Prof. S.K.

Saha

Lecture 2 May 18, 2009

Announcement
Robot Subsystems and
Classifications • Outline of the slides in the first lecture on
May 15, 2009 is now available from
htt // b iitd
http://web.iitd.ac.in/~saha/ethiopia/01lec.pdf
http://web.iitd.ac.in/~
i / saha/ethiopia/01lec.pdf
h / thi i /01l df
Prof. S.K. Saha
Dept. of Mech. Eng.
IIT Delhi

Review of Lecture 1 Outline

• Humanoid and other robots • Robot Subsystems (Focus: Serial-type)
– Motion
• Origin and definition of a robot
– Recognition
• Industrial, parallel, mobile, space robots – Control
• Laws of robotics • Robot
R b t Classifications
Cl ifi ti By
B
• Robot population and application – Application
statistics – Coordinate system
• New way of teaching, i.e., – Actuation system
RoC-BEE through Robocon – Control method
– Programming method

Robot Subsystems [Serial Robots] Subsystems (Contd.)

• Motion:
Motion: Manipulator (Arm & Wrist), End-
End-
effector, Actuators (Set in motion), and
Transmission
• Recognition:
Recognition: Sensors (Measure status),
and ADC
(Supervision):: DAC, and Digital
• Control (Supervision)
Controller

Robot Subsystems and Classifications 1

Prof. S.K. Saha

Motion Subsystem (iii) Actuator

- Pneumatic, Hydraulic, Electric
i) Manipulator: Mechanical arm + wrist
(Difference between Robot and Manipulator?)
(iv) Transmission

ii) End-
End
E d-effector
ff - Belt and chain drives

- Welding torch, painting brush, etc. - Gears

- Robot hand - Link mechanisms

- Simple grippers

Recognition Subsystem Control Subsystem

(i) Digital Controller

(i) Sensors (Essentially transducers) - CPU, Memory, Hard disk (to store
- Converts a signal to another programs)

(ii) Analog-
Analog-to-
to-Digital Converter (ADC) (ii) Digital
Digital--to-
to-Analog Converter (DAC)
- Electronic device (iii) Amplifier
- Amplify weak commands from DAC

By Application
Classifications
• Welding robot
• By Applications • Assembly robot
• By Coordinate System • Heavy-
Heavyy-dutyy robot
• By Actuation System • More with video in
www.directindustry.com
• By Control Method
Special features like max. speed, accuracy, etc. are
• By Programming Method incorporated keeping the application in mind

Robot Subsystems and Classifications 2

Prof. S.K. Saha

By Coordinate Virtual Robotics Lab. (VRL) in ADAMS

System

(a) Cartesian (a)

(b)

(b) Cylindrical
(c) Spherical
(d) Anthropomorphic (c)
(e)
(e) Gantry ≡ (a)
(f) SCARA

(d)
(f)

Comparison (For selection)

Fundamental Configurations
Type
1 (base): Motion
Configuration
Cartesian (3 linear axes)
Advantages
- Easy to visualize
Disadvantage
- Reach only front and back
x: base travel - Rigid structure - Requires large floor space
Joints y: height - Easy offline programming - Axes are hard to seal
2 (elevation): 3 (reach): Motion z: reach - Easy mechanical stops - Expensive
Cylindrical (1 rotation - Can reach all around - Cannot reach above itself
Motion
Robots

and 2 linear axes) - Rigid y, z-axes - Less rigid θ-axis

Cartesian P: travel, x P: height y P: reach z θ: base rotation - θ-axes easy to seal - y, z-axes hard to seal
-P+R+900@Z y: height - Won’t reach around obstacles
Cylindrical R: rotation θ P: -do-
do P: -do-
do z : reach - Horizontal motion is circular
Fundamental R

-P+R+900@Z
Spherical (2 rotating and - Can reach all around - Cannot reach above itself
1 linear axes) - Can reach above or - Short vertical reach
Spherical R: -do- R: angle φ P: -do- θ: base rotation below obstacles
-P+R+900@Z φ: elevation angle - Large work volume
Revolute R: -do- R: -do- R: angle ψ z: reach
Articulated (3 rotating - Can reach above or - Difficult to program off-line
axes) below objects - Two or more ways to reach
θ: base rotation - Largest work area for a point
φ: elevation angle least floor space - Most complex robot
ψ: reach angle

By Actuation System By Control Method

• Servo/Non-
Servo/Non-servo control
• Pneumatic (in factory floors) – Servo ≡ closed
closed--loop (Hydraulic & Electric)
Non-servo ≡ open
– Non- open--loop (Pneumatic)
• Hydraulic (for heavy applications)
• Path control
• Electric (more common these days)
– Continuous path ≡ trajectory (welding etc)

Robot Subsystems and Classifications 3

Prof. S.K. Saha

By Programming Method Summary

• Online programming
– Direct use of the robot
– Teach pendant
• Focus on Serial
Serial--type robots (not parallel or
mobile, etc.)
• Different subsystems are explained

• Offline programming (saves time) • Five

Fi e ways
a saare
eeexplained
plained to classify
classif a robot
obot
– Using a computer on a new task – Animations for coordinate based robots are
shown
– Download when ready

Thank You
saha@mech.iitd.ac.in
sahaiitd@gmail.com

http://web.iitd.ac.in/~saha

Robot Subsystems and Classifications 4