Upload
hoangnhi
View
259
Download
4
Embed Size (px)
Citation preview
Lecturer :Engr. Khairuddin bin Osman
A/3-40, 06-5552142
Faculty :Faculty of Electronic & Computer Engineering
INDUSTRIAL ROBOTICS
Chapter 1:
“Introduction to Industrial Robotics”
1BENE 4123
BENE 4123 2
r Wheeled mobile robot
r Legged mobile robot
ü Industrial robot Manipulator
Which Robot
BENE 4123
Course ObjectiveBy the end of this course, you should be able to:
• Illustrate the anatomy of industrial manipulator and solve the manipulator coordinate mapping and transformation.
• Analyze kinematics parameters of industrial manipulator and solve its forward kinematics.
• Analyze and solve the inverse kinematics of industrial manipulator.• Analyze robot’s dynamics which include modeling and solving of
simple joint velocities, forces and torques.• Design and analyze simple manipulator controller based on several
techniques.• Categorize the design based on sustainable development criteria. • Prepare course assignment and present technical findings both orally
and in writing.
3
BENE 4123 4
Topics
• Introduction, Manipulator Anatomy Coordinate Mapping and Transformation (4 weeks)
• Manipulator Kinematics (2 weeks)• Inverse Kinematics (2 weeks)• Manipulator Dynamics (2 weeks)• Trajectory Generation (1 weeks)• Robot Control System (1 week)
BENE 4123 5
Reference
[1] J.J. Craig, Introduction to Robotics: Mechanics and Control, 3rd Edition, Upper Saddle River, NJ, Pearson Prentice Hall,2005.
[2] Man Zhihong, Robotic, 2nd Edition, Singapore, Pearson Prentice Hall, 2005.
[3] Mikell P. Groover, Automation, Production Systems and Computer-Integrated Manufacturing, 3rd Edition, Upper SaddleRiver, NJ Pearson Prentice Hall, 2008.
BENE 4123 6
Course Evaluatio n
Final Exam 50 %Assignment x 2 20 %Test x 2 30%
TOTAL 100 %
Lab Sessions: BENE 4771 Industrial Electronics Lab 3
BENE 4123 7
Prerequisite Skill
Knowledge and skill needed to excel in thiscourse:• Matrix calculations• Trigonometric manipulation• Visualize in 3 dimensions• Good teamwork skill especially among group members
Industrial Robot Defined
A general-purpose, programmable machine possessing certainanthropomorphic characteristics• Why industrial robots are important:
– Robots can substitute for humans in hazardous work environments
– Consistency and accuracy not attainable by humans– Can be reprogrammed– Most robots are controlled by computers and can
therefore be interfaced to other computer systems
8BENE 4123
BENE 4123 9
What is a Manipulato r?
• Japan Industrial Robot Association (JIRA):‘A machine that functions similar to human limbs and moves objects spatially’
• Locally, even SMI are using manipulators for:Ø Material handling – loading & unloadingØ AssemblyØ Processing – welding, spray paintingØ Inspection etc
BENE 4123 10
Advantages
Qualitative:ü Robot’s accuracy and repeatability à consistent quality% Accuracy & repeatability ≠ quality. Why?ü Productivityü Flexibility (vs fixed automation): product mix, production
schedule and volumeü Human safety – avoiding hazardous material, product,
process or working environment
BENE 4123 11
(?) Cost:(based on longer term of robot life)ü Labor and human resource developmentü Reduce material consumptionsü Reduce rejects and scrapü Reduce Work-In-Process inventoryü Increase production capacityü Increase productivity
Advantages
BENE 4123 12
Cost:§ Manipulator and accessories§ Specialized tools§ Installation§ Layout changes§ Maintenance§ Safety equipment§ Training§ Robot programming and control
Disadvantages
BENE 4123 13
Conclusion: Check Outcome
• List 3 general application of manipulator.• List 3 advantages of using a manipulator in manufacturing.• List 3 disadvantages of using a manipulator in
manufacturing.• What is the difference between accuracy and repeatability?• Do we always get excellent quality with high accuracy and
repeatability? Explain.