Ted Lee Industrial & Systems Engineering Robotics Technology Ted Lee Industrial & Systems Engineering

Introduction Robot, computer-controlled machine that is programmed to move, manipulate objects, and accomplish work while interacting with its environment. Robots are able to perform repetitive tasks more quickly, cheaply, and accurately than humans.

Introduction The term robot originates from the Czech word robota, meaning “forced labor.” It was first used in the 1921 play R.U.R. (Rossum's Universal Robots) by the Czech novelist and playwright Karel Capek. The word robot has been used since to refer to a machine that performs work to assist people or work that humans find difficult or undesirable.

Definition of a Robot "A reprogrammable, multifunctional manipulator designed to move materials, parts, tools, or specialized devices through various programmed motions for the performance of a variety of tasks.“ -- According to The Robot Institute of America (1979) "An automatic device that performs functions normally ascribed to humans or a machine in the form of a human." -- According to the Webster dictionary (1993)

Classification of Robots Japanese Industrial Robot Association (JIRA) Class 1: Manual-Handling Device Class 2: Fixed-Sequence Robot Class 3: Variable-Sequence Robot Class 4: Playback Robot Class 5: Numerical Control Robot Class 6: Intelligent Robot Robotics Institute of America (RIA)

History of Robotics Automata, or manlike machines, appeared in the clockwork figures of medieval churches. Feedback control, the development of specialized tools, and the division of work into smaller tasks that could be performed by either workers or machines were essential ingredients in the automation of factories in the 18th century. As technology improved, specialized machines were developed for tasks such as placing caps on bottles or pouring liquid rubber into tire molds.

History of Robotics 1952 1st NC machine was built at MIT. 1954 George Devol developed the 1st Programmable Robot. 1955 Denavit & Hartenberg developed homogeneous transformation matrices. 1956 George Devol developed the magnetic controller, a playback device. 1956 Eckert & Mauchley built the ENIAC Computer at U of Penn. 1961 US Patent was issued to George Devol for “Programmed Article Transfer,” a base for Unimate robots. 1962 Unimation was formed, 1st industrial robot appeared, GM installed its 1st robot from Unimation.

History of Robotics 1967 1st robot was imported from Japan. 1968 An intelligent robot (Shakey) was built at Stanford. 1972 IBM worked on a rectangular coordinate robot for internal use. It eventually developed 7565 robot. 1973 Cincinnati Milacron introduced T3 model robot. 1975 Victor Scheinman, while a graduate student at Stanford University in California, developed a truly flexible multipurpose manipulator known as the Programmable Universal Manipulation Arm (PUMA).

History of Robotics 1978 1st PUMA robot was shipped to GM by Unimation. 1982 GM and Fanuc of Japan signed an agreement to build GMFanuc robot. Westinghouse bought Unimation (later sold to Staubli of Switzerland). 1983 Robotics become very popular subject, both in industry & academia. 1990 Cincinnati Milacron was acquired by ABB of Switzerland. Most of small robot manufacturers went out of the market.

Advantages of Robots Can increase productivity, safety, efficiency, quality, and consistency of products Can work in hazardous environments No need for environmental comfort Can work continuously without fatigue or boredom Have repeatable precision Are more accurate, and powerful than humans Can process multiple tasks simultaneously

Disadvantages of Robots Replacing human workers creating economic and social problems Lack capability to respond in emergencies Limited capability in sensing Are very costly

Robot Components Manipulator, or rover (Arms) End effectors (Hands) Actuators (Muscles) Sensors (Nerves, skin, eyes, etc.) Controller (Cerebellum) Processor (Brain) Software (Logic)

Robots by type Classification of industrial robots by mechanical structure Cartesian robot / Gantry robot Robot whose arm has three prismatic joints, whose axes are coincident with a Cartesian coordinator.

Robots by type Classification of industrial robots by mechanical structure Cylindrical robot Robot whose axes form a cylindrical coordinate system.

Robots by type Classification of industrial robots by mechanical structure Spherical robot Robot whose axes form a polar coordinate system.

Robots by type Classification of industrial robots by mechanical structure SCARA robot Robot which has two parallel rotary joints to provide compliance in a plane.

Robots by type Classification of industrial robots by mechanical structure Articulated robot Robot whose arm has at least three rotary joints.

Robots by type Classification of industrial robots by mechanical structure Parallel robot Robot whose arms have concurrent prismatic or rotary joints.

Robot Applications welding and assembly

Robot Applications welding and assembly

Robot Applications Packaging / palletizing

Robot Applications Medical: Prosthetic (bionic) limbs

Robot Applications Military and Police

Robot Applications Office & Hospital

Robot Applications Ocean Exploration

Robot Applications Space Applications

Robot Applications Space Applications

Robot Applications Toys

Uses for Robots In 1995 about 700,000 robots were operating in the industrialized world. Over 500,000 were used in Japan, about 120,000 in Western Europe, and about 60,000 in the United States. General Motors Corporation uses approximately 16,000 robots for tasks such as spot welding, painting, machine loading, parts transfer, and assembly. Assembly is one of the fastest growing industrial applications of robotics.

Impact of Robots Robots can cause the loss of unskilled jobs, particularly on assembly lines in factories. New jobs are created in software and sensor development, in robot installation and maintenance, and in the conversion of old factories and the design of new ones. These new jobs require higher levels of skill and training. Technologically oriented societies must face the task of retraining workers who lose jobs to automation, providing them with new skills so that they can be employable in the industries of the 21st century.

Future Technologies Automated machines will increasingly assist humans in the manufacture of new products, the maintenance of the world's infrastructure, and the care of homes and businesses. Robots will be able to make new highways, construct steel frameworks of buildings, clean underground pipelines, and mow lawns.

Future Technologies One important trend is the development of micro-electromechanical systems, ranging in size from centimeters to millimeters. These tiny robots may be used to move through blood vessels to deliver medicine or clean arterial blockages. They also may work inside large machines to diagnose impending mechanical problems.

Future Technologies Perhaps the most dramatic changes in future robots will arise from their increasing ability to reason. The field of artificial intelligence is moving rapidly from university laboratories to practical application in industry, and machines are being developed that can perform cognitive tasks, such as strategic planning and learning from experience. Increasingly, diagnosis of failures in aircraft or satellites, the management of a battlefield, or the control of a large factory will be performed by intelligent computers.