2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]
Industrial Robots –Basics, structure and
programming
BERUFLICHE SCHULEN DES UNSTRUT- HAINICH KREISES Elektrotechnik/ Mechatronik
Sondershäuser Landstraße 39, 99974 Mühlhausen, Germany
participant of: Leonardo da Vinci PARTNERSHIPS
CNC and Robotics Partnerships, CaRPs
11 Partners from Germany, Lithuania, Norway, Slovenia, Sweden
This presentation and related documents are prepared to use in the
context of our Partnership to give an example for teaching robotics in
a basic level.
Any reproduction, copying, changes or dissemination of any kind,
including extracts, is prohibited and requires the explicit and written
authorization of the author.
Robotics as an applied science and part of an
interlinked education
2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]
Find an example in robotics for each topic!?
2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]
Translate into your native language and find a
synonym for each fact or explain in written
form.
?
Online search is recommended !
2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]
Industrial robot
continuous pathManually
controlled
Welding 6 axes
arm
Scara
Automatically
controlled
Master-slave
device
Teleoperator
Crane
Pick and place
device
PLC with pneum.
cylinders
Industrial robot
point to point
? Make connections from the right side to the left !
Online search is recommended !
2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]
Nr. Argument ����
1 Increasing product variety is difficult for robots!
2 Shorter flow-through times in the production process by automation?
3 The robot should only do dirty jobs. We have qualified employees!
4 We need a high and constant quality level. Handmade is much better!
5 We need an automation system to reduce our total costs!
6 Unemployment is mainly caused by automation and robotics!
7 We have lower set-up times since we started using robots!
8 We have unadjusted parts to handle. No problem for robots!
9 Application of robots is also worth it for limited quantities.
10 Robots allows fast adaptation to market requirements.
?
2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]
Kinematic describes the kinds of movement, the number and arrangement of the
axes with length and limits and as a result the 3D working envelope.
The shapes of the bodies of the workspaces are simplified
!
2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]
Combine exactly three axes, rotational (R) and/ or translatoric (T) axes to generate
a cylindrical, spherical and cuboidal workspace. Sketch your results in a carthesian
coordinate system with 3 axes. Use the symbols below.
x
y
z
Symbols for rotational axes
Symbols for translatoric axes
?
2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]
Most industrial robots will be divided into three major categories. They are
characterized by the kinematic of the three main axes.
ScaraJointed arm robots
Gantry robots
RRT
RRR
TTT
!
Foto: Stäubli TS 80 Scara
www.staubli.com
International AG, Pfäffikon, CHFoto: Kuka KR 30-3
www.kuka.com
KUKA Roboter GmbH, Augsburg, D
Foto: Skilled ant 101
www.franpack.biz
FRANPACK Intralogistik GmbH, Lützelbach, D
2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]
Technical term Explanation Native language
Scara
DOF
Repeatability
Rated payload
Jointed arm
TCP
Inertia
Jog mode
Gantry
External axis
?
2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]
2 degrees of freedom:
Each point in a plain is reachable ,
but no feed movement is possible
x
y
z
x
y
3 degrees of freedom:
Each point in a space is reachable ,
but not under a specific angle
!
2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]
4 degrees of freedom:
Each point in a space is reachable,
and a rotation in only one plain.
Example: Scara robots
x
yz
x
y
6 degrees of freedom:
Each point in a space is reachable
with every orientation of a body but
each point under any angle is also
reachable.
!
z z
Most industrial
robots, jointed
robot arms, have
got five or six
axes.
2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]
1. What is the interrelation
between number of axes and
degrees of freedom?
2. How many degrees of
freedom do robots with seven
axes have?
3. Why is it in reality that the
reachability of positions is
limited?
4. You read on a data sheet from
an external axis. What does it
mean?
?
Online search is recommended !
Bild: KUKA Roboter GmbH, Augsburg, D, www.kuka.com
2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]
Thank you for your attention!
Any Questions?
2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]
Dipl.-Ing.(FH) Sandro Sterz
Elektrotechnik / Automatisierungstechnik
Berufliche Schulen des Unstrut Hainich Kreises
Sondershäuser Landstraße 39
99974 Mühlhausen
Germany
Phone: 03601/ 450-103
Fax: 03601/ 450-112
mail: [email protected]
I am always open for questions and ideas –
don't hesitate to contact me