1. CHAPTER 2:COMPONENTS & CLASSIFICATION OF ROBOTSAUTOMATION

2. Learning Outcomes:Upon completion this chapter, student should beable:-1. Explain the common major components ofindustrial robot automation2. Explain classification of robots automation 3. Contents1. Common major components of industrial robotautomation2. Classification of robots automation 4. Components of Industrial RobotAutomation Controller Manipulator Actuator End Effector Sensor 5. Controller Connected to a computer Controller function as the brain of the robot Controller also allows the robot to be networked toother systems. Robot have controller that are run by programme set ofinstruction written in code. 6. Manipulator Robot arm come in all shapes and size The arm is the part of the robot that positions the end-effectorand sensors Many resemble human arm and have shoulder, elbow,wrist, even fingers A simple robot arm with 3 degrees of freedom couldmove 3 way; up and down, left and right, forward andbackward. 7. Actuator actuator is a mechanism used to drive the processor toallow it to move to a predetermined point. consists of components such as pneumatic andhydraulic cylinders, pneumatic and hydraulic rotarymotor, and the electric motor. robot position also depends on the combination ofthese components. The robot has a simple movement is driven by amechanical system that uses a cam. 8. End -Effector Connected to the robot arm. It could be a tool such as a gripper, a vacuum pump,hook, scoop and etc. Some robots can change end-effectors and beprogrammed for a different task. If robot has more than one arm, there can be morethan one end-effector on the same robot. 9. Sensor Sensor can provide feedback to the control systemsand give the robots more flexibility Sensor such as visual sensor are useful in the buildingof more accurate and intelligent robots Sensor can be classified as follows: Position sensor Range sensor Velocity sensor Proximity sensor 10. Classification Of RobotsAutomationThere are 6 types of robot : Cartesian/Gantry Robot Cylindrical Robot Spherical/Polar Robot SCARA Robot Articulated Robot Parallel Robot 11. Cartesian Robot It used for pick and place work, application of sealant,assembly operation, handling machine tools and arcwelding This arm robot has three prismatic joints, whose axesare coincident with a Cartesian coordinator X =horizontal, left and right motions Y = vertical, up and down motions Z = horizontal, forward and backward motions 12. Cylindrical Robot It used for assembly operations, handling at machinetools, spot welding and handling at die-castingmachines This robot axes form a cylindrical coordinate system X = horizontal rotation of 360, left and right motions Y = vertical, up and down motions Z = horizontal, forward and backward motions 13. Spherical/Polar Robot Used for handling at machine tools, spot welding, die-casting,fettling machines, gas welding and arcwelding. Robot axes form a polar coordinate system. X = horizontal rotation of 360, left and right motions Y = vertical rotation of 270, up and down motions Z = horizontal, forward and backward motions 14. SCARA Robot SCARA (Selective Compliant Assembly Robot Arm) Used for pick and place work, application of sealant,assembly operations and handling machine tools This robot has 2 parallel rotary joints to providecompliance in a plane 15. Articulated Robot Used for assembly operations, die-casting, fettlingmachines, gas welding, arc welding and spray painting This robot arm has at least 3 rotary joints X = horizontal rotation of 360 left and right motions Y = vertical rotation of 270, up and down motions Z = horizontal & vertical rotation of 90 to 180, forwardand backward motions 16. Parallel Robot This robot is used for mobile platform handlingcockpit flight simulators This robot arm has concurrent prismatic or rotaryjoints 17. THANK YOU