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CH 1: Introduction To Industrial CH 1: Introduction To Industrial Robots Robots Robots Robots
CH 1: Introduction To Industrial CH 1: Introduction To Industrial Robots Robots Robots Robots
Trimester 1, 2012
Program Objectives
To provide knowledge of automation and its building blocks. To provide knowledge of robotics related to drives, programming and performance.
Program Outcomes
On completion of this unit, a student should have: 1. Obtained a fair grasp of automation and robotic functions 2. In-depth knowledge with regard to robots performance and their applications to industries
Career Spotlight
This chapter correspond to career opportunities in manufacturing automation and robotics in particular. Career span the range from system designer to system maintenance and support support. The subject of the work can be as specific as a particular type of robot arm or as broad as an entire manufacturing system.
Introduction to Robotics
External Challenges
Internet New/niche market entrants Global market Customers Cost and money
Internal Challenges
The internal challenge is to develop a manufacturing strategic that satisfies: A manufacturing strategic is a plan or process that forces agreement between the market driven corporate goals and the production capability of the company. To win orders and increase market share, the enterprise must be competitive in price, quality, design lead time, delivery reliability, flexibility, customer decision, innovation and etc.
Internal Challenges
Order winning criteria by Terry Hill The minimum level of operational capability required to get an order. Setup time, Quality, Manufacturing Space Ratio, Inventory, Flexibility, Distance and Uptime.
Internal Challenges
What is Automation?
Automation is the technology by which a process or procedure is accomplished without human assistance. Basic elements of an automated system:
1. Power - to accomplish the process and operate the automated system 2. Program of instructions to direct the process 3. Control system to actuate the instructions
Project
Job Shop
Introduction to Robotics
ROBOT SYSTEMS
Robot Systems
The Robotic Industries Association define a robot system as follow: An industrial robot system includes the robot(s) (hardware and software) consisting of the manipulator, manipulator power supply and controller the controller; end-effector(s); end-effector any equipment , devices, and sensors with which the robot directly interfacing interfacing, any equipment , devices and sensors required for devices, the robot to perform its task and any task; communications interface that is operating and monitoring the robot, equipment, and sensors.
Robot Hardware
Mechanical Arm
The arm is mechanical device driven by motors, pneumatic device, or hydraulic actuators. The basic drive elements will be either linear of rotary actuators. The combination of motions included in the arm in the arm determine the type of arm geometries geometries.
Production Tooling
The arm alone a no production capability. It must interfaced to production tooling become an effective production system, The tooling to perform the work task is attached to the tool plate at the end of the arm.
Robot Controller
special The controller, basically a specialpurpose computer has all the computer, elements commonly found in computers, such as a CPU, memory and input/output devices. The distributed microcomputer network in the controller has the primary responsibility for controlling the robot arm and controlling/communicating with the work cell in which it is operating.
Robot Controller
The controller receives feedback from the arm on current joint position and velocity and responds with the outputs to the servo drives to change the current position and velocity based on the program stored in the memory memory. The controller also communicates with external devices through the input/output interface. More discussion on Lecture 2 and 7.
Teach Station
Consists of teach pendants, programming units, controller panels and software running under windows. The main 3 activities: 1. Robot power-up and preparation for programming. 2. Entry and editing of programs 3. Execution of programs in the work cell. More discussion on Lecture 8
What is Fieldbus?
Fieldbus is a generic-term which describes a new digital communications network which will be used in industry to replace the existing 4 - 20mA analogue signal. The network is a digital, bi-directional, multidrop, serial-bus, communications network used to link isolated field devices such as controllers devices, controllers, transducers, actuators and sensors sensors. Each field device has low cost computing power installed in it, making each device a smart device.
Introduction to Robotics
Axis Numbering
Start at the robot mounting plate (base). Label the first axis of motion encounter as axis 1. Progress from the base to the end-effector.
Degree of Freedom
Every joint or moveable axis on the arm is a degree of freedom. A machine with moveable joints is a robot with 6 degree of freedom/axes.
Coordinate System
Accuracy
Accuracy is the degree to which a robot arm can move in a specific transition or position point in a work cell.
Repeatability
Repeatability is the degree to which a robot can return to a specific programmed position point at the work cell.
Data Sheet
Data Sheet
Data Sheet
Data Sheet