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  Lovely ProfessionalUniversity

2010

 Term Paper of Kinematics of 

Machines (MEC 202)

Submitted By – Saket Brij Sinha

Section – B4911

Roll No. – B34 Group-G2

Class- B. Tech. (M. E.)

Saket Sinha

Submitted To: - Mr. Varun

Sharma

8/8/2019 Draw the Diagram of Links and Mechanism of Different Types of Robots Uesd in Manufacturing.

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Topic: - Draw the diagram of mechanisms with links

present in different types of 

robot used formanufacturing purpose.

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 Acknowledgement 

I, Saket Sinha would like to

thank my teacher Mr.Varun Sharma . Inspire meto work on the topic Drawthe diagrams of mechanismwith links present in

different types of robot usedin manufacturing purpose.

He encouraged me to makethe term paper on the above

mentioned topic. I will neverforget his support and wordsof wisdom.

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8/8/2019 Draw the Diagram of Links and Mechanism of Different Types of Robots Uesd in Manufacturing.

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I am also thankful to allfaculty members and non

teaching staff of thisuniversity who directly orindirectly help me on thisterm paper...I am alsothankful to my friends fortheir patience and supportextended to me all the times.

Finally, I take thisopportunity to extend my 

deep appreciation to my   parents for their blessingsand all that they meant tome during the crucial timesof the completion of my  project.

Industrial Robot

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A Robot comes from the Czech word robota, meaningdrudgery or slave-like labor.

"A reprogrammable, multifunctional manipulator designed to move

material, parts, tools, or specialized devices through various programmed motions for the performance of a variety of tasks"

An industrial robot is officially defined by ISO as anautomatically controlled, reprogrammable, multipurposemanipulator programmable in three or more axes. Thefield of robotics may be more practically defined as thestudy, design and use of robot systems for manufacturing(a top-level definition relying on the prior definition of robot ). Most robots are designed to be a helping hand.

  They help people with tasks that would be difficult,unsafe, or boring for a human to do.

 Typical applications of robots include welding, painting,assembly, pick and place, packaging and palletizing,product inspection, and testing, all accomplished withhigh endurance, speed, and precision.

Area of Manufacturing where Robots are 

used: - 

Aerospace

Automotive manufacturing and supply

Chemical, rubber and plastics manufacturing

Electrical and electronics

Entertainment-movie making

Food stuff and beverage manufacturing

Glass, ceramics and mineral production

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8/8/2019 Draw the Diagram of Links and Mechanism of Different Types of Robots Uesd in Manufacturing.

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Printing

Wood and furniture manufacturing

Specific Robotic Tasks in Manufacturing:- 

Assembling products

Handling dangerous materials

Spraying finishes

Inspecting parts, produce, and livestock

Cutting and polishing

Welding 

Advantage of Robotics:- 

Competitive Advantage

Robots can do some things more efficiently andquicker than humans.

Mechanical

Robots never get sick or need to rest, so theycan work 24 hours a day, 7 days a week.

Greater output per hour with consistent quality

Continuous precision in repetitive operation

Robots don't get bored, so work that is repetitiveand unrewarding is no problem.

Robot Types:- 

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8/8/2019 Draw the Diagram of Links and Mechanism of Different Types of Robots Uesd in Manufacturing.

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  The most commonly used robot configurations arearticulated robots, SCARA robots and Cartesian coordinate robots, (aka gantry robots or x-y-z robots). Inthe context of general robotics, most types of robots

would fall into the category of  robotic arms (inherent inthe use of the word manipulator  in the above-mentionedISO standard). Robots exhibit varying degrees of autonomy:

• Some robots are programmed to faithfully carry outspecific actions over and over again (repetitiveactions) without variation and with a high degree of 

accuracy. These actions are determined byprogrammed routines that specify the direction,acceleration, velocity, deceleration, and distance of aseries of coordinated motions.

• Other robots are much more flexible as to theorientation of the object on which they are operatingor even the task that has to be performed on theobject itself, which the robot may even need to

identify. For example, for more precise guidance,robots often contain machine vision sub-systemsacting as their "eyes", linked to powerful computersor controllers. Artificial intelligence, or what passesfor it, is becoming an increasingly important factor inthe modern industrial robot.

Many different variations of robots are available for use inindustrial applications and are used to carry out repeated

actions highly accurately and without variation. Robotsrequire a control program to govern its velocity, direction,acceleration, deceleration and distance of movement atany time.

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An Industrial robot consists of several links connected inseries by linear, revolute or prismatic joints. At one endthe robot will be fixed to a supporting base while theother is manipulated into position and equipped with a

tool allowing it to perform a task.

Industrial robots are composed of the following parts:-

• Controller : - A processing unit is connected to everyindustrial robot to regulate robot components,provide system networking, dynamic user controland program/teach.

•  Arm : -  This is the main moving part of the robotwhich is manipulated to deliver the end effector tothe correct location.

• Drive : -   The source of power to the armmotors/pumps.

• End Effector : - The device on the end of the robotwhich is suitably equipped with tools required toperform a specific task once the arm has delivered itto the correct position. i.e., grippers, scalpel, spray

gun, vacuum or even a vision camera.• Sensors : - Relay information about axis position,

end effector orientation and surroundingenvironment.

 There are a number of parameters which describe a robot

as follows:-• Number of Axis : -  Two axis are required to reach

any point in a plane (x,y) and three axis are requiredto reach any point in space (x,y,z). Further axis of 

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roll, pitch and yaw are required to control theorientation of the end of the robot.

• Kinematics (Motion) :- The physical arrangement of rigid members and joints in the robot defining its

possible motions.• Working Envelope : -  The region of space within

physical reach of the robot.• Carrying Capacity : - How much weight a robot can

lift or move.• Speed : - How quickly the robot can position itself as

required.•  Accuracy : - How closely the robots position can be

achieved.• Motion Control  : - Whether a robot need repeatedly

move between pre-programmed positions as it seesbest or be continuously controlled in orientation andvelocity to follow a predetermined path in space.

• Power Source : - Be it electric motors or hydraulicactuators.

• Drive : - Motors can be geared to the joints or direct

drive.

 The robot can be controlled in three modes:-

•  Joystick Path Following : - The operator controls

the head of the robot and the controller computesthe wire tensions required to make the body followthe path of the head.

• Cartesian Tip Motion : - The operator moves in theCartesian Coordinate Space taking care that the

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body of the robot does not hit any obstaclespreviously passed by the head.

•   Joint Mode : - The operator can independentlycontrol the robots individual joints to fine tune a

position or camera view.

Articulated Robot

An articulated robot is a robot with rotary joints (e.g. alegged robot or an industrial robot). Articulated robots

can range from simple two-jointed structures to systemswith 10 or more interacting joints. They are powered by avariety of means, including electric motors.

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8/8/2019 Draw the Diagram of Links and Mechanism of Different Types of Robots Uesd in Manufacturing.

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SCARA

  The SCARA acronym stands for Selective CompliantAssembly Robot Arm or Selective Compliant ArticulatedRobot Arm.

In 1981, Sankyo Seiki, Pentel and NEC presented acompletely new concept for assembly robots. The robotwas developed under the guidance of Hiroshi Makino, aprofessor at the University of Yamanashi. The robot wascalled Selective Compliance Assembly Robot Arm, SCARA.

Its arm was rigid in the Z-axis and pliable in the XY-axes,which allowed it to adapt to holes in the XY-axes.[1]

By virtue of the SCARA's parallel-axis joint layout, the armis slightly compliant in the X-Y direction but rigid in the ‘Z’direction, hence the term: Selective Compliant. This is

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8/8/2019 Draw the Diagram of Links and Mechanism of Different Types of Robots Uesd in Manufacturing.

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advantageous for many types of assembly operations,i.e., inserting a round pin in a round hole without binding.

 The second attribute of the SCARA is the jointed two-link

arm layout similar to our human arms, hence the often-used term, Articulated. This feature allows the arm toextend into confined areas and then retract or “fold up”out of the way. This is advantageous for transferring partsfrom one cell to another or for loading/ unloading processstations that are enclosed.

SCARA's are generally faster and cleaner thancomparable Cartesian systems. Their single pedestalmount requires a small footprint and provides an easy,unhindered form of mounting. On the other hand,SCARA's can be more expensive than comparableCartesian systems and the controlling software requiresinverse kinematics for linear interpolated moves. Thissoftware typically comes with the SCARA though and isusually transparent to the end-user.

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Cartesian coordinate Robot

A cartesian coordinate robot (also called linear robot) isan industrial robot whose three principal axes of controlare linear (i.e. they move in a straight line rather than

rotate) and are at right angles to each other. Amongother advantages, this mechanical arrangementsimplifies the Robot control  arm solution. Cartesian coordinate robots with the horizontal member supportedat both ends are sometimes called Gantry robots. Theyare often quite large.

A popular application for this type of robot is a computernumerical control machine (CNC machine). The simplestapplication is used in milling and drawing machineswhere a pen or router translates across an x-y planewhile a tool is raised and lowered onto a surface to createa precise design.

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Spherical or Polar Robot

Used for handling at machine tools, spot welding,

diecasting, fettling machines, gas welding and arc

welding. It's a robot whose axes form a polar coordinate

system.

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Cylindrical Robot

A Cylindrical Robot has two linear axis and one rotary axis

around its origin. Used for assembly operations, handlingat machine tools, spot welding, and handling at

diecasting machines. It's a robot whose axes form a

cylindrical coordinate system.

Picker / Delta Parallel Robots

 Picker or Delta Parallel Robots use three parallelogramsto build a robot with three translational and one rotationaldegree of freedom. The parallelograms ensure consistentorientation of one end of the arm with respect to theother, while the rotational axis is provided at the endeffector. As the arms are parallel with each other, the

weight of the load is distributed over all three arms andsimilarly any errors are averaged over the legs instead of built up as with serial robots. However the rotational andpositioning capabilities are closely linked complicates thedelivery and orientation of the end effector.

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Snake Arm Robots

Snake Arm Robots are flexible manipulators that get theirname from their ability to follow the front of the robotaround and through obstacles in a snake-like fashion.

 They gain access to areas otherwise in accessible to allowoperations such as inspection, welding and positioning totake place. They are constructed in much the same wayas the human spine via a number of interconnectedvertebrae. Drive wires are used like tendons, terminatingat different points along the length providing the ability topull the body in a certain direction, individually adjustingthe curvature of the section where the wire terminates.

 The length of the wires is controlled by a series of servo-actuators within the drive unit at the base of the robot

arm.

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Reference:-

• Robotics (Second Edition) by

Bez – Zion Sandler.

• Wikepedia

•

Britanica Encyclopedia• Google

• www.whereisdoc.com

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