(C) 2001, Ernest L. Hall, University of Cincinnati Robotics 5/9/2018 (C) 2001, Ernest L. Hall, University of Cincinnati

(C) 2001, Ernest L. Hall, University of Cincinnati Course objective To provide a broad understanding of the use of industrial robots And an experience in specifying, designing and presenting a new robot application in oral and written formats. 5/9/2018 (C) 2001, Ernest L. Hall, University of Cincinnati

(C) 2001, Ernest L. Hall, University of Cincinnati SYLLABUS TOPIC 1. Realistic and Safe Use of Robots 2. Applications of Industrial Robots 3. Economic Justification; Project Assigned Excel Template 4. Robot Implementation 5. Arm Configurations 6. Wrist Configurations 7. End Effectors and Tooling 8. Methods of Actuation 9. Non-servo Operation 10. Servo Controlled Robots 11. Cell Control, Hierarchical Design 12. Performance Measures Sample Report 1 - Welding Sample Report 2 - Painting Sample Report 3 - Soldering Sample Report 4 - Batch Manufacturing Sample Report 5 - Machine Loading 13. Joint Control Programming 14. Path Control Programming 15. High Level Languages 16. Simulation and Programming 17. Vision and Sensor Systems 18. Work Cell Interfacing; REPORT DUE 19. Intelligent Robot Cells 20. Flexible Manufacturing 21. FINAL ORAL EXAM 5/9/2018 (C) 2001, Ernest L. Hall, University of Cincinnati

(C) 2001, Ernest L. Hall, University of Cincinnati Some web resources www.robotics.uc.edu http://www.robotics.org/body.cfm http://www.robotics.org/public/articles/index.cfm?cat=6 http://www.sme.org/cgi-bin/membhtml.pl?/memb/mservices.html&&&SME& http://www.sme.org/cgi-bin/get-banner.pl?S&000001& 5/9/2018 (C) 2001, Ernest L. Hall, University of Cincinnati

Realistic and Safe Use of Robots An intelligent industrial robot is a remarkably useful combination of a manipulator, sensors and controls. The use of these machines in factory automation can improve productivity, increase product quality and improve competitiveness. Robots have been created to perform a wide variety of tasks spanning from educational robots in classrooms, to arc welding robots in the automobile industry, to teleoperated robot arms and mobile robots in space. 5/9/2018 (C) 2001, Ernest L. Hall, University of Cincinnati

(C) 2001, Ernest L. Hall, University of Cincinnati Objective Provide an introduction to the field of industrial robotics 5/9/2018 (C) 2001, Ernest L. Hall, University of Cincinnati

(C) 2001, Ernest L. Hall, University of Cincinnati What is a robot? Definition - The Robot Industries Association (RIA) has defined an industrial robot as "a reprogrammable, multi-functional manipulator designed to move material, parts, tools or specialized devices through variable programmed motions for the performance of a variety of tasks." 5/9/2018 (C) 2001, Ernest L. Hall, University of Cincinnati

Open and closed kinematic chains The most common types of manipulators may be represented as an open kinematic chain of rigid bodies, or links, that are interconnected by joints; however, some have closed kinematic chains, such as four bar link mechanisms. 5/9/2018 (C) 2001, Ernest L. Hall, University of Cincinnati

(C) 2001, Ernest L. Hall, University of Cincinnati Future vision A more general definition of a robot is “a general-purpose, reprogrammable machine capable of processing certain human-like characteristics such as judgment, reasoning, learning, and vision.” Although industrial robots have been successfully used in a variety of manufacturing applications, most robots used are deaf, dumb, blind, and stationary [Hall and Hall, 1985]. 5/9/2018 (C) 2001, Ernest L. Hall, University of Cincinnati

(C) 2001, Ernest L. Hall, University of Cincinnati Reality An industrial robot is limited in sensory capabilities (vision and tactile), flexibility, adaptability, learning and creativity. In fact, most robots are simply automated machines that are used where the jobs are repetitive, dirty, dangerous, or very difficult for a human. 5/9/2018 (C) 2001, Ernest L. Hall, University of Cincinnati

(C) 2001, Ernest L. Hall, University of Cincinnati Intelligent robots Current researchers are attempting to develop intelligent robots. Hall [1985] defines an intelligent robot as one that responds to changes to its environment through sensors connected to a controller. Much of the research in robotics has been concerned with vision and tactile sensing. Artificial intelligence, or AI, programs using heuristic methods have somewhat solved the problem of adapting, reasoning, and responding to changes in the robot's environment. 5/9/2018 (C) 2001, Ernest L. Hall, University of Cincinnati

Automation and Robotics The robot's reprogrammability, known as soft or flexible automation, has greatly enhanced the flexibility of automation systems [Asfahl, 1992]. Initially, in the early 1950s, numerically controlled (NC) machine tools were introduced, which later evolved into computer numerical control (CNC) machines. 5/9/2018 (C) 2001, Ernest L. Hall, University of Cincinnati

(C) 2001, Ernest L. Hall, University of Cincinnati Benefits of robots Introducing robot technology into factories improved plant productivity, quality, and flexibility above what could be realized on the basis of hard or fixed automation structures. 5/9/2018 (C) 2001, Ernest L. Hall, University of Cincinnati

(C) 2001, Ernest L. Hall, University of Cincinnati History These new industrial robots were first commercially marketed in 1956 by a firm named Unimation. In 1961, the Ford Motor Company was the first to use a Unimate robot to unload a die-casting machine [Odrey, 1993]. Since then, the automobile industry has driven the development of the flexible manufacturing system (FMS) with industrial robots. However, robots in the early 1980's were limited by their drive mechanisms, controller systems and programming environment, such that they were often too expensive and not well suited for most manufacturing tasks. 5/9/2018 (C) 2001, Ernest L. Hall, University of Cincinnati

(C) 2001, Ernest L. Hall, University of Cincinnati History (Cont.) However, robots in the early 1980's were limited by their drive mechanisms, controller systems and programming environment, such that they were often too expensive and not well suited for most manufacturing tasks. As a result, the increase in robot installation through the mid 80's turned into a significant slump, lasting into the early nineties [Holusha, 1994]. Because of the steep decline in robot orders, many US manufacturers chose to pull out of the industrial robot market, ceding the market to foreign competitors. 5/9/2018 (C) 2001, Ernest L. Hall, University of Cincinnati

(C) 2001, Ernest L. Hall, University of Cincinnati U.S. Survivor Adept Technology Inc. (San Jose, CA) is the only major US robot manufacturer to survive in the $700 million market with about $60 million in annual sales [Sinton, 1995]. 5/9/2018 (C) 2001, Ernest L. Hall, University of Cincinnati

(C) 2001, Ernest L. Hall, University of Cincinnati Social impact The introduction of robots is often justified on the basis that they perform consistently and productively. Often a few people suffer the loss of employment. Others believe robotic technology creates skilled jobs with greater creativity. However, the question of the social impact of robotics has yet to be adequately addressed [McKerrow, 1991]. 5/9/2018 (C) 2001, Ernest L. Hall, University of Cincinnati

(C) 2001, Ernest L. Hall, University of Cincinnati Today In recent years, a push for lower cost and greater reliability has caused US manufacturers to realizing the significant impact robots can have in improving productivity, quality, flexibility, and time-to-market. 5/9/2018 (C) 2001, Ernest L. Hall, University of Cincinnati

(C) 2001, Ernest L. Hall, University of Cincinnati Any questions? 5/9/2018 (C) 2001, Ernest L. Hall, University of Cincinnati