Robot Basics Motion and Nomenclature

Robot Main Components Programming Terminal Controller Manipulator Manual Pendent

Controller zThe controller is the “brain” of the robot. This device stores and executes the programs that cause the manipulator to do it’s task. The controller also has the ability to input and output information for interfacing with other devices such as a CNC Milling Machine.

Controller Emergency Stop Wiring terminals for digital inputs. Wiring terminals for digital outputs. Digital I/O Displays. Analog I/O wiring terminals Peripheral hardwiring for extra components. Ex. Slide-base

Manipulator The Manipulator The manipulator must be able to move many objects through a range of motions. Those motions can be termed linear or angular. These motions take place in joints on the manipulator. There can be many types of joints but the most common are: Wrist Elbow Shoulder Base

The device on the end of the manipulator is the end effector. The end effector can pick up objects as well as perform special applications such as spray painting, glue application, or special tooling such as driving bolts. End Effector Gripper A turret end effector has multiple tools that can be changed on the machine. Suction Cup

Degrees of Freedom Linear on the X Rotational on the X Linear on the Y Rotational on the Y Linear on the Z Rotational on the Z

Wrist Movement

Power Systems Robots use three main power systems to create movement in the actuators. Hydraulics - The use of a liquid to transfer power. Pneumatics - The use of a gas to transfer power. Electric - The use of AC and DC servos or Stepper Motors. Mostly servos are used in industrial robots.

Classifications of Robots zJointed Arm zCartesian zCylindrical zSpherical

Jointed Arm Classification that contains rotary joints. Advantages: Most Versatile Classification Provides largest work envelope. Most flexible reach. Disadvantages: Requires complex controllers. Locations in the envelop can be weak in load capacity accuracy, and repeatability. Less stable at maximum reach.

Jointed Arm Work envelope looking from a top view. Jointed Arm Classification

SCRA Selective Compliance Assembly Robot - SCRA is a jointed arm classification that can move very rapidly. SCRA robots also have small payloads.

Cartesian Classification Classification that has linear joints: Advantages: Simpler control High rigidity for repeatability Large payload Disadvantages Less Flexible Work Envelope is a cube shape.

Cartesian Linear

Cylindrical Cylindrical classifications have a cylinder type envelope. Advantages: Larger work envelope than Cartesian. Ideal for Pick and Place operations. Disadvantages: Loss of mechanical rigidity due to inertia on the motors. Z Y X Work envelope from a top view.

Cylindrical Movement Rotation Linear

Spherical Classification Y X Y The work envelope is shaped like a ball.

Axes Movement on the Eshed Robot