Systm Kwlan Auto

8/2/2019 Systm Kwlan Auto

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Diagram for primary element and supporting element


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Manipulator : - mechanical lingkages

processor is a set of arms (links) are connected to produce the desired

motion. joint robots fall into two groups, namely:

revolute- This allows turning movements are made. sometimes it's called turning aconnection

prismatic- This allows the linear motion is made. Sometimes the connection to one

degree of freedom for movement of the robot. robot arm movement is

produced by either a pneumatic actuator systems, hydraulic or electric

controller general functions of the controller unit are as follows:

(A)direct the robot arm to move or stop according to the sequence set tothe following targets.

(B)store data about the position and sequence of arm movement inmemory.

(C)Enable the robot between the "outside world" via sensors placed on the area where the

road works. to enable the control unit to function it must be able to do the

calculations accurately and quickly to determine theposition of the path and velocity

of the right arm. besides tha it must useinformation from sensors and send the correct commands to the tuator.

controller should also provide for interaction with any other tool. Such

as conveyor systems and machine tools.


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control unit is divided into six classes, namely:

(A)simple step sequence- relay logic

(B)value logic

(C)electronic sequence contactor logic

(D)micro computer

(E)mini computer

(F)programmable logic controler

power supply

This unit provides power to the control unit and mengerakan processor.to the

power amplifier is composed of AC that is used to move

the servoactuation system. and hydraulic or pneumatic actuator.

Supporting element

Sensory device- This element tells the

controller processor status. detect this activity maybeconducted either continuously or at the end of every movement madeby the robotic

arm. for example, in some sense robotic device (sensor)to provide information about

the position of the speed and accelerationof each robot arm.


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sensory devices is divided into two classes, namely:

touch sensor

(1)limit switch,proximity switch

(2)encoder optical, potentiometer atau resolvers(3)tachometer(4)Force and touch sensors for safety from overload established routes, to

detect the target or installation.

Sensor non-contact-consists of charged couple device device (CCD) or injection equipmentCharged (CID) or the TV camera is connected to the sensor hardwareicons. itis used to detect the complicated route, identifying objects orgrip objects.factors that should be taken into account when choosing sensor:(1)sensitivity(2)respone time

(3)reliability(4)easy to maintenance


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end effector

end effector is the term used for the parameters of the robot armattached tothe end. This part of the work after each movement of the robot arm to

the target ditetapka. equipment is installed as the end ofthe arm is

divided into two categories:

gripper - the material used for the gripper, move to another locationsuch

as the work of unloading the material and to place the material inthe work station

tools - is something to do work such

as drilling, milling, spray paint,welding point screwdriver bit or soldier. The other

side of the robot armto carry the appliance must be

able to make the right movements. onestablished routes inorder to use the equipment properly targeted.


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PNEUMATIC SYSTEM

Pneumatic is a machine that used to pick and place or the installation and opening.

This robot is functioning at the level of pressure is only 90 psi. Most industries have

a compressed air which is distributed through pipes to the production and enables

the use of pneumatic robot.

Configuration of this robot is a cylinder type, such as other robots, but

for pneumatic robot it is easy.Its allows a companies to build their own robot and it

is cost effective.

Some suppliers promote the concept of self-installation to market their

products. Any company that promotes the concept of self-installation insaving the cost

of goods must remember to add the cost ofcomponents as well

as engineering and hardware costs.


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hydraulic drivephysically, its highest robot is a hydraulic model. figure 2.8 shows ahydraulic robotcapable of lifting 225 pounds.it one of my use of ahydraulic robot is painting, as combustible, it is necessary to takethe robot is not explosive for painting operations. it is also necessary to

comply with thestandard national fire protection association "NFPA Class 1, division 1 flammable environment.This robot is popular at the beginning of use, but any use ofthis robot has decreasedwhen compared with other drivers. most robotsused in the automotive industrypreformance and spot

welding. teermasuk to lift heavy objects, such as die casting and others.


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figure hydraulic robot with load capacity of 225 pounds,includ

ing equipment


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(iii) electric system

Electric system in manipulator system is use if a perfect measurement is needed. It can be

control and commanded by following a difficult angle. There are two classification

according to the type of electric motor :-

Step motor

Ensure a precise movement for every voltage pulse interface that been given by the

computer control.

Movement speed of step motor is fast but have to ensure the torque load is no exceed

the limit of the motor.

Sometime this motor is close loop type.

Any error of this type of motor could make a fatal mistake.DC Servo DriveThis robot will enable feedback from component to the driver.

This system will monitor the position of component continuously. DC current will be

supply to every motor to check error until it achieve zero.

Optical encoder can be use to monitor the real position of robot component.

Information received will be sent to computer control, where it will be programmed to

take action if error occur.

Both of the type of motor have a special characteristic, step motor can be used in close

loop and open loop. We can assume that step motor will dominating robot. But the

advantage of DC servo is continuous sequence, where it provide a smooth and better

control. From the two kind of motor, C servo is more popular.


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Advantages :

Pneumatic system :-

Robot not to expensive

construction and the standards used are usually easily availableoperating and maintenance costs are cheaper

simple control system

do not deface the work place

Hydraulic system :-

transmit power directly to the joint robots or other devicesreaction at high frequencies

performed more smoothly at low speeds

produce a large speed range without the need for transmission

has its own cooling system and can operate in the long term

Electric system :-easily controlled by Programmable controller

high accuracy

Silent operation

power ratio at the higher weight

many choices on the type of motor


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Disadvantages

Pneumatic system :-

primary treatment because of a delay in compressed air

not able to carry high loads

not suitable for large robotic system

noisy and often air leak

difficult to control the speed of the piston cylinder during operation

Hydraulic system :-

High cost

need for the oil pump and hydraulic oil reservoir, fittings and valves are designed for

use

high maintenance cost

Electric system :-

can not drive a high load

This requires a system of gear and causing friction

only suitable for small and medium-size robot

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