RoboticsRobotics

Robots and RoboticsRobots and Robotics

The word robot was first used by The word robot was first used by Karel Capek in his 1921 play Karel Capek in his 1921 play “Rossum’s Universal Robots”. The “Rossum’s Universal Robots”. The word described perfect tireless word described perfect tireless workers. It was ironic and described workers. It was ironic and described the dehumanisation of societythe dehumanisation of society

Robotics is the science or technology Robotics is the science or technology of robots, their design, manufacture, of robots, their design, manufacture, application, and useapplication, and use

Industrial RobotsIndustrial Robots

Are reprogrammable, multifunctional Are reprogrammable, multifunctional manipulator designed to move manipulator designed to move materials, tools, or specialized materials, tools, or specialized devices, through variable devices, through variable programmed motions for the programmed motions for the performance of a range of tasksperformance of a range of tasks

Use of Robots in IndustryUse of Robots in IndustryToday most robots used are found in factories Today most robots used are found in factories and they are referred to as industrial robots. and they are referred to as industrial robots. Ten years ago, 9 out of 10 robots were being Ten years ago, 9 out of 10 robots were being bought by auto companies - now, less than 50% bought by auto companies - now, less than 50% of robots are bought by car manufacturers. of robots are bought by car manufacturers. Robots are used in warehouses, laboratories, Robots are used in warehouses, laboratories, research, energy plants, hospitals, space research, energy plants, hospitals, space exploration etc…exploration etc…Robots are a way business owners can be more Robots are a way business owners can be more competitivecompetitive

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Why robots and what can they do?Why robots and what can they do?

Robots never get sick or need to rest and can Robots never get sick or need to rest and can work 24 hours a day, 7 days a week. work 24 hours a day, 7 days a week. Useful when the task is dangerous for a Useful when the task is dangerous for a person. person. Robots don't get bored, so repetitive and Robots don't get bored, so repetitive and unrewarding work is no problem for a robot. unrewarding work is no problem for a robot. Spray Coating Spray Coating Assembling Operations Assembling Operations Material Removal (including bomb removal)Material Removal (including bomb removal)Cutting Operations Cutting Operations Part inspection, sorting, cleaning, polishing Part inspection, sorting, cleaning, polishing

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Types of RobotsTypes of RobotsRectangular/CartesianRectangular/Cartesian

CylindricalCylindrical

SCARA (Selective Compliance Assembly SCARA (Selective Compliance Assembly Robot Arm)Robot Arm)

Polar/SphericalPolar/Spherical

Jointed-arm or RevoluteJointed-arm or Revolute

General Components of an General Components of an Industrial RobotIndustrial Robot

Manipulator (end effectors)Manipulator (end effectors)– The part of the robot that performs the taskThe part of the robot that performs the task

ControllerController– Brain or computer center which coordinates Brain or computer center which coordinates

the robot’s movementsthe robot’s movements

Power supplyPower supply

VehicleVehicle– Used to move the robot on a track, free Used to move the robot on a track, free

wheels, treads, or some type of legs/feetwheels, treads, or some type of legs/feet

Robotic Power SourcesRobotic Power Sources

HydraulicHydraulic

PneumaticPneumatic

ElectricElectric

VacuumVacuum

Often a combination; the end-Often a combination; the end-effectors mostly pneumaticeffectors mostly pneumatic

Industrial Applications of RobotsIndustrial Applications of RobotsSpray PaintingSpray Painting

Parts TransferringParts Transferring

Small Parts AssemblingSmall Parts Assembling

Electronic AssemblingElectronic Assembling

Arc WeldingArc Welding

InspectingInspecting

Automated WarehouseAutomated Warehouse

SAFETYSAFETY

SS

AA

FF

EE

TT

YY

SAFETYSAFETYSS

AA

FF

EE

TT

YY

PENDANTPENDANT

Business Use of RobotsBusiness Use of Robots

Outer SpaceOuter Space

Under the OceanUnder the Ocean

MedicineMedicine

Promotion Promotion

SportsSports

Robots (1)Robots (1)Cartesian robotCartesian robot– Arm moves in 3 Arm moves in 3

linear axes. X,y,z linear axes. X,y,z axesaxesz

x

y

http://www.strobotics.com/

Robots (2)Robots (2)Cylindrical Cylindrical coordinates robotcoordinates robot– Arm rotates about Arm rotates about

the base, moves in the base, moves in and out, and up and and out, and up and downdown

Robots (3)Robots (3)SCARA RobotSCARA Robot– Rotates in 2 axes in Rotates in 2 axes in

the horizontal plane the horizontal plane and moves linearly and moves linearly up and downup and down

Robots (4)Robots (4)Joined-arm or Joined-arm or revolute-revolute-coordinates robotcoordinates robot– 3 axes rotational3 axes rotational

Multisensory Articulated Multisensory Articulated ManipulatorManipulator

Pros and Cons of 5 Robot TypesPros and Cons of 5 Robot TypesConfigurationConfiguration AdvantagesAdvantages DisadvantagesDisadvantages

Cartesian Cartesian coordinatescoordinates

3 linear axes, easy to 3 linear axes, easy to visualize, rigid structure, visualize, rigid structure, easy to programeasy to program

Can only reach front of Can only reach front of itself, requires large floor itself, requires large floor space, axes hard to sealspace, axes hard to seal

Cylindrical Cylindrical coordinatescoordinates

2 linear axes +1 rotating, can 2 linear axes +1 rotating, can reach all around itself, reach and reach all around itself, reach and height axes rigid, rotational axis height axes rigid, rotational axis easy to sealeasy to seal

Can’t reach above self, base Can’t reach above self, base rotation axis less rigid, linear rotation axis less rigid, linear axes hard to seal, won’t reach axes hard to seal, won’t reach around obstaclesaround obstacles

SCARA SCARA coordinatescoordinates

1 linear + 2 rotating axes, 1 linear + 2 rotating axes, height axis is rigid, large height axis is rigid, large work area for floor spacework area for floor space

2 ways to reach point, 2 ways to reach point, difficult to program off-line, difficult to program off-line, highly complex armhighly complex arm

Spherical Spherical coordinatescoordinates

1 linear + 2 rotating axes, 1 linear + 2 rotating axes, long horizontal reachlong horizontal reach

Can’t reach around Can’t reach around obstacles, short vertical obstacles, short vertical reachreach

Revolute Revolute coordinatescoordinates

3 rotating axes can reach 3 rotating axes can reach above or below obstacles, above or below obstacles, largest work area for least largest work area for least floor spacefloor space

Difficult to program off-line, Difficult to program off-line, 2 or 4 ways to reach a 2 or 4 ways to reach a point, most complex point, most complex manipulatormanipulator

LinksLinksMotoman: Motoman: http://http://www.motoman.comwww.motoman.com//

FAQ: FAQ: http://www.frc.ri.cmu.edu/robotics-faqhttp://www.frc.ri.cmu.edu/robotics-faq

Kuka: Kuka:

http://www.kuka-roboter.de/webc/re_engl/menu/html/produhttp://www.kuka-roboter.de/webc/re_engl/menu/html/produkte/roboter.htmlkte/roboter.html

ST Robotics: ST Robotics: http://http://www.strobotics.comwww.strobotics.com//