introduction toindustrial robotics

Filippo D’Ippolito

filippo.dippolito@unipa.it

A robotic system is a complex system functionally represented by multiple subsystems

• Actuation system - The capability to exert an action, both locomotion and manipulation, is provided by an actuation system which animates the mechanical components of the robot.

• Sensors system - The capability for perception is entrusted to a sensory system which can acquire data on the internal status of the mechanical system (proprioceptive sensors, such as position transducers) as well as on the external status of the environment (exteroceptive sensors, such as force sensors and cameras)

• Control - The capability for connecting action to perception in an intelligent fashion is provided by a control system which can command the execution of the action in respect to the goals set by a task planning technique

The mechanical structureof a robot manipulator

• Rigid bodies (links) interconnected by means of articulations(joints)

• An arm that ensure mobility, a wrist that confers dexterity• OPEN or CLOSED kinematic chain• MOBILITY is ensured by joints (prismatic or revolute)• Each joint provides an open serial structure with a single

degree of freedom (DOF)• A general task of moving an object in spacerequires 6 DOF

• REDUNDANT manipulator <-> if more DOFthan task variables are available

Manipulator’s classification

• The workspace <-> portion of the environment the manipulator’s end effector can access

• The type and sequence of the arm’s DOF’s, starting from the base, allows classification of manipulators as:

ocarthesianocylindricalo sphericaloSCARAoanthropomorphic

Carthesian arm

• Three prismatic joint

• Each DOF corresponds to a cartesian space variable

• Good mechanical stiffness

• Constant position accuracy

Cylindrical arm

• First rotoidal joint

• Each DOF corresponds to a cartesian space variable in cylindrical coordinate

• Good mechanical stiffness

• Employed for carrying large object

Spherical arm

• The first two joint are rotoidal

• Each DOF corresponds to a cartesian space variable in spherical coordinates

• mechanical stiffness is lower

• Constant position accuracy

SCARA

• Two rotoidal and one prismatic joint

• High stiffness to vertical load

• Compliance to horizontal load

• Manipulation of small object

Anthropomorphic arm

• Three revolute joints

• The most dexterous one

• Wrist position accuracy varies

• Wide range of application

Spherical wrist

• Three revolute axes intersect at a single point

• The task is positioning the intersection point whereas the wrist determines the orientation

Adept One XL

• SCARA

• Maximum reach 800mm

• Repeatibility 0.025mm h and 0.038 v

• Maximum speed 1200mm/s and 650-3300 deg/s

• Maximum payload 12kg

• Small part material handling, assembly and packaging

COMAU Smart NS

• Anthropomorphic

• Outreach 1650-1850 mm

• Repeatibility 0.05 mm

• Maximum speed 155-170 deg/s

• Maximum payload 16kg

• Arc welding, ligthhandling, assembly, technological process