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    Session 14 MA

    Uploaded by

    Umesh Patil
    The document discusses industrial manipulators or robots. It begins with definitions and a brief history of robots, including the first industrial robot called Unimate. It then covers various topics related to industrial robots like types and configurations, joints and links, reference frames, drive systems, and control systems. The document provides diagrams to illustrate different robot configurations like Cartesian, cylindrical, and SCARA robots. It also discusses robot accessories, wrist configurations, and work envelopes.

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    Session 14 MA

    Uploaded by

    Umesh Patil
    5 views58 pages
    The document discusses industrial manipulators or robots. It begins with definitions and a brief history of robots, including the first industrial robot called Unimate. It then covers various topics related to industrial robots like types and configurations, joints and links, reference frames, drive systems, and control systems. The document provides diagrams to illustrate different robot configurations like Cartesian, cylindrical, and SCARA robots. It also discusses robot accessories, wrist configurations, and work envelopes.

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    The document discusses industrial manipulators or robots. It begins with definitions and a brief history of robots, including the first industrial robot called Unimate. It then covers various topics related to industrial robots like types and configurations, joints and links, reference frames, drive systems, and control systems. The document provides diagrams to illustrate different robot configurations like Cartesian, cylindrical, and SCARA robots. It also discusses robot accessories, wrist configurations, and work envelopes.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Flag for inappropriate content
    Download as pdf or txt
    5 views58 pages

    Session 14 MA

    Uploaded by

    Umesh Patil
    The document discusses industrial manipulators or robots. It begins with definitions and a brief history of robots, including the first industrial robot called Unimate. It then covers various topics related to industrial robots like types and configurations, joints and links, reference frames, drive systems, and control systems. The document provides diagrams to illustrate different robot configurations like Cartesian, cylindrical, and SCARA robots. It also discusses robot accessories, wrist configurations, and work envelopes.

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    of 58

    Mechatronics and

    automation
    ET ZC323
    BITS Pilani Lecture
    Pilani Campus
    Type Content Ref. Topic Title Study/HW Resource Reference

    Pre CH Industrial manipulator

    During Introduction R1, R2


    CH Types, configuration and
    specification
    Selection and programming
    of industrial manipulator

    Post CH Chapter end problems

    11/15/2023 Mechatronics & Automation ET ZC323 BITS Pilani 2


    Industrial manipulator

    11/15/2023 Mechatronics & Automation ET ZC323 BITS Pilani 3


    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.
    Unimate was the first industrial robot, which worked on a
    General Motors assembly line at the Inland Fisher Guide
    Plant in Ewing Township, New Jersey, in 1961.
    • 1973 Cincinnati Milacron introduced the T3 model robot,
    which became very popular in industry.
    • 1990 Cincinnati Milacron was acquired by ABB

    11/15/2023 Mechatronics & Automation ET ZC323 4


    General Commercial and Technological
    Advantages of Robot Use

    Unimate ,the first industrial robot

    11/15/2023 Mechatronics & Automation ET ZC323 5


    Industrial manipulator .. 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
    • ISO 8373:2012 definition an automatically controlled,
    reprogrammable, multipurpose manipulator
    programmable in three or more axes, which may be
    either fixed in place or mobile for use in industrial
    automation applications
    11/15/2023 Mechatronics & Automation ET ZC323 6
    Industrial manipulator .. Robot

    11/15/2023 Mechatronics & Automation ET ZC323 7


    Industrial Robot Defined

    11/15/2023 Mechatronics & Automation ET ZC323 8


    Evolution toward industrial robots

    11/15/2023 Mechatronics & Automation ET ZC323 9


    Industrial applications

    11/15/2023 Mechatronics & Automation ET ZC323 10


    Robot Classification

    11/15/2023 Mechatronics & Automation ET ZC323 11


    Industrial Robot Applications

    11/15/2023 Mechatronics & Automation ET ZC323 12


    Robotic Arc-Welding Cell

    11/15/2023 Mechatronics & Automation ET ZC323 13


    Robot Anatomy

    11/15/2023 Mechatronics & Automation ET ZC323 14


    Robot Anatomy

    11/15/2023 Mechatronics & Automation ET ZC323 15


    Joints And Links

    11/15/2023 Mechatronics & Automation ET ZC323 16


    Joints And Links

    11/15/2023 Mechatronics & Automation ET ZC323 17


    Joints And Links

    11/15/2023 Mechatronics & Automation ET ZC323 18


    Joints And Links

    11/15/2023 Mechatronics & Automation ET ZC323 19


    Manipulator Joints

    11/15/2023 Mechatronics & Automation ET ZC323 20


    Joint Notation Scheme

    Body and arm wrist

    11/15/2023 Mechatronics & Automation ET ZC323 21


    Common Robot Configurations

    11/15/2023 Mechatronics & Automation ET ZC323 22


    Common Robot Configurations

    Selective Compliance Assembly Robot Arm


    11/15/2023 Mechatronics & Automation ET ZC323 23
    Polar Coordinate Body-and-Arm
    Assembly

    11/15/2023 Mechatronics & Automation ET ZC323 24


    Spherical Robot - Work Envelope

    11/15/2023 Mechatronics & Automation ET ZC323 25


    Cylindrical Body-and-Arm Assembly

    11/15/2023 Mechatronics & Automation ET ZC323 26


    Cylindrical Body-and-Arm Assembly

    11/15/2023 Mechatronics & Automation ET ZC323 27


    Cylindrical Robot - Work Envelope

    11/15/2023 Mechatronics & Automation ET ZC323 28


    Cartesian Coordinate Body-and-Arm
    Assembly

    11/15/2023 Mechatronics & Automation ET ZC323 29


    Cartesian Coordinate Body-and-Arm
    Assembly

    11/15/2023 Mechatronics & Automation ET ZC323 30


    Cartesian Robot - Work Envelope

    11/15/2023 Mechatronics & Automation ET ZC323 31


    Jointed-Arm Robot

    11/15/2023 Mechatronics & Automation ET ZC323 32


    Jointed-Arm Robot

    11/15/2023 Mechatronics & Automation ET ZC323 33


    SCARA Robot

    11/15/2023 Mechatronics & Automation ET ZC323 34


    SCARA Robot

    11/15/2023 Mechatronics & Automation ET ZC323 35


    SCARA Robot

    11/15/2023 Mechatronics & Automation ET ZC323 36


    Robot Configurations

    11/15/2023 Mechatronics & Automation ET ZC323 37


    Reference Frames

    11/15/2023 Mechatronics & Automation ET ZC323 38


    Robot Reference Frames

    11/15/2023 Mechatronics & Automation ET ZC323 39


    Work Envelope concept

    11/15/2023 Mechatronics & Automation ET ZC323 40


    Working Envelope

    11/15/2023 Mechatronics & Automation ET ZC323 41


    Pure Spherical Jointed Arm - Work
    envelope

    11/15/2023 Mechatronics & Automation ET ZC323 42


    Polar Coordinate Body-and-Arm
    Assembly

    11/15/2023 Mechatronics & Automation ET ZC323 43


    Example

    11/15/2023 Mechatronics & Automation ET ZC323 44


    Robot Accessories

    11/15/2023 Mechatronics & Automation ET ZC323 45


    Robot Accessories

    Controller Actuator Real time


    system

    11/15/2023 MechatronicsSensor
    & Automation ET ZC323 46
    Joint Drive Systems

    11/15/2023 Mechatronics & Automation ET ZC323 47


    Joint Drive Systems

    11/15/2023 Mechatronics & Automation ET ZC323 48


    Joint Drive Systems

    Reservior Pump Valves –


    Accumulator Cylinder/motor
    NR/Flow/DC
    11/15/2023 Mechatronics & Automation ET ZC323 49
    Joint Drive Systems

    Storage for Cylinder


    Compressor FRL Valves
    compressed air /motor
    11/15/2023 Mechatronics & Automation ET ZC323 50
    Robot Control System

    Pneumatic Actuator Hyd Actuator Elec Mechanical


    Actuator Actuator
    System
    11/15/2023 Mechatronics & Automation ET ZC323 51
    Robot Control System

    11/15/2023 Mechatronics & Automation ET ZC323 52


    Robot Control Systems

    11/15/2023 Mechatronics & Automation ET ZC323 53


    Robot Control Systems

    11/15/2023 Mechatronics & Automation ET ZC323 54


    Robot Control Systems

    11/15/2023 Mechatronics & Automation ET ZC323 55


    Robot Control Systems

    11/15/2023 Mechatronics & Automation ET ZC323 56


    Wrist Configurations

    11/15/2023 Mechatronics & Automation ET ZC323 57


    11/15/2023 Mechatronics & Automation ET ZC323 BITS Pilani 58

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