mekanisme robot - 3 sks (robot mechanism) · mekanisme robot - 3 sks (robot mechanism) ... c.250...

02/10/2016

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Mekanisme Robot - 3 SKS

(Robot Mechanism)

Latifah Nurahmi, PhD

!! [email protected] !!

First Term - 2016/2017

C.250

Mekanisme Robot (Robot Mechanisms) by Latifah Nurahmi 2

About the class

Lab work 1 : 20%

UTS : 30%

Lab work 2 : 20%

UAS : 30%

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Class Schedule

1+2• Introduction of robotics and transformations

3+4• Position analysis of serial manipulators

5+6• Jacobian analysis of serial manipulators

7• Lab work 1 – Serial manipulators

8• Mid exam (UTS)


Class Schedule

9+10• Position analysis of parallel manipulators

11+12• Jacobian analysis of parallel manipulators

13+14• Design of parallel manipulators

15• Lab work 2 – Parallel manipulators

16• Final exam (UAS)

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References

1. Lung-Wen Tsai. Robot Analysis: The Mechanics of Serial and Parallel Manipulators. John Wiley and Sons, Inc. 1999.

2. Xianwen Kong and Clément Gosselin. Type Synthesis of Parallel Mechanisms. Springer-Verlag Berlin Heidelberg, Vol 33. 2007.

3. Jorge Angeles. Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithm. Springer Verlag New York, 2nd edition. 2003.


Robot terminology

Robot :« any anthropomorphicmechanical system beingbuilt to do routine manual work for humanbeings »

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Robot terminology

Robot : « a re-programmable multi-functionalmanipulator designed to move material, parts, tools, or specialized devices, through variable programmed motions for variety of tasks »


Lil history of robotics

The word « ROBOT » entered English vocabulary in 1923s

Actual development of robot was in 1940s

Initial purpose was because hazardous environments

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Types of robot


Humanoid robots

Anthropomorphic mechanical system

Still in research

Nao robot - France ASIMO Honda - Japan

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Mobile robots

Automatic machine/mechanical system that is capableof locomotion.

Tank Robot


Mobile robots

Gekko RobotWater snake Robot

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Mobile robots

Boston Dynamics MITRolling Robot


Industrial robots

Typical manipulator

Having fixed part and moving part

Application:

1. Surgical operation 4. Packaging

2. Flight simulator 5. Assembly line

3. Machining / manufacturing 6. etc

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Industrial robots

Cable driven robotFlight simulatorUsing six cables

Machining / manufacturingParallel manipulatorsSprint Z3


Industrial robots

Surgical robotParallel ManipulatorDavinci robot

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Industrial robots

Packaging (Pick and Place)Parallel ManipulatorDelta robotABB Sweden

Assembly line Serial ManipulatorsKUKA robotABB Sweden


Classifications of Industrial Robots

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By degrees of freedom (DOF)

Stewart-gough platform(6-DOF)

Lower-mobility manipulator(n < 6) - DOF



By kinematic structures

Parallel structures(Closed-loop mechanism)

Serial Structures(Open-loop mechanism)

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By motion type (motion pattern)

3-RRR parallel manipulatorPlanar motion (2T1R)

Spherical motion (3R)



By workspace geometry

Cartesian robot(gantry robot) SCARA (3T1R)

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Spherical robot Cylindrical robot




Anthropomorphic robot- All R-joints

- Joint 1 ⊥ Joint 2

- Joint 2 ⃦ Joint 3

- 3-axis spherical wrist

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Sense of Mechanisms

What is « kinematic chain » ?

What is a « Mechanism » ?

What is « Machine » ?

What is « DOF » ?

What is « Link » ?

What is « Joint » ?


Sense of Mechanisms

Kinematic link: assemblage of links connected by

joints.

Open-loop chain and closed loop chain.

Mechanism: when one of the links in kinematic chain is

fixed.

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Sense of Mechanisms

Mechanism used only for motion transmission

Machine used to transform external energy into

a useful work

DOF (Degree Of Freedom)

6 in space 3 rotations and 3 translations


Assignment

Mention types of joints, its dof, and its motion type

Find one parallel manipulator and its application

Describe that parallel manipulator is composed of

how many leg (kinematic chain), how many joint and

what type of joint used!

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Degrees of Freedoms (DOF)

X Y

Z

3 Rotations3 Translations=6 DOF


Types of Joints

S

E

C

R

P

H

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Motion type (Motion pattern)

Planar motion: 2T1R (2 x,y translations + 1 z rotation)

Schoenflies motion: 3T1R (3 translations + 1 rotation)

Spherical motion: 3R (3 rotations about a fixed point or fixed

axis)

etc


Workspace

Workspace: volume of space that can be reached by the EE

(End-Effector)

Reachable workspace: every point in the volume of space

that can be reached by the EE in at least one orientation.

Dextrous workspce: every point in the volume of space that

can be reached by the EE in all possible orientations.

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Workspace


Industries

Manual production: slow, low consistency, low quality

(few)

Hard automation: faster, more precise, high retooling set

(much)

Flexible automation: less time to set up

(average)

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Worldwide statistics

At the end of 2011, total of industrial robots used ~ 1.150.000 – 1.400.000 units

- Europe = 352.000- Japan = 300.000- North America= 200.000- Germany = 163.000- S.Korea = 124.000- China = 100.000- Italy = 61.000- France = 34.000- Spain = 30.000- UK = 14.000

Japan and S.Korea have the highest « Robot density » , 340 robots/10.000 employees

- Anthropomorphic, Total= 67%- Cartesian, Total= 19%- SCARA, Total= 9%- Cylindrical, Total= 4%

mekanisme robot - 3 sks (robot mechanism) · mekanisme robot - 3 sks (robot mechanism) ... c.250...

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