industrial robots auto saved]
TRANSCRIPT
8/4/2019 Industrial Robots Auto Saved]
http://slidepdf.com/reader/full/industrial-robots-auto-saved 1/24
By
………………………………
8/4/2019 Industrial Robots Auto Saved]
http://slidepdf.com/reader/full/industrial-robots-auto-saved 2/24
What is an industrial robot ???
Robot is a programmable, multi-function manipulator
designed to move material, parts, tool or special
devices through variable programmed motions for
the performance of a variety of tasks.
George Devol => Programmed article transfer.
Ford Motor company => Universal transfer device.
8/4/2019 Industrial Robots Auto Saved]
http://slidepdf.com/reader/full/industrial-robots-auto-saved 3/24
PHYSICAL
CONFIGURATIONSOF INDUSTRIAL
ROBOTS
POLARCORDINATE
CONFIG
CYLINDRICALCOORDNATE
CONFIG
JOINTED ARMCONFIG
CARTESIANCOORDINATE
COFIG
8/4/2019 Industrial Robots Auto Saved]
http://slidepdf.com/reader/full/industrial-robots-auto-saved 4/24
POLARCOORDINATE
CONFIGURATION
(SPHERICAL COORDINATE ) work space : Partial space.
Rotatory base at the bottom and pivot to raise or lower the telescopic arm
8/4/2019 Industrial Robots Auto Saved]
http://slidepdf.com/reader/full/industrial-robots-auto-saved 5/24
CYLINDRICALCOORDINATE
CONFIGURATION
Vertical column swivels about vertical axis.
Several orthogonal slides for moving the arm
up or down and in or out with respect to thebody.
8/4/2019 Industrial Robots Auto Saved]
http://slidepdf.com/reader/full/industrial-robots-auto-saved 6/24
JOINTED ARMCONFIGURATION
Jointed arm similar to human arm .
Arm consists of several straight members connected
by joints which are analogous to human shoulder,
elbow and wrist.
Cincinati Milacron T model
8/4/2019 Industrial Robots Auto Saved]
http://slidepdf.com/reader/full/industrial-robots-auto-saved 7/24
CARTESIANCOORDINATE
CONFIGURATION
3 orthogonal slides parallel to X,Y,Z,
axes of CCS.
Workspace: 3D rectangular shaped
8/4/2019 Industrial Robots Auto Saved]
http://slidepdf.com/reader/full/industrial-robots-auto-saved 8/24
BASIC ROBOT MOTIONS
To accomplish the task end effectors are attached at the end
of the arm.
Depending on the type of the operation, these end effectors
are manipulated .
Degrees of freedom: It is the ability of the robot to move the
end effector in required sequence of operations to perform the
task.
8/4/2019 Industrial Robots Auto Saved]
http://slidepdf.com/reader/full/industrial-robots-auto-saved 9/24
3Arm &Body
Motions
3 Wristmotions
6 degreefreedom
robot
8/4/2019 Industrial Robots Auto Saved]
http://slidepdf.com/reader/full/industrial-robots-auto-saved 10/24
Hydraulics• Used in large robots where much floor space is available.
• Advantage : mechanical simplicity, high strength, high speed.
Electric motor( DC stepping / servo motors)
• Used where less floor space is required.
• Less physical strength and speed as that of Hydraulics.
• Better accuracy and repeatability.
Pneumatic
• Smaller and less sophisticated.
• Used for high cycle rate operations like pick and place
8/4/2019 Industrial Robots Auto Saved]
http://slidepdf.com/reader/full/industrial-robots-auto-saved 11/24
End Effectors
8/4/2019 Industrial Robots Auto Saved]
http://slidepdf.com/reader/full/industrial-robots-auto-saved 12/24
Method of PROGRAMMING
Robot
Manual
Method
Walk throughMethod
Lead through
Method
Offline
programming
Method
8/4/2019 Industrial Robots Auto Saved]
http://slidepdf.com/reader/full/industrial-robots-auto-saved 13/24
VAL ( Victor’s Assembly Language) developed by
Unimation Inc. for PUMA (Assembly) Robot.
Program defining the motion sequence can be
developed offline.
MCL ( Machine Control Language) developed by
McDonnell-Douglas Corp.MCL is an enhancement of APT designed to
control a complete manufacturing cell.
8/4/2019 Industrial Robots Auto Saved]
http://slidepdf.com/reader/full/industrial-robots-auto-saved 14/24
8/4/2019 Industrial Robots Auto Saved]
http://slidepdf.com/reader/full/industrial-robots-auto-saved 15/24
2.Repetitive tasks
3.Difficult handling4.Multishift
operation
1.Hazardous or
uncomfortable
working conditions.
8/4/2019 Industrial Robots Auto Saved]
http://slidepdf.com/reader/full/industrial-robots-auto-saved 16/24
1.Simle repetitive operations are needed.
2. Cycle times are greater than 5secs.
3. Parts can be delivered in proper location and orientation4. Part weight is suitable( when max limit of 1100 pounds)
5. No inspection is required.
6. One or two persons can be replaced in a 24 hr period.
7. Setups and changeovers are not frequent.
8/4/2019 Industrial Robots Auto Saved]
http://slidepdf.com/reader/full/industrial-robots-auto-saved 17/24
Applications of
Industrial
Robots
Material Transfer
Machine loading
Welding
Spray coating
Process operations
Assembly
Inspection
8/4/2019 Industrial Robots Auto Saved]
http://slidepdf.com/reader/full/industrial-robots-auto-saved 18/24
Material TransferOperations include
Simple pick n place o/p.
Transfer of work parts from one conveyor to another
Palletizing
Loading parts from conveyor to carton boxes.
8/4/2019 Industrial Robots Auto Saved]
http://slidepdf.com/reader/full/industrial-robots-auto-saved 19/24
Advantages for going Robot welding over manual welding :
Higher productivity
Improved Safety
More consistent welds
Fatigue factor of the welder is reduced.
ARC welding robot
SPOT welding robot
8/4/2019 Industrial Robots Auto Saved]
http://slidepdf.com/reader/full/industrial-robots-auto-saved 20/24
Process operations• End effector manipulated into the tool.
• Operations include
1.Gripping the w.p & bringing in contact with tool
2.Drilling, Grinding, Polishing, wire brushing and
water jet cutting.
8/4/2019 Industrial Robots Auto Saved]
http://slidepdf.com/reader/full/industrial-robots-auto-saved 21/24
Y robots are to be used for spray painting ?????
1. Fumes & mist from the spraying operation => creates toxic
atmosphere.
2. Noise from the spray nozzle => Impairing hearing on prolong
exposure.3. Fire hazard => Mist of paint in air can cause flash fires.
4. Possible cancer dangers : Ingredients are carcinogenic.
8/4/2019 Industrial Robots Auto Saved]
http://slidepdf.com/reader/full/industrial-robots-auto-saved 22/24
Advantages of robot painting
• Safety
• Coating consistency
•
Lower material usage• Less energy consumption
• Greater productivity
(Robo painting video )
8/4/2019 Industrial Robots Auto Saved]
http://slidepdf.com/reader/full/industrial-robots-auto-saved 23/24
Assembling Robots
Most economical way of producingassembled components in mass production.