Download - Industrial Robots
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Industrial Robots
Hanieh Borhan Azad
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Industrial Robotics
Section1:
1. Robot Anatomy
2. Robot Control Systems
3. End Effectors
4. Robot Programming
Section2:
5. Powder coating process
6. Painter robot
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Industrial Robot Defined
A general-purpose, programmable machine possessing certain anthropomorphic characteristics
Hazardous work environments Repetitive work cycle Consistency and accuracy Difficult handling task for humans Multishift operations Reprogrammable, flexible Interfaced to other computer systems
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Robot Anatomy Manipulator consists of joints and links
Joints provide relative motion Links are rigid members between
joints Each joint provides a “degree-of-
freedom” Most robots possess five or six
degrees-of-freedom Robot manipulator consists of two
sections: Body-and-arm – for positioning of
objects in the robot's work volume Wrist assembly – for orientation of
objects
BaseLink0
Joint1
Link2
Link3Joint3
End of Arm
Link1
Joint2
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number of axes
4-axis 6-axis
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Manipulator Joints
Linear joint
Orthogonal joint
Rotational joint
Twisting joint
Revolving joint
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Category of industrial robots
On the basis of coordinate system, robots can be classified as
1. Cartesian or rectangular robots 2. Cylindrical robots 3. Spherical or polar robots 4. Revolute or articulated robots
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Cartesian Coordinate Body-and-Arm Assembly
Consists of three sliding joints, two of which are orthogonal
Other names include rectilinear robot and x-y-z robot
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Cylindrical Body-and-Arm Assembly
Consists of a vertical column, relative to which an arm assembly is moved up or down
The arm can be moved in or out relative to the column
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Polar Coordinate Body-and-Arm Assembly
Consists of a sliding arm actuated relative to the body, which can rotate about both a vertical axis and horizontal axis
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Articulated Robot
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SCARA Robot
SCARA stands for Selectively Compliant Assembly Robot Arm
vertical axes are used for shoulder and elbow joints to be compliant in horizontal direction for vertical insertion tasks
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Joint Drive Systems
Electric Uses electric motors to actuate individual joints Preferred drive system in today's robots
Hydraulic Uses hydraulic pistons and rotary vane actuators Noted for their high power and lift capacity
Pneumatic Typically limited to smaller robots and simple material
transfer applications
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Robot Control Systems
Limited sequence control – pick-and-place operations using mechanical stops to set positions
Playback with point-to-point control – records work cycle as a sequence of points, then plays back the sequence during program execution
Playback with continuous path control – greater memory capacity and/or interpolation capability to execute paths (in addition to points)
Intelligent control – exhibits behavior that makes it seem intelligent, e.g., responds to sensor inputs, makes decisions, communicates with humans
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End Effectors
The special tooling for a robot that enables it to perform a specific task
Two types: Grippers – to grasp and manipulate
objects (e.g., parts) during work cycle
Tools – to perform a process, e.g., spot welding, spray painting
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Grippers and Tools
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Robot Programming
Lead through programming Work cycle is taught to robot by moving the
manipulator through the required motion cycle and simultaneously entering the program into controller memory for later playback
Robot programming languages Textual programming language to enter
commands into robot controller
Simulation and off-line programming Program is prepared at a remote computer
terminal and downloaded to robot controller for execution without need for lead through methods
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Powder Coating Robots
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Powder Coating Process
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Painter Robots
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IRB 5400 :Slim and fast paint robot The IRB 5400 has a flexible wrist, a large work envelope and a slim horizontal arm, suitable for interior painting and for coating complex parts.
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Work Envelope
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IRB 5400
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IRB 5400 ABB
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Painter Robots
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Asks and Comments