e2-01 - overview of robots

7/29/2019 E2-01 - Overview of Robots

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Ch 1: Overview of robots

Serial robot Humanoid robot


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Parallel robot Mobile robot



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What are Robots? Machines with sensing, intelligence and mobility

Why use Robots?

Perform 4A tasks in 4D environments

Industrial robots Mobile robots

Kinematics

Dynamics

Control

Kinematics/Control

Sensing and Sensors

Motion planning

Mapping/Localization

Automation

Augmentation

Assistance

Autonomous

Dangerous,

Dirty,

Dull,

Difficult



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1.1. Robotic History three stages

- 1921: The first reference to the word robot appears in a play opening

in London, entitled Rossum's Universal Robots. The word robot comes

from the Czech word, robota, which means drudgery or slave-like

labor..

- 1948: A teleoperator-equipped articulated arm is designed by

Raymond Goertz for the Atomic Energy Commission.

- 1961: The first industrial robot was online in a General Motors

automobile factory in New Jersey. It was Devol and Engelberger's

UNIMATE. It performed spot welding and extracted die castings..

- 1980, The robot industry starts its rapid growth, with a new robot or

company entering the market every month.


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1.2. Typical applications in industry

Robots are used in a vast range of industries.


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Application Automotive Industry

Application General Industry

Spot welding

Handling

Handling

Loading

Assembly

Palletizing

Fitting

Adaptation


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1.3. Classification

There are four main aspects to classify robots:

Types of workspace

Robot generation

Types of control

Drive system

Clip: How robots work YouTube
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Cartesian Configuration

Classification based on type of workspace


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Cylindrical Configuration



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Spherical Configuration



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Revolute/Jointed Configuration



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Several organizations have defined classification systems for differenttypes of robots. One such organization is JARA, the Japan Robot

Association (previously JIRA, the Japan Industrial Robot Association).

They define six different classes of robot:

1. Manual handling device: This type of robot has multiple degrees offreedom, but all of its actions are performed under the direct control of

an operator. Certain devices in this class may be referred to as co-bots

(cooperative robots).

2. Fixed sequence robot: This type of robot repeats a fixed sequenceof actions without needing to be controlled by an operator. However,

the sequence of actions it performs cannot be modified (i.e. it is not

programmable).

Classification based on robot generations


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3.Variable sequence robot: This type of robot is similar to class 2,except that the sequence of actions can be reprogrammed easily

allowing it to be quickly adapted to perform new tasks.

4.Playback robot: This type of robot is first guided through a sequence

of actions by an operator, then repeats the same actions automatically.

5.Numerical control robot: This type of robot moves through a

sequence of actions, which it receives in the form of numerical data.

6.Intelligent robot:A robot that senses its environment and responds to

changes in it in order to continue performing its function.

Classification based on robot generations


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Pick-and-Place Robot Industrial Robot

Classification based on types of control


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Electric Drives

Classification based on drive system

Common drive systems used in robotics are electric drive,hydraulic drive, and pneumatic drive.

Electric drive robots are relativelyaccurate compared to hydraulically

powered robots.

Types: AC/DC servomotors, stepper

motors.

Advantages: quiet, less floor space,

electric power readily available, clean-

air environments, precision.


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Pneumatic Drives

Pneumatic drives: air-driven actuators.

Advantages: economical, easy

installation, less costly than hydraulicdrives, good speed and accuracy.

Disadvantages: precision is less than

electric drives (air is compressible), air

needs conditioning, noisy, vibration.



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Hydraulic Drives


Advantages: precise motion control over a wide range of speeds andloads, robust, and greater strength.

Disadvantages: expensive, high maintenance, not energy efficient,

noisy, not suited for clean-air environments.

Hydraulic drives are

electric pump connected

to a reservoir tank and a

hydraulic actuator.


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1.4. Robot components


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1.5. Robot specifications

Specification Values

Axes

Payload

Robot Motion Range

Robot Motion Speed

V-reach

H-reach

Repeatability

Drive systemStructure

-

kg

mm, rad

mm/s, rad/s

mm

mm

mm

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e2-01 - overview of robots

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