The above

behaviour of indicates how we

a 511
performance. system and what can use
factors wematcanhematical mou
a

Case studies edict the

then change
change to improve its
The
following are outlines
of
examples of
24.2.1 Apick-and-place robot mechatronic systeni ns.

Figure 24.12(a)
robot has
three
shows the basic
arTti-clockwise about which form of a picl
axes
and arm direction motion ick-and-place
of the unit can
occur: rotation in a
robot unit. The
be up or
actuated by down; also the on its
base, ar
arm
rotation in a clockwise or
extension or Cio
valves with limitthe use
of gripper can
openn or contraction
clockwise rotationswitches
pneumatic cylinders
c close.
These movements can
of the
to
indicate when a operated by
motion is solenoid-co
trolled
extended and the unit might a
upward movement anti-clockwise
result from the completedl.
piston in
der of the arm direction by its retraction.a cylinder be
being extended and the might result from the Likewise
piston in a linear the
Sion of the
arm by the downward motion from it cylin=
movement by the piston in another cylinder retracting, the exNTC
extending and its retur
by the piston in a piston retracting. The gripper can
linear be opened
showing a basic mechanismcylinder extending or closeca
that could be used. retracting, Figure 24.120
or

(a) Pick-and-place,

Gripper
Am

Base

(a) (b)

A typical program for such a robot might be:

Close an upright gripper on a component hanging from an overhead feeder.
is withdrawn from the feeder.
2 Contract the arm so that the component
3 Rotate the arm in a
horizontal plane so
thatit points in the direction of the
workpiece.
that the gripper is over the workpiece.
arm so
Extend the downwards from the gripper
Rotate the wrist so that
the component hangs
5 falls into the required position.
so that the component
6 Release the gripper
into an upright position.
7 Rotate the gripper
Contract the arm.
8 the feeder
Rotate the arm to point towards
9
sequence
for the next component.
Repeat the could be uSed
to control solenoid
microcontroller
shows how a
Figure 24.13 movements of the robot
unit.
hence the
valves and
512 CHAPTER 24 MECHATRONIC SYSTEMS

Solenoid valve
Tmt sw ite hen

Ta
optoisolator
Basc actuator
H

M68HC11 Limit switches

PDO
Start PBO D
PCO
Arm extend
Base cw PBI retract
- PCI

PB2
ase
PC2
Armex PB3
O PC3

Arm r PD4
O PC4
Arm u PBS
J.imit switches
O- PC5
Arm down PB6

PC6
Grip open PB7 Arm up-own
PC7
Grip close

Limit s Itehes

Gnpper oen-
close

Figure 24.13 Robot control.