Robotics & Automation by M. Sreenivasa Reddy

7/21/2019 Robotics & Automation by M. Sreenivasa Reddy

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A presentation

on

Revised Syllabus

of

Elements of Mechanical Engineering (14 EME14 /24

!opic" Robotics and Automation#y

M$ Sreenivasa Reddy

%ept$ of Mechanical Engineering&

R$'$ alappa )nstitute of !echnology

%oddaballapur *+,1 2-.



Robotics: Introduction, Classifcation based

on robots confguration, Polar, Cylindrical,Cartesian coordinate and Spherical.

Application, Advantages and

Disadvantages.

Automation: Defnition, ypes!"i#ed,Programmable and "le#ible automation, $C %C$C machines: &asic elements 'ith simple

bloc( diagrams, Advantages andDisadvantages.



IntroductionIntroduction

Robot can be defned as a programmable multi!)unctional manipulator designed to move material,parts, tools or speciali*ed devices through a variableprogrammed motions )or the per)ormance o) varietyo) tas(s.

Robots are ftted 'ith sensors 'hich sends thesensory in)ormation to the computer 'hich processesthem and develops action machines )or the robotactuators.

Industrial robots are capable o) handling a variety o)

+obs )rom material handling to comple# assemblytas(s. "e' applications o) industrial robots arematerial trans)er, spray painting, machine loading,spot 'elding and assembly.



Classifcation o Robots based onClassifcation o Robots based on

confgurationsconfgurations

A large number o) combinations are possible todesign a robot.

"or e#ample, a robot manipulator having degrees o))reedom can be designed by using di-erentcombinations o) types o) +oints in / / 0123

'ays.

he ma+ority o) commercially availablerobots can be grouped into )our basicconfgurations.

Cartesian Coordinate confguration robots. Cylindrical Coordinate confguration robots.

Spherical Coordinate confguration robots.

4oint arm confguration robots 0Revolute3.



Cartesian coordinate confgurationCartesian coordinate conf

guration

(Rectilinear)(Rectilinear)

he lin(s o) the manipulator are constrainedto move in linear manner. A#es o) a roboticdevice that behave in this 'ay are re)erredto as “prismatic”. his robot is also termed

as gantry robot.



Spherical Coordinate confguration robot

Spherical Coordinate confguration robot

his (ind o) robots has a telescope arm

'hich pivots about a hori*ontal a#is and alsorotates about a vertical a#is. &ecause o)mechanical and or actuator limitations, the

'or( envelope o) such a robot is a portion o)sphere.



Cylindrical Coordinate confguration robotCylindrical Coordinate confguration robot

his (ind o) robots use a vertical column'ith a robot arm attached to a side 'hichcan move up and do'n the column.

Simultaneously, the arm can move radially'ith respect to the column.



Joint arm confguration robot Joint arm confguration robot

his (ind o) robots resembles an human armand consists o) a series o) lin(s connected byrotary +oints 'hich 'hen re)erenced )rombase are re)erred to as the shoulder, arm

and 'rist +oints. here are three di-erent types o) +ointed armrobots:

0a3 Pure spherical

0b3 Parallelogram spherical 0c3 Cylindrical.



Applications o robotsApplications o robots

"ollo'ing are the important applications o) robots:

1 he most use)ul application o) robot is )orprocesses involving ha*ardous, unpleasant 'or(environment such as heat, spar(s, )umes etc.

5#amples o) these situations include hot )orging,

die casting, spray painting and )oundryoperations.

! Robots are employed in material trans)erapplications in 'hich they are used to move 'or(parts )rom one location to another. 5#: pic( and

place, trans)er )rom conveyor etc.

" Robots are used in 'elding processes such asspot 'elding and arc 'elding.



# Robots are employed in spray paintingprocess o) many large consumer productssuch as automobiles and appliances andmost industrial products.

$ Robots are used to per)orm someprocessing operations such as drilling,riveting, grinding, polishing, debarring etc.

% $o' days, robots are also used in assembly

operations and inspection process.



Ad&antagesProvides consistency and repeatability.

6i)ting and moving heavy ob+ects.

7or(ing in hostile environments.

7or(ing during un)avorable hours.

Increasing productivity, sa)ety, e8ciencyand 9uality o) products.

Achieving more accuracy than humanbeings.

Per)orming dull or monotonous +obs.



'isad&antages6ac( o) capability to respond in emergencies.

Initial and installation costs are 9uite high.

Replacement o) 'or(ers, causes resentment

among 'or(ers.



A*+A,*-A*+A,*-

Automation could be defned as a technologyconcerned 'ith the application o)mechanical, electronic and computer!basedsystems to operate and control production.

Automation produces the fnal product atminimum cost, involving minimum labourintervention, producing components o) highaccuracy and desired tolerances repeatedly

'ithout causing re+ections.



ypes o Automationypes o Automation

Automates systems are classifed intothree basic types:

"i#ed automation

Programmable automation"le#ible automation.



.i/ed automation In a f#ed automation, the se9uence operationsis f#ed by the e9uipment confguration.

he operations in the se9uence are usually

simple. his (ind o) system is comple# becauseo) integration and coordination o) manyoperations into one piece o) e9uipment.

5#ample o) f#ed automation include

mechani*ed assembly lines 0 the product ismoved along mechani*ed conveyors, but the'or(stations along the line are manuallyoperated and machining trans)er lines.





.le/ible automation.

It is an e#tension o) programmableautomation.

Complete in)ormation and program )or theproducts desired to be produced areavailable in computer system and +ust code)or ne' product has to be )ed to computerand changes in all settings, tools etc., are

done automatically.5#ample o) e#ible automation are thee#ible manu)acturing systems )orper)orming machining operations.



Ad&antagesAd&antages

Increased productivity.Reduced overall production cost.

;uman )atigue is greatly minimi*ed.

Reduced maintenance re9uirements.

<ni)orm components are produced.

here is an e-ective control over theproduction process.

here is great improvement in the 9ualityand reliability o) the products.

;uman sa)ety is )ully ensured.



imitationsimitations

;igh initial investment.Robots and manu)acturing

automation may leads to

unemployment.S(ill up gradation involves cost.



Applications o automationApplications o automation

Applications o) automation include the)ollo'ing:

$umerically control.

Automated production lines.

Automated assembly.

Robots in manu)acturing.

"le#ible manu)acturing system.

CAD%CA= and computer Integrated=anu)acturing 0CI=3.

&uilding Automation system 0&AS3.



-umerical Control 2-C3-umerical Control 2-C3

$umerical control 0$C3 is a )orm o)

programmable automation in 'hich theprocessing e9uipment is controlled by meanso) numbers, letters and other symbols.

$C is used in machine tool application such asdrilling, milling, turning other metal 'or(ingand non!machine tool applications such asassembly dra)ting and inspection.



4asic components o -C4asic components o -C

A numerical control systemconsists o)

Program o) instructions.

=achine control unit.Processing e9uipment.



Ad&antagesAd&antages

$umerical control substantially reduces thetime re9uired to set up the machine inpreparation )or doing the +ob.

$C reduces the number o) special +igs and

f#tures re9uired to machine a part.$C drastically reduces the time used to ta(e

trial cuts in order to obtain the re9uired si*e.



'isad&antages;igh initial cost.

Re9uires programming.

Proper training o) operation andmaintenance is absolutelyessential.



Computer -umerical control 2C-C3Computer -umerical control 2C-C3

C$C may be defned as an $C system in 'hich adedicated stored program computer is used toper)orm, store or all o) the basic $C )unctionsin accordance 'ith control programs stored in

the read 'rite memory o) the computer.

&asically, the C$C technology 'as applied onbasic metal cutting machines li(e lathe, millingmachine etc, later to increase the e#ibility o)the machines in variety o) components and tofnish them in a single setup the samemachine.



4asic components o C-C4asic components o C-C

,nput unitControl unit

+emory unit

Arithmetic unit

*utput unit

*perator ,nterace

+achine interace



Ad&antages o C-CImproved reliability.

C$C systems provides greater

e#ibility over conventional $C.C$C is more compatible 'ith the use

o) a total manu)acturing in)ormationsystem.



=achine ool >perations=achine ool >perations

6athe >perations: urning

"acing

?nurling

hread cutting

aper turning 0 by s'ivelingcompound rest3



Drilling >perations:Drilling

Reaming

apping

Counter Sin(ing

Counter &oring



=illing >perations: Plane milling

5nd =illing

Slot =illing



Sheet =etal 7or(Sheet =etal 7or(

Parallel line =ethod

Prisms, Cylinder

Radial 6ine =ethod Pyramids, Cone

"rustum o) Cone

Prism 0 ;e#agon @ Pentagon3 runcated S9uare pyramid.



Thank YouThank You

one and allone and all

for your kindfor your kindattention.attention.

Documents

Robotics & Automation by M. Sreenivasa Reddy