the capability of robots

1

Instituto Politecncio Nacional

ESIME Azcapotzalco

Subject: Computer Integrated Manufacturing

Pupil: Arellano Quintana Victor Manuel

Topic: The Capability of the Robots

Date: 11 May 2010

2

THE CAPABILITY OF ROBOTS

Introduction:

Many different variations of robots are available for use in industrial applications and are used to carry out repeated actions highly accurately and without variation.

Robots require a control program to govern its velocity, direction, acceleration, deceleration and distance of movement at any time.

3


Models and Types of Robots:

Robots can be found in the manufacturing industry, the military, space exploration, transportation, and medical applications.

4



An Industrial robot consists of several links connected in series by linear, revolute or prismatic joints. At one end the robot will be fixed to a supporting base while the other is manipulated into position and equipped with a tool allowing it to perform a task.

5



Cartesian Robot /Gantry Robot:

Used for pick and place work, application of sealant, assembly operations, handling machine tools and arc welding. It's a robot whose arm has three prismatic joints, whose axes are coincident with a Cartesian coordinator.

Capacity: 5Kg – 200Kg Payload

6



Cartesian Robot /Gantry Robot:

7


Video

8



Cylindrical Robot:

Used for assembly operations, handling at machine tools, spot welding, and handling at diecasting machines. It's a robot whose axes form a cylindrical coordinate system.

Capacity: 3Kg – 5kgPayload

9

THE CAPABILITY OF ROBOTSModels and Types of Robots:

Cylindrical Robot:

Video

10



Spherical/Polar Robot:Used for handling at machine tools, spot welding, diecasting, fettling machines, gas welding and arc welding.

It's a robot whose axes form a polar coordinate system.

Rotates around vertical axis, pivot point provides vertical motion.

11



Spherical/Polar Robot:

Capacity: 3Kg – 10KgPayload

12



SCARA Robot: The basic configuration of a SCARA is a four degree-of-freedom robot with horizontal positioning accomplished by a combined Theta 1 and Theta 2 motion, much like a shoulder and elbow held perfectly parallel to the ground.

Used for pick and place work, application of sealant, assembly operations and handling machine tools.

13



SCARA Robot:

Capacity: 2Kg – 10Kg PayloadHigh AccuracyRepeatability ±0.010mm ±0.10mm

14



SCARA Robot:

15



SCARA Robot:

Video

16



Articulated Robot: Articulated or Joint-Arm Robots are the most versatile robots available closely mimic the natural form of the human arm. There are two variations of these robots based on the number of axis used.

Used for assembly operations, diecasting, fettling machines, gas welding, arc welding and spray painting. It's a robot whose arm has at least three rotary joints.

17



Articulated Robot:

Capacity: 5Kg – 1200KgPayload

18



Articulated Robot:

19



Articulated Robot:

Video

20



Parallel robot:

Picker or Delta Parallel Robots use three parallelograms to build a robot with three translational and one rotational degree of freedom.

It's a robot whose arms have concurrent prismatic or rotary joints.

21



Parallel robot:

As the arms are parallel with each other, the weight of the load is distributed over all three armsCapacity: 3Kg –

15Kg Payload

22



Parallel robot:

Video

23


Applications of Robots:

Robots are used in a wide range of industrial applications. The earliest applications were in materials handling, spot welding, and spray painting.

Robots were initially applied to jobs that were hot, heavy, and hazardous such as die casting, forging, and spot welding.

24



Welding Operations:Perhaps the most popular applications of robots are in industrial welding. The repeatability, uniformity quality, and speed of robotic welding are unmatched.

The two basic types of welding are spot welding and arc welding, although laser welding is done.

Some environmental requirements should be considered for a successful operation.

25

THE CAPABILITY OF ROBOTSApplications of Robots:

Welding Operations:Robots should have the number of axes necessary to permit the proper range of motion. The robot arm should be able to approach the work from multiple angles.

Recommended Capacity: 5Kg – 12Kg

Payload

26



Welding Operations:

27



Welding Operations:

Video

28



Spray Painting Applications:Another popular and efficient use for robots is in the field of spray painting. The consistency and repeatability of a robot's motion have enabled near perfect quality while at the same time wasting no paint.

Recommended Capacity: Payload 3Kg – 5KgRepeatability ±0.10mm ±0.20mm

29



Spray Painting Applications:

30


Spray Painting Applications:

Video

31



Assembly Operations:Good examples of where robots can offer great advantages are those where the tool is heavy, noisy or dangerous. Nail guns, rivet guns, large drills or grinders can all be over 20kg, be unwieldy and dangerous, yet a 120kg payload robot will handle them with ease. Recommended Capacity: 30Kg -200Kg Payload

32



Assembly Operations:

33



Palletizing and Material Handling:

Palletizing is the act of loading or unloading material onto pallets.

Recommended Capacity: 10Kg – 300KgPayload

34


Palletizing and Material Handling:

Video

35



Cutting Applications:

Robots are the perfect tool for many cutting jobs. Laser, plasma and water jet cutters are often used with robots. Due to the dangerous nature of these technologies robots are the obvious choice.

Recommended Capacity: High AccuracyRepeatability ±0.08mm ±0.10mm

36



De-burring, Grinding, Polishing, Linishing and Finishing:By using the flexibility of 6-axis robots it is possible to grind, trim, fettle, polish and even clean almost any part, in any material and achieve a consistent excellent finish.Recommended Capacity: 5Kg – 20Kg PayloadHigh Accuracy

37



Sealing and Gluing:

From an installation point of view sealing applications are very closely related to arc welding. The most important ability for the robot is to follow a path accurately with good control over speed.

Recommended Capacity:5Kg – 15kgHigh Accuracy

38



Robotcell or Workcell:

A Robot Cell is a complete system that includes the robot, controller, and other peripherals such as a part positioner and safety environment. Robot cells are sometimes referred to as Workcells.

The Workcells usually include a work piece holder which moves from a load position adjacent the operator to a work position adjacent the robot.

39



Robotcell or Workcell:

40


Robotcell:

Video

41


Costs of Robots:

The costs are not too high for a simple robot, but the price for a Workcell or custom robot are too high.

I show you a few examples:

42

THE CAPABILITY OF ROBOTSCosts of Robots:ABB - IRB140:

The ABB IRB 140 robot is a very compact, fast and flexible robot designed primarily for welding, glueing and light pick and place work. It is also well suited to deburring, cutting, die casting, machine tending, injection moulding, picking, packing, spraying, polishing and any other roles.

Capacity:6kgPayloadNormal AccuracyRepeatability: ±0.10mm ±0.20mm

43

THE CAPABILITY OF ROBOTSCosts of Robots:

Cost: £8,000 Approximately: $155,000.00 MXN

44

THE CAPABILITY OF ROBOTSCosts of Robots:ABB - IRB1400 S4:

The ABB IRB 1400 robot is a compact, fast and flexible robot designed primarily for welding (MIG and TIG), gluing, sealing and light pick and place work. Other applications include, metal coating, milling, de burring, grinding, machine tending, plastics and many others. The arm design is well balanced, durable and has remained virtually unchanged for over 15 years.

Capacity:6Kg -12KgPayloadNormal AccuracyRepeatability: ±0.10mm ±0.20mm

45

THE CAPABILITY OF ROBOTSCosts of Robots:

Cost: £13,500Approximately: $ 267,000.00 MXN

the capability of robots

Documents