Ch1.Introduction Into Robotics

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Fakulti Kejuruteraan MekanikalUniversiti Teknologi MARA

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KJP626 / MEM665 Robotics & Automation

Introduction into Robotics

Credit: Dr Hanafiah Yussof

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What „robots“ mean in practise:

NC (Numerical control) handling machine.

What the layperson understands by „robots“:

Automata, which recreates the behaviour of animals and humans.

The notion „Robot“

Source: SONY, UNIVERSITY OF BRISTOL, JUSTAPI, FREI TECHNIK + SYSTEMEVL_CIM_2_Kapitel_6.ppt/Der Begriff Roboter/DN/04.12.2007

CIM2_2_3_Der Begriff Roboter_Grafik1.psd

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1. A robot may not injure a human being or, through inaction, allow a human being to come to harm.

2. A robot must obey any orders given to it by human beings, except where such orders would conflict with the First Law.

3. A robot must protect its own existence as long as such protection does not conflict with the First or Second Law.

In 1942, Isaac Asimov introduced three laws of robotics

The Law of „Robot“

Isaac Asimov (1919-1992)Professor in Biochemistry and Science Fiction writer

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A robot is a mechanical device that acts as a virtual machine. The word robot can include both physical machine and virtual software. Various types of robots are in use today like: industrial robots, entertainment robots, robots use in space, toy robots, agricultural robots, and domestic robots etc.

Types of Robot

The Various types of robots can be categorized on the basis of:• Degree of autonomy: Stationary, ground, underwater, aerial, microgravity• Industry or field where used: Industrial robots, agricultural robots, telerobots, service

robots, mobile robots• Goal they are designed to fulfill: Contest, personal use, manufacturing, entertainment,

research, rescue

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Reasons for using industrial robots

Humanization of work(Heat, Noise, Dirt, Toxic, Load, Monotony)

Lowering of costs(Lowering of piece costs despite increasing of fixed costs)

Improvement of quality (Continuation of quality, Reproducibility, Process capability)

Increase in quantitative performance (higher demand, higher market share, lower fixed costs)

Extension of machine running time(Breaks, 2./3. coating, less supervision in operating zone)

VL_CIM_2_Kapitel_6.ppt/Gründe für Einsatz von Industrierobotern/DN/04.12.2007

Source: WITT, 2004

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Market overview: Robotics and Automation

Worldwide installed robots 2006

Source: IFR WORLD ROBOTICS, KUKA, 2007

150.725North America16 %

132.967Others14 %

60.049Italy19 %

32.110France10 %

26.008Spain8 %

64.863Others21 %

351.658Japan37 %

Industrial robots in Germany2005 2006 2007 * 2010 *

Total number 126.294 132.594 137.900 147.400

New installations 10.075 11.425 12.700 13.000

* Forecast (Status 2007)

132.594Germany42 %

315.624Europe33 %

VL_CIM_2_Kapitel_6.ppt/Marktübersicht: Robotik und Automation/DN/04.12.2007

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What are robots good at?

• What is hard for humans is easy for robots.– Repetitive tasks.– Continuous operation.– Do complicated calculations.– Refer to huge data bases.

• What is easy for a human is hard for robots. – Reasoning.– Adapting to new situations.– Flexible to changing requirements.– Integrating multiple sensors.– Resolving conflicting data.– Synthesizing unrelated information.– Creativity.

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What tasks would you give robots?

Dangerous• Space exploration• chemical spill cleanup• disarming bombs• disaster cleanup

Boring / repetitive• welding car frames• part pick and place• manufacturing parts

High precision / high speed• electronics testing• surgery• precision machining

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Terms and Definitions

• Degree of Freedom (DOF) = the number of joints

– Typically, a manipulator should have at least 6 DOF -3 for positioning and 3 for orientation, in order to reach each point in its workspace with an arbitrary orientation.

– More than 6 DOF => kinematically redundant manipulator (to reach around obstacles).

• Joint rotation description: Yaw, Pitch, Roll

• The workspace of a manipulator is the total volume swept out by the endeffector as the manipulator executes all possible motions.

• A robotic system consists of the arm, external powers source, end-of arm tooling, external and internal sensors, and computer control (hardware and programmed software).

Joint Rotation

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Components of Robot Manipulators

• Robot manipulators (or robot arms) are composed of links connected by joints into an open kinematic chain.

• Due to mechanical design consideration, manipulators are generally constructed from joints which exhibit just one degree of freedoms.

• Most robot manipulator have revolute joint or prismatic joint (sliding joint).

• Other types of joint: Cylindrical, planar, screw and spherical

Revolute Joint Prismatic Joint

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Symbolic Representation of Robot Joints

Revolute joints

Prismatic joints

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Work Space

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Types of Robot Manipulators

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Elbow Manipulator (RRR)Example: PUMA

Structure Workspace

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Revolute Type Configuration (RRR)

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Revolute Type Configuration (RRR)

• Revolute manipulator is also called articulated or anthromorphic manipulator. These type of robot resembles human arm. Two common revolute designs are the elbow type manipulator such as the PUMA and the parallelogram linkage such as the Cincinnati Milacron T3 735.

• Advantages:- 3 rotating, axes- Can reach above or below obstacles- Largest work area for least work space- Two or four ways to reach a point

• Disadvantages:- Difficult to program off-line- The most complex manipulator

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Spherical Manipulator (RRP)Example: Stanford Manipulator

Structure Workspace

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Spherical Type Configuration (RRP)

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Spherical Type Configuration (RRP)

• The first two joints of this type of manipulators are revolute, while its third Joint is prismatic.

• Advantages:- 1 linear axis, 2 rotating axes- Long horizontal reach

• Disadvantages:- Cannot reach around obstacles- Generally has short vertical reach

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SCARA (Selective Compliant Articulated Robot for Assembly) (RRP), Example: AdeptOne

Structure Workspace

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SCARA Type Configuration (RRP or PRR)

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SCARA Type Configuration (RRP or PRR)

• The word SCARA stands for Selective Compliant Articulated Robot for Assembly. There are two type of SCARA robot configuration: either the first two joints are revolute with the third joint as prismatic, or the first joint is revolute with the second and third Joints as prismatic.

• Advantages: - 1 linear axis, 2 rotating axes- Height axis is rigid- Large work area floor space- Can reach around obstacles- Two ways to reach a point

• Disadvantages:- Difficult to program off-line- Highly complex arm

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Cylindrical Manipulator Configuration (RPP) Example: GMF M-100

Structure Workspace

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Cylindrical Type Configuration (RPP)

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Cylindrical Type Configuration (RPP)

• For cylindrical type manipulator, its first joint is revolute which produces a rotation about the based, while its second and third joints are prismatic.

• Advantages:- 2 linear axes, 1 rotating axis- Can reach all around itself- Reach and height axes rigid- Rotational axis easy to seal.

• Disadvantages:- Cannot reach above itself- Base rotation axis is less rigid than a linear axis- Linear axes hard to seal- Will not reach around obstacles- Horizontal motion is circular

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Cartesian Manipulator (PPP) Example: Gantry Robot Cincinnati Milatron T3

Structure Workspace

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Cartesian Type Configuration (PPP)

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Cartesian Type Configuration (PPP)

• Manipulator whose first three joints are prismatic are known as a Cartesian manipulator.. Cartesian manipulator are useful for table-top assembly applications and, as gantry robots for transfer of material and cargo

• Advantages:- 3 linear axes- Easy to visualize - Rigid structure- Easy to program off-line- Linear axes make for easy mechanical stops

• Disadvantage:- Can only reach in front of itself- Requires large floor space for size of work envelop- Axes hard to seal

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Grippers

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Applications of Robots

Main application area of robot manipulators: Manufacturing

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Applications of Robots

Main application area of robot manipulators: Manufacturing

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Other Application Areas

• Decommissioning of nuclear waste or other waste

• Decommissioning of land mines

• Deep sea exploration

• Space exploration

• Support of the disabled (feeding devices, prosthetics)

• Inspection of waste and water pipes

• Tele-robotics

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ARA Jazakumullah

kairan kathira

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Ch1.Introduction Into Robotics

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