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  • 2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]

    Industrial Robots Basics, structure and

    programming

    BERUFLICHE SCHULEN DES UNSTRUT- HAINICH KREISES Elektrotechnik/ Mechatronik

    Sondershuser Landstrae 39, 99974 Mhlhausen, Germany

    participant of: Leonardo da Vinci PARTNERSHIPS

    CNC and Robotics Partnerships, CaRPs

    11 Partners from Germany, Lithuania, Norway, Slovenia, Sweden

    This presentation and related documents are prepared to use in the

    context of our Partnership to give an example for teaching robotics in

    a basic level.

    Any reproduction, copying, changes or dissemination of any kind,

    including extracts, is prohibited and requires the explicit and written

    authorization of the author.

  • Robotics as an applied science and part of an

    interlinked education

    2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]

    Find an example in robotics for each topic!?

  • 2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]

    Translate into your native language and find a

    synonym for each fact or explain in written

    form.

    ?

    Online search is recommended !

  • 2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]

    Industrial robot

    continuous pathManually

    controlled

    Welding 6 axes

    arm

    Scara

    Automatically

    controlled

    Master-slave

    device

    Teleoperator

    Crane

    Pick and place

    device

    PLC with pneum.

    cylinders

    Industrial robot

    point to point

    ? Make connections from the right side to the left !

    Online search is recommended !

  • 2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]

    Nr. Argument

    1 Increasing product variety is difficult for robots!

    2 Shorter flow-through times in the production process by automation?

    3 The robot should only do dirty jobs. We have qualified employees!

    4 We need a high and constant quality level. Handmade is much better!

    5 We need an automation system to reduce our total costs!

    6 Unemployment is mainly caused by automation and robotics!

    7 We have lower set-up times since we started using robots!

    8 We have unadjusted parts to handle. No problem for robots!

    9 Application of robots is also worth it for limited quantities.

    10 Robots allows fast adaptation to market requirements.

    ?

  • 2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]

    Kinematic describes the kinds of movement, the number and arrangement of the

    axes with length and limits and as a result the 3D working envelope.

    The shapes of the bodies of the workspaces are simplified

    !

  • 2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]

    Combine exactly three axes, rotational (R) and/ or translatoric (T) axes to generate

    a cylindrical, spherical and cuboidal workspace. Sketch your results in a carthesian

    coordinate system with 3 axes. Use the symbols below.

    x

    y

    z

    Symbols for rotational axes

    Symbols for translatoric axes

    ?

  • 2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]

    Most industrial robots will be divided into three major categories. They are

    characterized by the kinematic of the three main axes.

    ScaraJointed arm robots

    Gantry robots

    RRT

    RRR

    TTT

    !

    Foto: Stubli TS 80 Scara

    www.staubli.com

    International AG, Pfffikon, CHFoto: Kuka KR 30-3

    www.kuka.com

    KUKA Roboter GmbH, Augsburg, D

    Foto: Skilled ant 101

    www.franpack.biz

    FRANPACK Intralogistik GmbH, Ltzelbach, D

  • 2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]

    Technical term Explanation Native language

    Scara

    DOF

    Repeatability

    Rated payload

    Jointed arm

    TCP

    Inertia

    Jog mode

    Gantry

    External axis

    ?

  • 2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]

    2 degrees of freedom:

    Each point in a plain is reachable ,

    but no feed movement is possible

    x

    y

    z

    x

    y

    3 degrees of freedom:

    Each point in a space is reachable ,

    but not under a specific angle

    !

  • 2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]

    4 degrees of freedom:

    Each point in a space is reachable,

    and a rotation in only one plain.

    Example: Scara robots

    x

    yz

    x

    y

    6 degrees of freedom:

    Each point in a space is reachable

    with every orientation of a body but

    each point under any angle is also

    reachable.

    !

    z z

    Most industrial

    robots, jointed

    robot arms, have

    got five or six

    axes.

  • 2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]

    1. What is the interrelation

    between number of axes and

    degrees of freedom?

    2. How many degrees of

    freedom do robots with seven

    axes have?

    3. Why is it in reality that the

    reachability of positions is

    limited?

    4. You read on a data sheet from

    an external axis. What does it

    mean?

    ?

    Online search is recommended !

    Bild: KUKA Roboter GmbH, Augsburg, D, www.kuka.com

  • 2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]

    Thank you for your attention!

    Any Questions?

  • 2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]

    Dipl.-Ing.(FH) Sandro Sterz

    Elektrotechnik / Automatisierungstechnik

    Berufliche Schulen des Unstrut Hainich Kreises

    Sondershuser Landstrae 39

    99974 Mhlhausen

    Germany

    Phone: 03601/ 450-103

    Fax: 03601/ 450-112

    mail: [email protected]

    I am always open for questions and ideas

    don't hesitate to contact me