Industry 4.

0, MSE 980
Lecture 04

Instructor: Dr. Farshid Najafi

Updated Fall 2023

School of Mechatronic Systems Engineering

Simon Fraser University

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Industrial and Collaborative Robots

• What is an industrial robot?

• What are the main characteristics of Industrial robots?

• Industrial robots applications

• How to select a robot for a specific industrial applications.

• What is a collaborative robot (Cobot)?

• What are the main characteristics of cobots for smart manufacturing?

• Applications of Industrial robots and cobots in industry and smart factoires

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How to select an industrial robot

Source: https://www.fanuc.eu/bg/en/who-we-are/news/bg-robotised-welding-solution-10-2018 Source:

https://www.thefabricator.com/thefabricator/product/automationrobotics/robotic-welding-cells-serve-as-entry-po
int-to-automated-welding
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Industrial Robots

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Industrial Robot Specs.

• Degrees of freedom (Joints , axes)

• Payload
• Reach and workspace
• Joint speed
• Accuracy and repeatability
• Joint Actuators
• Electro mechanical brakes and hard stops
• Electrical cabinet
• CPU
• Servo-amplifiers
• IO devices
• Teach pendant
• Programming
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Robot Payload and Reach

• Payload and reach are among the first Specs. for robot selection.

Source: https://new.abb.com/products/robotics/robots
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Joints and Links in Robotic Manipulators

Each joint of the robot

has a servo motor

Robot manipulator - a series of joint-link combinations (Serial Manipulators)

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Joints Configurations

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Robot Coordinate Systems
KR6 KUKA Robot
Tool Coordinate System
Positioning Stage Orientation Stage

Base Coordinate System

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Robot Joints

Linear joint
Rotational joint (Revolute)

Rotational joint (Twisting)

Linear joint (orthogonal)

Rotational joint (Revolving) 10

Robot Workspaces
Spherical coordinate system

Consists of a sliding (linear) arm (L joint) actuated

relative to the body, which can rotate about both a
vertical axis (T joint) and horizontal axis (R joint)

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Robot Workspaces
Polar (cylindrical) coordinate system

• Consists of a vertical column, relative to which

an arm assembly is moved up or down
• The arm can be moved in or out relative to the
column

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Robot Workspaces
Cartesian coordinate system

• Consists of three sliding (linear) joints, two of

which are orthogonal
• Other names include cartesian robot and x-y-z
robot

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Articulated Robot Arm

• General configuration of a human

arm
• Usually with three revolute joints

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Articulated Robot Arm Specifications
ABB IRB 1200

Source: https://new.abb.com/products/robotics/robots/articulated-robots/irb-1200
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Articulated Robot Arm
ABB IRB 1200

Source: https://new.abb.com/products/robotics/robots/articulated-robots/irb-1200
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SCARA Robot

• SCARA stands for Selectively Compliant

Assembly Robot Arm
• Similar to jointed-arm robot except that
vertical axes are used for shoulder and elbow
joints to be compliant in horizontal direction
for vertical insertion tasks

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Robot Work Space (Work Envelop)

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Wrist Configurations

• Wrist assembly is attached to end-of-arm

• End effector is attached to wrist assembly
• Function of wrist assembly is to orient end effector
• Body-and-arm determines global position of end effector
• Two or three degrees of freedom:
• Roll
• Pitch
• Yaw

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Wrist Configurations

• Typical wrist assembly has two or three degrees-of-freedom (shown is a three

degree-of freedom wrist)
• Notation : Pitch Yaw Roll
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Wrist Configurations

Roll-Pitch-Roll Configuration

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Wrist Configurations

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What are End-effectors (End-of-arm tools)?

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Serial and Parallel Manipulators

A serial manipulator consists of a number of rigid links connected to joints. Each link is controlled
by an actuator.

A parallel manipulator is a mechanical system that uses several kinematic chains to support a
single platform (moving platform), or an end-effector.
M2
M1

M1

M2
M1
M2
M3

Two DoF planar serial manipulator Two DoF planar parallel manipulator Three DoF planar parallel manipulator

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A 3-DoF spatial Parallel Manipulator (Delta)

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Parallel Robots in Industry

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Comparison between Serial and parallel manipulators

Manipulator type Payload Speed Accuracy Workspace

Serial * * * ***

Parallel *** *** ** *

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https://new.abb.com/products/robotics/robots/delta-robots/ir
b-360

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Parallel robot case study

https://new.abb.com/news/detail/71261/delicious-pastries-wit
h-your-coffee-courtesy-of-abb-robots

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