R O B O T I C S A Presentation By

Parth Babreeya (21316SBEEC30001)

Parth Baraiya (21316SBEEC30002)

& Industrial Robot

INTRODUCTION

• Multi-functional operator which can be

controlled by programs, moves the materials, components, tools and other special apparatus through control programs.

• Simple up-and-down motion, to take and pick out components from machines.

• Machines controlled by programs to do different types of jobs, such as, searching, transportation, targeting, assembly and inspection.

Industrial Robot

Programmable, multi-functional manipulator designed to move materials, parts, tools, or special devices through variable programmed motions.

six basic constituent elements for the design and operation of robotics systems• Dynamic system• End-of-arm tool• Computerized digital controller• Actuators • Feedback system• Sensor

Program

Computerized digital Controller

Servo drive System

Dynamic System

End-of-Arm Tools

TargetSensors

Feedback System

Design of Industrial Robot

Dynamic System

• Dynamic system is needed for movement in the working area. The most important of which is the robotic arm. According to the designs of the robots, the main axis will move linearly or rotationally.

• The number of axes represents the number of directions that a robot can move individually. It can be called ‘the degree of freedom’.

• A robot usually has 2 to 10 axes, most of the robots have 5 to 6 degrees of freedom.

End-of-Arm Tools • The arms of the robots can be used to install tools like clamps,

welding guns, electromagnets, suction pads, hooks or paws, etc., in order to operate any specific procedure.

• A clamp is a multifunctional robotic arm tool. There are different designs. The clamp can be used to hold tight, keep and transmit components or tools.

Computerized Digital Controller

• The robot connects to a computer, which keeps the pieces of the arm working together. This computer is the controller.

• The controller functions as the "brain" of the robot. The controller can also network to other systems, so that the robot may work together with other machines, processes, or robots.

Actuators• Actuators are the "muscles" of a robot, the parts which

convert stored energy into movement.• Control each of the axes and maintain the direction of

moving. • Since robots need to handle weights from various

components, it has a larger change in motion. Therefore, the motion of actuators is very important.

• Commands about the direction of movement are sent from the controller of the robots and feedbacks are checked at the same time to ensure the moving parts follow the correct path.

• The most popular actuators are electric motors.

• Common robotic actuators utilize combinations of different electro-mechanical devices– Hydraulic Motor

– Pneumatic Cylinder

– Stepper motor

– Pneumatic Motor

– Servo Motor

– DC Motor

Feedback System• Feedback devices of a robot measure the position of each

axis, moving velocity and its acceleration.

• Each axis can set any point as zero as the reference point, then relative linear movement can be performed.

Sensors• Robot sensors measure robot configuration/condition and

its environment and send such information to robot controller as electrical signals.

1) Accelerometer Using Piezo-electric Effect :

• Sound, touch, taste, and smell provide us vital information to function and survive.

• Piezo-electric Effect is convert the Mechanical pressure in to Electrical Signals.

2) In-Sight Vision Sensors :

• Part-Picking: Robot can handle

work pieces that are randomly piled by using 3-D vision sensor. Since alignment operation, a special parts feeder, and an alignment are not required, an automatic system can be constructed at low cost.

3) Proximity Sensors • Proximity sensors are used to measure the distance or location

of objects in the environment. This can then be used to determine the location of the robot.

4) Ultrasonic Sensors :• Ultrasonic sensors measure the time that an ultrasonic signal

takes until it returns to the robot.• Laser range finders determine distance by measuring either the

time. it takes for a laser beam to be reflected back to the robot or by measuring where the laser hits the object.

5) Infrared Ranging Sensor

• 6 ultrasonic sonar transducers to explore wide, open areas.

• Obstacle detection over a wide range from 15cm to 3m.

• 16 built-in infrared proximity sensors (range 5-20cm).

• Infrared sensors act as a “virtual bumper” and allow for negotiating tight spaces.

6) Force Sensor :

• Parts fitting and insertion, force feedback in robotic surgery

• Parts fitting and insertion: Robots can do precise fitting and insertion of machine parts by using force sensor. A robot can insert parts that have the phases after matching their phases in addition to simply inserting them. It can automate high-skill jobs.

Output information Move, SpeechText, Visuals Wheels LegsArms Tracks

Speech, VisionAcceleration, TemperaturePosition ,DistanceTouch, ForceMagnetic field ,LightSound ,Position

Task planningPlan ClassificationLearnProcess dataPath planningMotion planning

Sense Think

Act

The Robot Control Loop

Operation of Industrial Robot

• There is a lot of flexibility in operations of industrial robots, IR can handle demands of different tasks. This is because IRs are controlled by computer programs.

• Computers in IR required some special functions like input programs for trainers, remain horizontal movement in swinging arms and automatic force compensation when holding heavy objects.

• The operation mode of IR can be classified as: point-to-point and continuous path.

• When a robot moves in various individual and specific positions according to the instructions in the program, the operation mode is called point to point.

• A feedback and servomechanism in each of its axis, Motion and moving path from one point to another is independent of other points.

• The control system for point to point is relatively simple, so it is more suitable to control components in the numerically controlled machineries.

Point to Point

Continuous Path• If a robot has to follow the path of the program totally, this

operation mode is called continuous path. • This type of robot has a feedback and servomechanism in each

of its axis. It can also move to any points between the polar positions.

• Robots with continuous path as operation mode can handle more complicated tasks, like welding of metal in a particular path spraying paints on the surface of a car, etc.

• Mobile Robots• Rolling Robots• Walking Robots• Stationary Robots• Autonomous Robots• Remote Controlled Robots• Beam Robots

Types of Robot

Mobile Robots• Mobile robots are able to move, usually they perform task

such as search areas. A prime example is the Mars Explorer, specifically designed to roam the mars surface.

• Mobile robots are a great help to such collapsed building for survivors Mobile robots are used for task where people cannot go. Either because it is too dangerous of because people cannot reach the area that needs to be searched.

Rolling Robots• Rolling robots have wheels to move around. These are the

type of robots that can quickly and easily search move around.

• However they are only useful in flat areas, rocky terrains give them a hard time. Flat terrains are their territory.

Walking RobotsRobots on legs are usually brought in when the terrain is rocky and difficult to enter with wheels. Robots have a hard time shifting balance and keep them from tumbling. That’s why most robots with have at least 4 of them, usually they have 6 legs or more.

Stationary Robots• Robots are not only used to explore areas or imitate a human

being. Most robots perform repeating tasks without ever moving an inch. Most robots are ‘working’ in industry settings and are stationary.

• Autonomous robots are self supporting or in other words self contained. In a way they rely on their own ‘brains’.

• Autonomous robots run a program that give them the opportunity to decide on the action to perform depending on their surroundings. At times these robots even learn new behavior.

Autonomous Robot

• An autonomous robot is despite its autonomous not a very clever or intelligent unit.  The memory and brain capacity is usually limited, an autonomous robot can be compared to an insect in that respect . In case a robot needs to perform more complicated yet undetermined tasks an autonomous robot is not the right choice.

Virtual Robot• Virtual robots don’t exits in real life. Virtual robots

are just programs, building blocks of software inside a computer.

• A virtual robot can simulate a real robot or just perform a repeating task. A special kind of robot is a robot that searches the world wide web.

Application• Industrial robots are being used widely in factories, they can be

used for tasks like welding, painting, transportation of materials and tools.

Application Percentage (%)Welding 26%

Handling Materials 22%

Load & Unload of cutting machineries

17%

Assembling components 15%

Cast treatment 11%

Painting and Surface treatment 8%

Others 1%

Welding• There are various types of welding, including

spot welding, electrical welding and wind welding,

etc.• IR is often used to operate spot welding. Spot

welding is suitable for joining two pieces of steel

plates. • Generally, there are more than several

thousands of welding joints in a car. If the process is done manually, the quality may be unstable.

Handling Materials• Robots can be used to handle materials, for

instance, put and pick out materials from the

machineries and transportation of materials. • Robots can also take materials out from theproduction line, move machinery vehicles in a

factory automatically and stack up the goods

(materials, semi-finished goods, components, etc).

Load & Unload cutting tools• The load and unload commands are preset in

the program of the robots, the robots can take out the cutting tools quickly, replace the cutting tools on the clamp tip and put the old ones back to the cutting tools storage.

• This process only takes about a few seconds.

After replacing the cutting tools, the machineries can start again.

Assembling Components• Besides handling materials, robots are used to

assemble components. For instance, robots can use the suction pad to assemble the window on the car. Using robots to assemble the machines has a lot of advantages. For example, robots can maintain stable production. They ensure the hygiene and can work under dangerous circumstances.

Cast treatmentMoulding is the process of injecting the melting

metal into a mould. When the metal cools down, the desired product is produced. Since the materials for moulding and the product are very hot, the workers may get hurt. Therefore, robots are used to pour the melted metal, handle the finished products and carry out initial treatment of the surface. Robots can work 24 hours a day, so the production cost is lower though the machineries are very expensive.

Painting• Spray painting is the use of gas to spray the paint as dots

and scatter them evenly on the surface of the finished products. However, frequent inhalation of paint affects the health of the workers.

• Therefore, it is better to use robots to do the routine spraying task. For instance, a robot paints cars in the production line with a spray gun.

AdvantagesIt can carry out simple and repetitive work for human beings.

Do not take rest and so can work continuously for a longer period.

They can be used in assembly work with high precision and

density. The quality of products is enhanced. Robots can replace workers without laboring cost, and robots

can achieve stable production rate as robots will not be late to work, resign, take day off or strike.

The program can be modified easily so robots can increase the flexibility in manufacturing.

They can work in unfavourable circumstances, e.g. removing

the high-temperature artifact from a casting machine, welding task, spraying task, transportation of chemicals, etc., such work will affect the health of the workers.

The manufacturing speed can be increased and the cost be reduced when robots are used.

Using robots may minimize the wasting of materials.

Using robots can improve the quality of a product by its ability to assemble precise components.

THANK YOU