1. INTRODUCTION DESIGN AND APPLICATIONS OF INDUSTRIAL ROBOTS SABARIGIRIVASAN.R ISBN

Robotics History 1.The term “robot” was derived from Czech word “robota”. 2.“robota” means labourer or worker. 3.Karel Capek used the term in his play “Rossum's Universal Robots”. 4.Isaac Asimov coined the term “Robotics” and postulated the three laws of robotics. 2

Three Laws of Robotics 1.A robot may not injure a human being or through inaction, allow a human being to come to harm. 2.A robot must obey the orders given to it by human beings except where such orders would conflict with the First Law. 3.A robot must protect its own existence as long as such protection does not conflict with the First or Second Law. 3

Definition of an Industrial Robot Definition given by International Organization for Standardization (ISO) “An industrial robot is an automatically controlled reprogrammable multipurpose manipulator programmable in three or more axes.” 4

Robot System 1.A robotic arm with actuators 2.Endeffector 3.Sensors 4.Control computer system 5.Communication peripherals 6.Power supply 5

Robotic Arm 6

Operational Parameters of a Robot 1.Precision a)Accuracy b)Resolution c)Repeatability 2.Speed 3.Payload 7

Accuracy and Resolution 8

9 Animation

Accuracy and Resolution 10 Animation

Speed Curve 11

Robot Classification 1.Classification based on intelligence level 2.Classification based on servo control system 3.Classification based on drive systems 4.Classification based on geometric configuration of the arm 5.Miscellaneous types 12

Classification Based on Intelligence Level 1.Sequence control robots – Fixed sequence and Variable sequence control robots 2.Playback robots – Point to point and continuous path robots 3.Numerically controlled robots 13

Classification Based on Servo Control System 1.Servo control robots – Hydraulic and electric robots. Uses closed loop control system 2.Non servo control robots – Pneumatic robots.Uses open loop control system 14

Classification Based on Drive Systems 1.Pneumatic robots – light load, cheaper, no accurate positioning, light weight mechanism. 2.Hydraulic robots – heavy load, expensive, firm and rigid positioning, bulky mechanism. 3.Electric robots – medium load, accurate positioning, easily controlled by electronic controllers, light weight mechanism. 15

Classification Based on Geometric Configuration of the Arm 1.Cartesian coordinate robots 2.Polar coordinate robots 3.Cylindrical robots 4.Articulated or Jointed arm robots 5.Pendulum robots 6.Spine robots 7.Multiple arm robots 16

Robot Specifications 1.Accuracy, resolution, repeatability, speed and payload. 2.Number of degrees of freedom. 3.Geometric configuration of the manipulator. 4.Maximum and Minimum reach. 5.Type of Drive system. 6.Type of Control system. 17

Robot Specifications 7.Programming method. 8.Memory capacity. 9.Supported communication protocols and interface ports. 10.Input power supply requirements. 11.Total robot weight and installing procedures. 18

Advantages of using Robots 1.Consistent production quality. 2.High production quantity. 3.Can be employed at hazardous places. 4.Improvement in productivity, minimal material wastage, reduced work in progress and faster through put times. 5.Highly flexible to accommodate product design changes. 19

Advantages of using Robots 6.Working conditions are improved. 7.Occupational safety for workers is achieved. 8.Higher load carrying capacity. 9.Available at all times. 10.Manufactures can stay ahead in the market with state of the art robotic production facilities. 20

Disadvantages of Robots 1.High initial investment. 2.Inventory of endeffectors should be maintained. 3.Expensive spares and accessories. 4.Needs skilled personnel for programming. 5.Increases the risk of human unemployment. 21

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