UNIVERSITI TEKNIKAL MALAYSIA MELAKA

FAKULTI KEJURUTERAAN ELEKTRIK

SEMESTER 1 SESI 2011/2012

TECHNICAL REPORT

MAKMAL KEJURUTERAAN SISTEM MEKATRONIK III (BEKM 4741)

Industrial Robot Material Handling Application

PREPARED BY:

Shaharrudin Bin HJ Syahid B010810095

4BEKM
Abstract

Rhino robot is one of the robot system uses in industrial robotic to replace
human task and reduce the burden. The robot can be easily controlled using proper
program. There are many kinds of movement could be programmed to the robot. So
many task can be done thus reduce the human dependent in industries. Everything
about the robot, including the way to program, to set up and other important need is
included in the manual book. There are three manual books for the Rhino robot
system consist of XR-3 Robotic arm, Mark lll Controller and Mark lll Teach Pendant.
So we can conclude that this robot is user friendly since all the information are in the
books.

The XR-3 Robotic arm has six important parts which are gripper, wrist rotation,
wrist flex, shoulder, elbow and waist. Each part has motor labeled with letter A, B, C,
D, E and F. Each letter is an indicator for each part so we can easily understand and
know which part is moving and which motor is rotating. With that system user easily
indentify and use this robot. There are two methods handling the XR-3 Robotic arm.
First is using Mark III Teach Pendant. Each label on the teach pendant has its own
process and we can recognize which part is moving for each label. Second is by
using use Robot Talk software. It is easier compare to manual teach pendant, we can
easily make changes and redo program if we counter problem just by clicking and
erasing using the computer.
Introduction

1.0 Background

Nowadays many robot manufacturers competing each other to invent the best
robot. Robot industries have grown up long time ago. There are many benefits from
the invention of robot, they can help human to do task and do task that is impossible
to mankind such heavy duty work and others. Industrial robotic system includes a
mechanical arm, computer-based controller, endof-arm tooling, Host computer and/or
teach pendant, program storage device, and external power source. The rhino
robotic system has the same element found in the industrial models. Rhino robot is
basically an arm robot use to pick and place part by using the teach pendant or by
using programming. There are many other type of robot arm such as Cartesian robot,
cylindrical robot, spherical robot, SCARA robot, articulated robot, parallel robot and
KUKA robot. Basically all the robots stated are using the same basic concept such as
pick and place and others.

2.0 Scope

1. Use Rhino Robotic ltd. Model XR-3 set with Mark III controller.
2. Refer manual book.
3. Program using Mark III Teach Pendant
4. Program by computer using Robot Talk software.
5. Repeatability picks and place task and determine the accuracy of the process.
.
3.0 Objective

Part A
1. To identify by name the major system elements in the Rhino robot
system.
2. To inspect the mechanical and electrical connections of a robot system
and determine if the system is ready for proper operation.
3. To identify by name all the parts of the XR-3 robotic arm.
4. To identify the drive motor, linkage and specifications for each axis of
motion on the arm.
5. To describe the function of every switch, connector, terminal and light on
the robot controller.

Part B

1. . To perform lifelong learning by self adapting to a new technology.

2. To perform team working (delegation of task, role in group and effective
meeting).
3. To apply knowledge about robot workspace, kinematics and robot
programming.
4. To develop repetitive pick and place application using teach pendant and
programming.
4.0 Equipment

XR-3 Robotic Arm Standard Gripper Mark III Controller

Mark III Teach Pendant Aluminum base IBM Compatible computer

Others: * Robotic arm, Mark lll Controller and Mark lll Teach Pendant manual
books

* Basic hand tool

4.0 Procedure

PART A

1. Problem defined from the question sheet.

2. Front panel of the mark controller studied by referring the specification sheets
for XR-3 Robotic Arm and Mark III Controller.
3. Robotic arm, Mark lll Controller and Mark lll Teach Pendant manual books
referred.
4. Labels added in the panel provided in Figure 1.0.
5. Construction operation data of XR-3 robotic recorded in the Table 1.0

PART B

TASK 1: Control robot using teach pendant.

1. The XR-3 Robotic Arm and Mark III controller manual book was referred as
guide to use the teach pendant.
2. Robot arm moved using button instruction on the pendant.
3. Robot programmed using teach pendant using learn mode.
4. Program saved before tested on the robot.

TASK 2: Control robot by computer using Rhino robot software.

1. Computer was turned on and clicked at the Robot Talk software.

2. New window will come out.
3. Connection and communication between robot processor and computer was
made available.
4. Teach pendant was used to program the robot and the output appeared on the
screen.
5. Correction made on the computer if counter with problems.
6. After programming task finish button end pushed on the teach pendant.
7. Button run clicked on the screen to simulate program made and to check the
flow.
Result
Part A

Wheel Identification Drive Motor Gear Final

Rotation Letter Linkage Ratio Reduction
CW – left
Waist F 4/1 65.5 / 1 262 / 1
CCW - right
CW – down
Shoulder E 8/1 65.5 / 1 524 / 1
CCW - up
CW – down
Elbow D 8/1 65.5 / 1 524 / 1
CCW - up
CW – down
Wrist Flex C 8/1 65.5 / 1 524 / 1
CCW - up
Wrist CW – left
B 4/1 96 / 1 384 / 1
Rotation CCW - right
CW – open
Gripper A N/A 96 / 1 N/A
CCW - close