INDUSTRIAL ROBOTS

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INDUSTRIAL ROBOTS

• Definition 1 A reprogrammable machine with
  several independent degress of freedom, which can
  exchange information with other devices.
• Definition 2 A robot is a reprogrammable, multi
  functional manipulator designed to move
  materials, parts, tools, or specialized devices
  through variable programmed paths for the
  performance of a variety of tasks.
• Robots consists of
• 1) Actuator (ARM)
• 2) Power Supply
• 3) Controller

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• Classification of Robots
• 1) Antropological (human like) Used for
• -escorting blind
• -serving handicapped
• -driving moving chairs
• -entertainment

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• Classification of Robots (cont.)
• 2) Animal likeBody structures looks like animals
  or insects
• -Snake like mechanism used in medical field
• -fly eye etc.

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• Classification of Robots
• 3) Industrial Usually in arm structures used to
• -pick and place tasks
• -welding
• -painting
• -assembly
• -inspection

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• 4) Non-IndustrialUsed for
• -to assist bed ridden patients
• -fireman working in hazardous applications
• -sea bottom surveying etc.

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• Robot Geometries
• 1) Cartesian (3 linear axes)
• 2) Polar (Spherical)(1 linear and 2 rotational
  axes)
• 3) Cylindrical (2 linearand one rotational axis)
• 4) Articulated (3 rotary axes)
• Note that the most successful articulated one is
  SCARA (SelectiveComplience Articulated Robotic
  Actuator)

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• Robot Applications
• - Hazardous work environment (welding, spray
  painting, etc.)
• - Repetitive work cycle
• - Part or tool handling which are difficult for
  human
• - Multishift operations
• - Material handling (loading-unloading)
• - Process operations
• - Assembly and inspection

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• Robot Power Sources
• 1) Hydraulic Most powerfull drive.
• 2) PneumaticEasy to supply air pressure. Used in
  simple geometries like pick and place, or fixed
  end cycle operations. Clean.
• 3) ElectricalPopular in precision jobs. Has two
  types Stepper motor drives and DC Servo drives.
  In stepper motor drives slippage can occur which
  cause the loss of the route. Servo drives are
  more popular.
• 4) Mechanical gearsLow cost, low speed, hard
  programmed.

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• Robot Control Systems
• 1) Limited Sequence Control Simple cycles, not
  require microprocessor and usually be implemented
  using limit switches and mechanical stops. Often
  pneumatically actuated.
• 2) Playback with Point-to Point (PTP)
  ControlPoints recorded into memory and played
  back during execution of the program. The path is
  not controlled.
• 3) Playback with Continuous Path (CP)
  ControlSimilar to PTP, instead of points, paths
  stored in the memory.
• 4) Inteligent ControlSensors and amchine
  visions makes decisions when things go wrong.
  Need powerfull micro processeors.

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• Typical Robot Arm Characteristics
• Hand must grip or release a work piece
• Arm must be able to move the hand in three
  planes
• Wrist has three articulations (roll-pitch-grib)
• Limb power to lift and manipulate
• limb must be operated manually
• Error involved in repeated positioning must be
  minimized
• It has a computer interface
• It can run automatically in programmed mode as
  well as after being tought the process sequence

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• Gripper Types
• Mechanical Fingers or jaws or
  antropomorphically designed hands
• Magnetical If object being grasped are metallic
  and not effected by magnetic field we can use
  this type.
• By Vacuum If vibrational shock is not important
• By Piercing Punctures the component as in
  clothing application
• By Adhesion Using sticky tape or other adhesives