1. CHAPTER 1:INTRODUCTION TO INDUSTRIAL ROBOTSAUTOMATION

2. Learning Outcomes:Upon completion this chapter, student should beable:-1. Define the robots automation2. State the advantages and disadvantages of robotsautomation3. List six types of robot automation4. Explain the robots automation in productionsystem 3. Contents1. Introduction of robots automation2. Advantages and disadvantages of robot automation3. Types of robots automation4. Robot automation in production system 4. Introduction of Robots Automation Robot is a machine that can be programmed toperform a variety of jobs Can range from simple machines to highly complex,computer-controlled devices Three Law of robotics: A robot may not injure a human being or throughinaction, allow a human being to come harm Robot must be obey the orders given it by human beingsexcept where such order would conflict with the first law Robot must protect its own existence as long as suchprotection does not conflict with first and second law 5. For a machine to qualify as a robot, it usually needsthese 5 parts:i. Controllerii. Manipulatoriii. Actuatoriv. End Effectorsv. Sensor 6. Controller Connected to a computer Controller function as the brain of the robot Controller also allows the robot to be networked toother systems. Robot have controller that are run by programme set ofinstruction written in code. 7. Manipulator Robot arm come in all shapes and size The arm is the part of the robot that positions the end-effectorand sensors Many resemble human arm and have shoulder, elbow,wrist, even fingers A simple robot arm with 3 degrees of freedom couldmove 3 way; up and down, left and right, forward andbackward. 8. Actuator actuator is a mechanism used to drive the processor toallow it to move to a predetermined point. consists of components such as pneumatic andhydraulic cylinders, pneumatic and hydraulic rotarymotor, and the electric motor. robot position also depends on the combination ofthese components. The robot has a simple movement is driven by amechanical system that uses a cam. 9. End -Effector Connected to the robot arm. It could be a tool such as a gripper, a vacuum pump,hook, scoop and etc. Some robots can change end-effectors and beprogrammed for a different task. If robot has more than one arm, there can be morethan one end-effector on the same robot. 10. Sensor Sensor can provide feedback to the control systemsand give the robots more flexibility Sensor such as visual sensor are useful in the buildingof more accurate and intelligent robots Sensor can be classified as follows: Position sensor Range sensor Velocity sensor Proximity sensor 11. Power Sources For Robots There are basically three types of power sources forrobot: Hydraulic drive Electric drive Pneumatic drive 12. Hydraulic drive Provide fast movements Preferred for moving heavy part Preferred to be used in expressive environments Occupy large space area There is a danger of oil leak to the shop floor 13. Electric drive Slower movement compare to the hydraulic robots Good for small and medium size robots Better positioning accuracy and repeatability Stepper motor drive: open loop control DC motor drive: closed loop control Cleaner environment The most used type of drive in industry 14. Pneumatic drive Preferred for smaller robots Less expensive than electric or hydraulic robots Suitable for relatively less degrees of freedom design Suitable for simple pick and place application Relatively cheaper 15. The Robot Movements The basic movements required for motion of mostindustrial robots are: Rotational movement enable robot to place its armin any direction on a horizontal plane Radial movement enables robot to move its end-effectorradials to reach distant points Vertical movement enables robot to take its end-effectorto different heights 16. The Robot JointsPrismaticJointsRevoluteJointsIn a prismatic joints, alsoknown as a sliding orlinear joint (L)The link are generallyparallel to one In a revolute joints permitonly angular motionbetween link Their variations include: Rotational joint (R) Twisting joint (T) Revolving joint (V) 17. Prismatic joint 18. Rotational joint A rotational joint is defined by its motion. Rotation an axis perpendicular to the adjoining links. 19. Twisting joint A twisting joint is also rotational joint. Rotation takes place about an axis that is parallel toboth adjoining links. 20. Revolving joint Another rotational joint. The rotation takes place about an axis that is parallel toone of the adjoining links. 21. Advantages and disadvantagesAdvantages: Robot never get sick orneed rest When the task requiredwould be dangerous for aperson, robot can do thework instead Robot can work repetitiveand unrewardingDisadvantages: Not creative or innovative Do not think independently Do not make complicateddecisions Do not learn from mistakes Do not adapt quickly tochanges in theirsurroundings 22. Types Of Robots AutomationThere are 6 types of robot : Cartesian/Gantry Robot Cylindrical Robot Spherical/Polar Robot SCARA Robot Articulated Robot Parallel Robot 23. Cartesian Robot It used for pick and place work, application of sealant,assembly operation, handling machine tools and arcwelding This arm robot has three prismatic joints, whose axesare coincident with a Cartesian coordinator X =horizontal, left and right motions Y = vertical, up and down motions Z = horizontal, forward and backward motions 24. Cylindrical Robot It used for assembly operations, handling at machinetools, spot welding and handling at die-castingmachines This robot axes form a cylindrical coordinate system X = horizontal rotation of 360, left and right motions Y = vertical, up and down motions Z = horizontal, forward and backward motions 25. Spherical/Polar Robot Used for handling at machine tools, spot welding, die-casting,fettling machines, gas welding and arcwelding. Robot axes form a polar coordinate system. X = horizontal rotation of 360, left and right motions Y = vertical rotation of 270, up and down motions Z = horizontal, forward and backward motions 26. SCARA Robot SCARA (Selective Compliant Assembly Robot Arm) Used for pick and place work, application of sealant,assembly operations and handling machine tools This robot has 2 parallel rotary joints to providecompliance in a plane 27. Articulated Robot Used for assembly operations, die-casting, fettlingmachines, gas welding, arc welding and spray painting This robot arm has at least 3 rotary joints X = horizontal rotation of 360 left and right motions Y = vertical rotation of 270, up and down motions Z = horizontal & vertical rotation of 90 to 180, forwardand backward motions 28. Parallel Robot This robot is used for mobile platform handlingcockpit flight simulators This robot arm has concurrent prismatic or rotaryjoints 29. Application Robot Automation inproduction system Welding Spray painting Assembly Palletizing and Material Handling Semiconductor industry