03-07-2013, 04:24 PM
Robotic Systems
[attachment=56402]
Class discussions
Precision – compliant devices – not good for metal cutting
Repetitive – More than one task not for single part setup, flexible
Consistency, repeatability etc
Hazardous env.
Special env: Support human activities – humans cannot do some thing
Speed
Robot vs a machine vs Specialized machine – cnc m/c
Less workspace than human – miniaturization
No union, service – support,
Unit cost is less
Intelligence, Entertainment,
Definitions
Anthropomorphic -- refers to a robot configuration that resembles the configuration of a human body
Articulated -- see Anthropomorphic
End effector -- the robot equivalent of a human hand and the tooling that the hand grips in order to perform a particular task
Gripper -- an end effector used for holding on to a particular object
Robotics -- the general science of robots, including design and application
Robotics
Robot -- a programmable, multifunction manipulator designed to move and manipulate material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of specified tasks. (Robotics Industries Association)
The most common tasks:
Those that require demeaning or drudging effort, frequently on a repeating basis
Tasks performed in hazardous environments
What is a Robot?
Programmable -- indicates the need for a controlling computer
Multifunction device -- eliminates devices such as cam-operated “pusher” linkages designed to push parts off a conveyor at some specified cyclic rate
Gripping capability -- to manipulate an item through variable motions
Can range from a vacuum pick-up device to a complex, multifingered appendage with tactile sensing ability
Manipulator mechanism -- linkage that allows something to be moved along a path or to a particular point with the assistance of an end effector
Robot Types
Assembly -- designed primarily to perform assembly tasks
Computerized servo -- powered by DC servo motors that has teach and movement-optimization capability- Continuos control
Pick-and-place -- used for moving an object from one location to another, as in assembly or pallet-loading operations - Point to point
Sensing -- instrumented to allow abilities similar to human sensing capabilities: touch, vision, voice recognition, etc
Robot Drive Power
Pneumatic -- effective for on/off cyclic control but not for delicate positional control
Hydraulic -- for heavy loads, large, powerful hydraulic power is the most effective
Electrical -- quiet, inexpensive, space conserving, with excellent accuracy potential for relatively light loads and delicate manipulation
Stepping motors -- controlled by a series of DC pulses
DC servomotors -- have a winding that is driven by the error realized when there is a difference between a desired and true position
Combined -- e.g. main power drive for a robot is electric; the gripper open/close control utilizes pneumatic power
Link Geometry
Mathematical modeling of location and orientation -- assumes that a universal coordinate system has been established from which to measure points in space and orientation angles
A rigid-body location can be described by giving the point of a location on the body in a universal coordinate system
This reference point, P, is usually at the origin of a coordinate system fixed to the body
The orientation of the body reference frame can be described by a three-dimensional rotation matrix
Combining the point P and the three rotations precisely determines the rigid-body location and orientation
[attachment=56402]
Class discussions
Precision – compliant devices – not good for metal cutting
Repetitive – More than one task not for single part setup, flexible
Consistency, repeatability etc
Hazardous env.
Special env: Support human activities – humans cannot do some thing
Speed
Robot vs a machine vs Specialized machine – cnc m/c
Less workspace than human – miniaturization
No union, service – support,
Unit cost is less
Intelligence, Entertainment,
Definitions
Anthropomorphic -- refers to a robot configuration that resembles the configuration of a human body
Articulated -- see Anthropomorphic
End effector -- the robot equivalent of a human hand and the tooling that the hand grips in order to perform a particular task
Gripper -- an end effector used for holding on to a particular object
Robotics -- the general science of robots, including design and application
Robotics
Robot -- a programmable, multifunction manipulator designed to move and manipulate material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of specified tasks. (Robotics Industries Association)
The most common tasks:
Those that require demeaning or drudging effort, frequently on a repeating basis
Tasks performed in hazardous environments
What is a Robot?
Programmable -- indicates the need for a controlling computer
Multifunction device -- eliminates devices such as cam-operated “pusher” linkages designed to push parts off a conveyor at some specified cyclic rate
Gripping capability -- to manipulate an item through variable motions
Can range from a vacuum pick-up device to a complex, multifingered appendage with tactile sensing ability
Manipulator mechanism -- linkage that allows something to be moved along a path or to a particular point with the assistance of an end effector
Robot Types
Assembly -- designed primarily to perform assembly tasks
Computerized servo -- powered by DC servo motors that has teach and movement-optimization capability- Continuos control
Pick-and-place -- used for moving an object from one location to another, as in assembly or pallet-loading operations - Point to point
Sensing -- instrumented to allow abilities similar to human sensing capabilities: touch, vision, voice recognition, etc
Robot Drive Power
Pneumatic -- effective for on/off cyclic control but not for delicate positional control
Hydraulic -- for heavy loads, large, powerful hydraulic power is the most effective
Electrical -- quiet, inexpensive, space conserving, with excellent accuracy potential for relatively light loads and delicate manipulation
Stepping motors -- controlled by a series of DC pulses
DC servomotors -- have a winding that is driven by the error realized when there is a difference between a desired and true position
Combined -- e.g. main power drive for a robot is electric; the gripper open/close control utilizes pneumatic power
Link Geometry
Mathematical modeling of location and orientation -- assumes that a universal coordinate system has been established from which to measure points in space and orientation angles
A rigid-body location can be described by giving the point of a location on the body in a universal coordinate system
This reference point, P, is usually at the origin of a coordinate system fixed to the body
The orientation of the body reference frame can be described by a three-dimensional rotation matrix
Combining the point P and the three rotations precisely determines the rigid-body location and orientation