19-10-2012, 04:05 PM
Industrial Robotics
06._industrial_robotics.ppt (Size: 1.74 MB / Downloads: 271)
Industrial Robot Defined
Hazardous work environments
Repetitive work cycle
Consistency and accuracy
Difficult handling task for humans
Multishift operations
Reprogrammable, flexible
Interfaced to other computer systems
Robot Anatomy
Manipulator consists of joints and links
Joints provide relative motion
Links are rigid members between joints
Various joint types: linear and rotary
Each joint provides a “degree-of-freedom”
Most robots possess five or six degrees-of-freedom
Robot manipulator consists of two sections:
Body-and-arm – for positioning of objects in the robot's work volume
Wrist assembly – for orientation of objects
Manipulator Joints
Translational motion
Linear joint (type L)
Orthogonal joint (type O)
Rotary motion
Rotational joint (type R)
Twisting joint (type T)
Revolving joint (type V)
Cylindrical Body-and-Arm Assembly
Consists of a vertical column, relative to which an arm assembly is moved up or down
The arm can be moved in or out relative to the column