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Introduction To Robotics: A Common View: Robots As Humanoids

The document discusses various topics related to industrial robots including their history, classification, components, configurations, reference frames, work envelopes, and applications in manufacturing. It notes that industrial robots often use manipulator configurations and focuses on different robot configurations like Cartesian, cylindrical, spherical, articulated, and SCARA robots. The document also explains concepts like work envelopes, reference frames, and the components of a robot system including the manipulator, end effector, actuators, sensors, controller, and accessories.

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125 views

Introduction To Robotics: A Common View: Robots As Humanoids

The document discusses various topics related to industrial robots including their history, classification, components, configurations, reference frames, work envelopes, and applications in manufacturing. It notes that industrial robots often use manipulator configurations and focuses on different robot configurations like Cartesian, cylindrical, spherical, articulated, and SCARA robots. The document also explains concepts like work envelopes, reference frames, and the components of a robot system including the manipulator, end effector, actuators, sensors, controller, and accessories.

Uploaded by

mani
Copyright
© © All Rights Reserved
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
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Introduction to Robotics

A common view : Robots as


Humanoids

We will be studying Industrial manipulator


type Robots.
Agenda
• Introduction to Robotics
• Classification of Robots
• Robot accessories
• Robot coordinates
• Work volumes and Reference Frames
• Robot Programming
• Robot Applications in Lean Mfg.
Robotics 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.
• 1973 Cincinnati Milacron introduced the T3 model
robot, which became very popular in industry.
• 1990 Cincinnati Milacron was acquired by ABB
Robot Classification
The following is the classification of Robots according to the
Robotics Institute of America
• Variable-Sequence Robot : A device that performs the
successive stages of a task according to a predetermined
method easy to modify
• Playback Robot :A human operator performs the task
manually by leading the Robot
• Numerical Control Robot : The operator supplies the
movement program rather than teaching it the task
manually.
• Intelligent Robot : A robot with the means to understand its
environment and the ability to successfully complete a task
despite changes to the environment.
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
Robot Accessories
A Robot is a system, consists of the following elements, which
are integrated to form a whole:
• Manipulator / Rover : This is the main body of the Robot and
consists of links, joints and structural elements of the Robot.

• End Effector : This is the part that generally handles objects,


makes connection to other machines, or performs the
required tasks.
It can vary in size and complexity from a endeffector on the
space shuttle to a small gripper
Accessories

• Acutators : Actuators are the muscles of the manipulators.


Common types of actuators are servomotors, stepper
motors, pneumatic cylinders etc.

• Sensors : Sensors are used to collect information about the


internal state of the robot or to communicate with the
outside environment. Robots are often equipped with
external sensory devices such as a vision system, touch
and tactile sensors etc which help to communicate with the
environment

• Controller : The controller receives data from the computer,


controls the motions of the actuator and coordinates these
motions with the sensory feedback information .
Robot Configurations
Some of the commonly used configurations in Robotics are

• Cartesian/Rectangular Gantry(3P) : These Robots are made of 3


Linear joints that orient the end effector, which are usually followed
by additional revolute joints.
Cartesian Robot - Work
Envelope
Robot Configurations (cont’d)
• Cylindrical (R2P): Cylindrical coordinate Robots have 2 prismatic
joints and one revolute joint.
Cylindrical Robot - Work
Envelope
Robot Configurations (cont’d)
• Spherical joint (2RP): They follow a spherical coordinate system,
which has one
Spherical Robot - Work
Envelope
Robot Configurations (cont’d)
• Articulated/anthropomorphic(3R) :An articulated robot’s joints are
all revolute, similar to a human’s arm.
Robot Configurations (cont’d)
• Selective Compliance Assembly Robot Arm (SCARA) (2R1P):
They have two revolute joints that are parallel and allow the Robot
to move in a horizontal plane, plus an additional prismatic joint that
moves vertically
Robot Configurations
Reference Frames
• World Reference Frame which is a universal coordinate frame, as
defined by the x-y-z axes. In this case the joints of the robot move
simultaneously so as to create motions along the three major axes.

• Joint Reference Frame which is used to specify movements of each


individual joint of the Robot. In this case each joint may be accessed
individually and thus only one joint moves at a time.

• Tool Reference Frame which specifies the movements of the


Robots hand relative to the frame attached to the hand. The x’,y’and
z’ axes attached to the hand define the motions of the hand relative
to this local frame. All joints of the Robot move simultaneously to
create coordinated motions about the Tool frame.
Robot Reference Frames
Work Envelope concept
• Depending on the configuration and size of the
links and wrist joints, robots can reach a
collection of points called a Workspace.

• Alternately Workspace may be found empirically,


by moving each joint through its range of
motions and combining all space it can reach
and subtracting what space it cannot reach
Pure Spherical Jointed Arm - Work
envelope
2) Parallelogram Jointed
Exercise
Readiness Assessment Test A.K.A. RAT

AS A INDIVIDUAL,
INDIVIDUAL prepare a
detailed response for the following
Readiness Assessment test
What type of Robot Configuration does the
ABB 140 Robot have?
Can you find out its Work
Space?
WRIST
• typically has 3 degrees of freedom
– Roll involves rotating the wrist about the arm
axis
– Pitch up-down rotation of the wrist
– Yaw left-right rotation of the wrist
• End effector is mounted on the wrist
WRIST MOTIONS

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