOT
 Defined by Robotics Industry Association
(RIA) as
 a re-programmable, multifunctional manipulator
designed to move material, parts, tools or
specialized devices through variable programmed
motion for a variety of tasks
 possess certain anthropomorphic
characteristics
 mechanical arm
 sensors to respond to input
 Intelligence to make decisions
 Industrial Robot Defined

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
 Robot Accessories
A Robot is a system, consists of the following elements, which
are integrated to form a whole:
 Manipulator / Rover : This is the main body of the Robot and
consists of links, joints and structural elements of the Robot.

 End Effector : This is the part that generally handles objects,

makes connection to other machines, or performs the
required tasks.
It can vary in size and complexity from a end effector on the
space shuttle to a small gripper
 Accessories

 Acutators : Actuators are the muscles of the

manipulators. Common types of actuators are
servomotors, stepper motors, pneumatic cylinders etc.

 Sensors : Sensors are used to collect information about

the internal state of the robot or to communicate with
the outside environment. Robots are often equipped
with external sensory devices such as a vision system,
touch and tactile sensors etc which help to
communicate with the environment

 Controller : The controller receives data from the

computer, controls the motions of the actuator and
coordinates these motions with the sensory feedback
information.
 Robot Classification

The following is the classification of Robots according to the

Robotics Institute of America
 Variable-Sequence Robot : A device that performs the
successive stages of a task according to a predetermined
method easy to modify
 Playback Robot :A human operator performs the task
manually by leading the Robot
 Numerical Control Robot : The operator supplies the
movement program rather than teaching it the task
manually.
 Intelligent Robot : A robot with the means to understand its
environment and the ability to successfully complete a task
despite changes to the environment.
 Robot Anatomy

 Manipulator consists of joints and links Link3

Joint3
 Joints provide relative motion
End of Arm
 Links are rigid members between joints
 Various joint types: linear and rotary
 Each joint provides a “degree-of- Link2
freedom”
Link1
 Most robots possess five or six
degrees-of-freedom Joint2
 Robot manipulator consists of two
sections: Joint1
 Body-and-arm – for positioning of Link0
objects in the robot's work volume Base
 Wrist assembly – for orientation of
objects
 Manipulator Joints

 Translational motion
 Linear joint (type L)
 Orthogonal joint (type O)

 Rotary motion
 Rotational joint (type R)
 Twisting joint (type T)
 Revolving joint (type V)
 Joint Notation Scheme

 Uses the joint symbols (L, O, R, T, V) to designate joint

types used to construct robot manipulator
 Separates body-and-arm assembly from wrist assembly
using a colon (:)

 Example: TLR : TR

 Common body-and-arm configurations …

 Polar Coordinate
Body-and-Arm Assembly

 Notation TRL:

 Consists of a sliding arm (L joint) actuated relative to the

body, which can rotate about both a vertical axis (T joint)
and horizontal axis (R joint)
 Cylindrical Body-and-Arm Assembly

 Notation TLO:

 Consists of a vertical column,

relative to which an arm
assembly is moved up or down
 The arm can be moved in or out
relative to the column
 Cartesian Coordinate
Body-and-Arm Assembly

 Notation LOO:

 Consists of three sliding joints,

two of which are orthogonal
 Other names include rectilinear
robot and x-y-z robot
 Jointed-Arm Robot

 Notation TRR:
 SCARA Robot

 Notation VRO
 SCARA stands for Selectively
Compliant Assembly Robot
Arm
 Similar to jointed-arm robot
except that vertical axes are
used for shoulder and elbow
joints to be compliant in
horizontal direction for vertical
insertion tasks
 Wrist Configurations

 Wrist assembly is attached to end-of-arm

 End effector is attached to wrist assembly
 Function of wrist assembly is to orient end effector
 Body-and-arm determines global position of end
effector
 Two or three degrees of freedom:
 Roll
 Pitch
 Yaw
 Notation :RRT
 Example

 Sketch following manipulator configurations

 (a) TRT:R, (b) TVR:TR, (c) RR:T.

Solution:
R
R
T T R
R T
R
R V

T T

(a) TRT:R (b) TVR:TR (c) RR:T

 Joint Drive Systems

 Electric
 Uses electric motors to actuate individual joints
 Preferred drive system in today's robots
 Hydraulic
 Uses hydraulic pistons and rotary vane actuators
 Noted for their high power and lift capacity
 Pneumatic
 Typically limited to smaller robots and simple material
transfer applications
 Robot Control Systems
 Limited sequence control – pick-and-place
operations using mechanical stops to set positions
 Playback with point-to-point control – records
work cycle as a sequence of points, then plays
back the sequence during program execution
 Playback with continuous path control – greater
memory capacity and/or interpolation capability to
execute paths (in addition to points)
 Intelligent control – exhibits behavior that makes
it seem intelligent, e.g., responds to sensor inputs,
makes decisions, communicates with humans
 Robot Control System

Cell Level 2
Supervisor

Controller Level 1
& Program

Joint 1 Joint 2 Joint 3 Joint 4 Joint 5 Joint 6 Sensors Level 0

 End Effectors
 The special tooling for a robot that enables it to
perform a specific task
 Two types:
 Grippers – to grasp and manipulate objects (e.g.,
parts) during work cycle
 Tools – to perform a process, e.g., spot welding,
spray painting
Grippers and Tools
 WRIST

 typically has 3 degrees of freedom

 Roll involves rotating the wrist about the arm axis
 Pitch up-down rotation of the wrist
 Yaw left-right rotation of the wrist
 End effector is mounted on the wrist
Working Envelope
 Sensors in Robotics

 Sensors used in industrial robotics can be classified into

two categories:
(1) internal and
(2) external.
Internal sensors: are components of the robot and are
used to control the positions and velocities of the robot
joints.
These sensors form a feedback control loop with the robot
controller.
Typical sensors used to control the position of the robot arm
include potentiometers and optical encoders.
Tachometers of various types are used to control the speed
of the robot arm
 Sensors in Robotics

 External sensors are external to the robot and are used to

coordinate the operation of the robot with other equipment
in the cell.
 In many cases, these external sensors are relatively
simple devices, such as limit switches that determine
whether a part has been positioned properly in a fixture or
that a part is ready to be picked up at a conveyor.
 Sensors in Robotics

 Other situations require more advanced sensor

technologies, including the following:
 Tactile sensors. These are used to determine whether
contact is made between the sensor and another object.
 Tactile sensors can be divided into two types in robot
applications: (1) touch sensors and (2) force sensors.
 Touch sensors & Force sensors

 Touch sensors indicate simply that contact has been

made with the object.
 Force sensors indicate the magnitude of the force with the
object.
 This might be useful in a gripper to measure and control
the force being applied to grasp a delicate object.
 sensors.

Proximity sensors.
 These indicate when an object is close to the sensor.
 When this type of sensor is used to indicate the actual
distance of the object, it is called a range sensor.
Optical sensors.
 Photocells and other photometric devices can be utilized
to detect the presence or absence of objects and are often
used for proximity detection.
 sensors.

 Machine vision.
 Machine vision is used in robotics for inspection, parts
identification, guidance, and other uses.
 Improvements in programming of vision-guided robot
(VGR) systems have made implementations of this
technology easier and faster, and machine vision is being
implemented as an integral feature in more and more
robot installations, especially in the automotive industry.
 sensors.

 Other sensors
A miscellaneous category includes other types of
sensors that might be used in robotics, such as
devices for measuring temperature, fluid
pressure, fluid flow, electrical voltage, current, and
various other physical properties.
 Industrial Robot Applications

1. Material handling applications

 Material transfer – pick-and-place, palletizing
 Machine loading and/or unloading
2. Processing operations
 Welding
 Spray coating
 Cutting and grinding
3. Assembly and inspection
 Robotic Arc-Welding Cell

 Robot performs
flux-cored arc
welding (FCAW)
operation at one
workstation while
fitter changes
parts at the other
workstation
 Robot Programming

 Leadthrough programming
 Work cycle is taught to robot by moving the
manipulator through the required motion cycle and
simultaneously entering the program into
controller memory for later playback
 Robot programming languages
 Textual programming language to enter
commands into robot controller
 Simulation and off-line programming
 Program is prepared at a remote computer
terminal and downloaded to robot controller for
execution without need for leadthrough methods
 Leadthrough Programming

1. Powered leadthrough
 Common for point-to-
point robots
 Uses teach pendant
2. Manual leadthrough
 Convenient for
continuous path control
robots
 Human programmer
physical moves
manipulator
 Leadthrough Programming
Advantages
 Advantages:
 Easily learned by shop personnel
 Logical way to teach a robot
 No computer programming
 Disadvantages:
 Downtime during programming
 Limited programming logic capability
 Not compatible with supervisory control
 Robot Programming

 Textural programming languages

 Enhanced sensor capabilities
 Improved output capabilities to control external equipment
 Program logic
 Computations and data processing
 Communications with supervisory computers
 Coordinate Systems

World coordinate system Tool coordinate system

 Motion Commands

MOVE P1
HERE P1 - used during lead through of manipulator
MOVES P1
DMOVE(4, 125)
APPROACH P1, 40 MM
DEPART 40 MM
DEFINE PATH123 = PATH(P1, P2, P3)
MOVE PATH123
SPEED 75
Interlock and Sensor Commands

Interlock Commands
WAIT 20, ON
SIGNAL 10, ON
SIGNAL 10, 6.0
REACT 25, SAFESTOP
Gripper Commands
OPEN
CLOSE
CLOSE 25 MM
CLOSE 2.0 N
Simulation and Off-Line Programming
 Unit 2 Industrial Robotics

Outcomes:
On completion of this class, students will be able to…
 define Robot
 describe Classification of Robots
 identify robot accessories
 describe Robot Applications.
 explain robot Programming