robotics and some introduction of robots
TRANSCRIPT
Prof-Chaudhari M.M
Mechanical Department(Maharashtra)
--ROBOTICS--
Chaudhari M.M
Chaudhari M.M
Robotics It’s is the branch of mechanical engg., electrical engineering and computer science that deals with design, construction, and as well as computer systems for their control, sensory feedback, and information processing.
Reprogrammable, Multi-functional manipulator designed to move object, parts, tools and certain device through various programmed motion for performing variety of task.
Its Czech word Robota and first developed in 1921 by czechoslovakin playright karel Capek
Generation of Robot1st Gen (Dump Robot)2nd gen (Clever Robot)3rd Gen Intelligent Robot)
Robotics Intro
Law-I:- A robot may not injure a human being or, through inaction, allow a human being to come to harm.
Law-II:-A robot must obey the orders given it by human beings except where such orders would conflict with the First Law.
Law-III:-A robot must protect its own existence as long as such protection does not conflict with the First or Second Laws.
Robot Three basic laws
Chaudhari M.M
Simple anatomy
Anatomy of robot
Basic Component
SoftwareProcessorSensorControllerActuatorsManipulator End Effectors
Chaudhari M.M
Chaudhari M.M
Every joint has one DOF. Hence Total DOF of robot is equal to the number of joint
• DOF Arm
• DOF Wrist
DOF Of robot
Chaudhari M.M
Gripper It is nothing but the
grasping and pick-place object
Tools It is performing
operation on machining part by the acts as end effector such as: spot welding tool, spray painting etc.
End effectors
Types
1
2
4
5
3
Mechanical
Magnetic
Inflatable Bladder Type
Vacuum
Adhesive
Types of gripper
6 Hooks & ScoopChaudhari M.M
Characteristic & Actuation
method
Workplace layout
Sensor location & Cycle time
Weight and material of part
handle
Configuration & Cost
Simplicity and serviceability
Multifunctional requirement
Material handling, Power
source
Grippers & it’s selection criteria
Chaudhari M.M
Types:1. Internal Gripper2. External Gripper
Use the Mechanical finger Actuated by mechanism to grasp an object
Mechanical Gripper
Chaudhari M.M
Types:1. Electromagnetic Gripper2. Paramagnet Gripper
Electromagnetic gripper required D.C Power source and control unit.
Paramagnetic gripper do not required external power source. Because Its include chemical elements.
Magnetic Gripper
Chaudhari M.M
Use the expandable gripper to grasp an fragile object, like glass part
Inflatable Bladder
Chaudhari M.M
Chaudhari M.M
Vacuum Cups are operated by vacuum pump. Gripper mainly depend upon Negative pressure
Vacuum Gripper
Adhesive substance can be used for grasping action in adhesive gripper
Adhesive Gripper Hooks & Scoop Gripper
The hook type gripper has hook for loading and unloading purpose and scoop nothing but a big type spoon.
Chaudhari M.M
Chaudhari M.M
A
Configuration depend upon the work envelope or work volume of robot and it’s can be defined as the space within which the end effector of the robot can be operate or reach arm.
Configuration of robot
1 • Cartesian Configuration
2• Cylindrical Configuration
3• Spherical Configuration
4• Articulated(Revolute)
5• SCARA
Basic Configuration
Chaudhari M.M
Cartesian Configuratio
n
Cylindrical Configuratio
nSpherical
Configuration
Configuration
1 2 3
Chaudhari M.M
Configuration
54Revolute
Configuration
SCARA Configurat
ion
Chaudhari M.M
Drives
Classification
Linear Actuators Rotary Actuators
Mechanical Actuator Rack & Pinion Recirculating
Ball screw Timing belt Harmonic
Drives Gear Pairs
Hydraulic Actuators Single Acting Double Acting Gear motors Vane Motors Piston Motors
Pneumatic Actuators Single Acting Double Acting Vane Motors Piston Motors
Electric Actuators D.C Motors Reversible A.C Brushless D.C ACD/DC Servo Stepper Motor
Actuators are the devices which provide the actual motive force for the manipulators joints of the robots
Electric Actuators
Chaudhari M.M
Rack & Pinion is rotary motion convert to linear manipulator application
Rack & Pinion1
Drives
It’s linear type of Actuator which is jointed for manipulator
Recirculating ball screws
2Drives
Chaudhari M.M
Chaudhari M.M
It’s used for actuate the rotary joints of robot.
Timing Belt3
Drives
It is hydraulic actuator are the single and double acting cylinder used to actuate the linear joints by means of piston rod movement.
The high pressure hydraulic oil at 70 to 210 bar pressure operate the piston
Single Acting Cylinder4
Chaudhari M.M
Harmonic Drive is a strain wave gear which can improve certain characteristics compared to traditional gearing systems. Harmonic Drivees trademarked by the Harmonic Drive company. The strain wave gear was invented in 1957 by C.W. Musser.
Harmonic Drive5
Drives
In This Motor the cylinder barrel is driven by the pistons which in turn are themselves driven by the drive flange. The cylinder barrel is located and guided at its periphery by either a centre pin or a needle bearing, and is pivoted with reference to the shaft horizontal axis. The displacement volume changes in accordance with this pivot angle. Reversible hydraulic motor can be realised using this principle.
Piston Motor6
Chaudhari M.M
A gear motor (external gear) consists of two gears, the driven gear (attached to the output shaft by way of a key, etc.) and the idler gear. High pressure oil is ported into one side of the gears, where it flows around the periphery of the gears, between the gear tips and the wall housings in which it resides, to the outlet port.
Gear Motor7
It is consists of a housing with an eccentric bore, in which runs a rotor with vanes in it that slide in and out. The force differential created by the unbalanced force of the pressurized fluid on the vanes causes the rotor to spin in one direction.
Vane Motor8
Chaudhari M.M
In this method used limit switch and mechanical stops
Teach Pendant manual Lead
through
1st Generation 2nd Generation Future
Robot programming methods
Mechanical 1
Lead through (Teach through) Textual Language
2 3
Robot selection/ specification
Robot selection
Configuration
Accuracy, Resolution
& Precision
Payload
Reaching condition
DOF Actuator Type
Sensor & Controller
Application
End effectors
Programming
Techniques
Chaudhari M.M
Application
Machine loading/
Unloading
Machining operation
Spray painting Assembly
Welding Material handling Inspection
Chaudhari M.M
Another Application
Mining Military Medical Nuclear power plant
Space and entertainment Underwater
Chaudhari M.M
