1. Introduction to Robotics i n CIM Systems Chapter 2 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

2. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Chapter Goals [abbr.] Classify Robot based on characteristics Classify Robot based on characteristics Motion & coord sys of various arm configs. Motion & coord sys of various arm configs. Various robot pwr sources Various robot pwr sources Torque calculation Torque calculation Open & Closed Loop operation Open & Closed Loop operation James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

3. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Chapter Goals [abbr.] Calculate transfer fcn & other params for positional feedback devices. Calculate transfer fcn & other params for positional feedback devices. Internal positioning devices Internal positioning devices Four types of path control Four types of path control Robot selection & survey in automation work cell design Robot selection & survey in automation work cell design James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

4. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-1 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

5. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-2 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

6. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-4 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

7. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-6 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

8. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-7 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

9. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-9 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

10. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-11 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

11. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-12 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

12. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-14 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

13. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-15 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

14. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-17 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

15. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 1-17 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

16. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-19 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

17. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-20 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

18. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-21 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

19. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-23 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

20. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-24 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

21. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-25 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

22. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-26 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

23. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-27 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

24. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-28 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

25. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-29 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

26. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-31 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

27. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-34 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

28. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-35 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

29. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-36 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

30. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-37 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

31. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-38 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

32. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-39 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

33. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-40 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

34. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Compared to Optical Disadvantage Disadvantage More expensive Requires an AC reference voltage Expensive electronic components James A. Rehg Introduction to Robotics in CIM Systems 5 th edition Advantage Advantage Less dependent on mechanical precision Less dependent on mechanical precision Electronics more protected due to remote use Electronics more protected due to remote use More robust (i.e. doesn’t have delicate sense element) More robust (i.e. doesn’t have delicate sense element) Physically smaller at higher resolution Physically smaller at higher resolution Less cabling Less cabling Always provide Absolute positioning Always provide Absolute positioning

35. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-43 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

36. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-44 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

37. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-45 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

38. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-46 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

39. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-49 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

40. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-50 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

41. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-51 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

42. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-52 James A. Rehg Introduction to Robotics in CIM Systems 5 th edition

43. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Robot Selection Criteria Jami Dale Introduction to Robotics in CIM Systems 5 th edition Is a collection of parameters about the work environment, the manufacturing process requirements, workforce skills cost and future planning. Is a collection of parameters about the work environment, the manufacturing process requirements, workforce skills cost and future planning. Information is correlated to various equipment parameters and used as a basis for comparison and selection. Information is correlated to various equipment parameters and used as a basis for comparison and selection.

44. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Robot Survey Jami Dale Introduction to Robotics in CIM Systems 5 th edition Is a set of questions designed to help in determining if an operation would be improved by implementing robotics. Is a set of questions designed to help in determining if an operation would be improved by implementing robotics.

45. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-examples James A. Rehg Introduction to Robotics in CIM Systems 5 th edition Example 2-1 Example 2-2

46. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-examples James A. Rehg Introduction to Robotics in CIM Systems 5 th edition Example 2-3 Example 2-4

47. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-examples James A. Rehg Introduction to Robotics in CIM Systems 5 th edition Example 2-5 Example 2-6 Example 2-7

48. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-examples James A. Rehg Introduction to Robotics in CIM Systems 5 th edition Example 2-8 Example 2-9 Example 2-10 Example 2-11 Example 2-12

49. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Figure 2-examples James A. Rehg Introduction to Robotics in CIM Systems 5 th edition Example 2-13 Example 2-14 Example 2-15

50. Copyright ©2003 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. Assignments Chapter 2 Chapter 2 Homework: Homework: Questions: 1, 2, 6, 9, 10, 17, 18, 19, 25, 37(1 ex. ea. [5 pts. Ea.] Questions: 1, 2, 6, 9, 10, 17, 18, 19, 25, 37(1 ex. ea. [5 pts. Ea.] Problems: 1, 3, 5, 8, 10, 11, 13, 18 [10 pts. Ea.] Problems: 1, 3, 5, 8, 10, 11, 13, 18 [10 pts. Ea.] Projects: N/A Projects: N/A Chapter 3 - Read for next class Chapter 3 - Read for next class James A. Rehg Introduction to Robotics in CIM Systems 5 th edition