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Historic Review
Introduction
Main Page
Núria Rosillo Guerrero
Robots Specifications
Classification
Applications
Robots Components
Introduction to the Robotic
Name:Núria Rosillo Guerrero
Faculty:Computer Science Engineering
Department:Mathematics Science and Computation
Universidad Cardenal Herrera CEUHalmstad, 18 de abril de 2023
Historic Review
Introduction
Main Page
Núria Rosillo Guerrero
Robots Specifications
Classification
Applications
Robots Components
IntroductionIntroductionIntroductionIntroduction
Definition:A reprogrammable and multifunction machine designed to move materials, tools or specialized instruments, by programmed movements to carry out a variety of tasks.
Characteristics:• Versatile
• Flexibility
• Environment adaptable
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Historic Review
Introduction
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Núria Rosillo Guerrero
Robots Specifications
Classification
Applications
Robots Components
Types of robotsTypes of robotsTypes of robotsTypes of robots
Androids
Mobiles
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Historic Review
Introduction
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Núria Rosillo Guerrero
Robots Specifications
Classification
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Robots Components
Types of robotsTypes of robotsTypes of robotsTypes of robots
Industrial Robots
Medical
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Historic Review
Introduction
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Núria Rosillo Guerrero
Robots Specifications
Classification
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Robots Components
Types of robotsTypes of robotsTypes of robotsTypes of robots
Tele operators• Poliarticulated•Mobiles
•Androids•Zoomorphic
•Hybrids
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Historic Review
Introduction
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Núria Rosillo Guerrero
Robots Specifications
Classification
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Robots Components
Historic ReviewHistoric ReviewHistoric ReviewHistoric Review
Greek mythology has featured many mechanical beings. Machines designed for human comfort we recurrent in Arab civilizations.
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Historic Review
Introduction
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Núria Rosillo Guerrero
Robots Specifications
Classification
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Robots Components
Historic ReviewHistoric ReviewHistoric ReviewHistoric Review
First person who employed the word Robot was Karel Capek
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Historic Review
Introduction
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Núria Rosillo Guerrero
Robots Specifications
Classification
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Robots Components
Historic ReviewHistoric ReviewHistoric ReviewHistoric Review
Isaac Asimov coined the term robotic and he published three famous robotic laws :
• A robot can't damage a human being, nor allow this to be damaged.
• A robot must obey a human order, except when these orders clash with the first law.
• A robot must always protect themselves as long as this protection doesn’t clash with the first and second laws.
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Historic Review
Introduction
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Núria Rosillo Guerrero
Robots Specifications
Classification
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Historic ReviewHistoric ReviewHistoric ReviewHistoric Review
The first version were the programmable machines in the XVIII and XIX century.
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Historic Review
Introduction
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Núria Rosillo Guerrero
Robots Specifications
Classification
Applications
Robots Components
Historic ReviewHistoric ReviewHistoric ReviewHistoric Review
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Historic Review
Introduction
Main Page
Núria Rosillo Guerrero
Robots Specifications
Classification
Applications
Robots Components
Historic ReviewHistoric ReviewHistoric ReviewHistoric Review
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Historic Review
Introduction
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Núria Rosillo Guerrero
Robots Specifications
Classification
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Robots Components
Historic ReviewHistoric ReviewHistoric ReviewHistoric Review
• External sensors.
• Dynamic Control.
• Redundant robots.
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Historic Review
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Robots Specifications
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Historic ReviewHistoric ReviewHistoric ReviewHistoric Review
Waited increasing at the robotics industry
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Year AR MMR TR RA PR ROU
1994 11.2 25.5 28.5 18.5 10.7 5.5
1995 11.1 26.4 28.9 18.1 10.1 5.4
1996 11.5 27.0 28.0 17.6 10.1 5.8
1997 11.8 27.7 27.0 17.0 10.2 6.3
1998 11.7 28.0 26.6 17.0 10.1 6.6
Table 1: Acquisition Robots Percentages according to its function in U.S
Historic Review
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Núria Rosillo Guerrero
Robots Specifications
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• Six precisions joints between the robots base and the manipulator extreme• Simple and intuitive programming.• Adaptation to the environment by sensorial stimulations.• Movement margin in ranges of 0.3 mm.• Capability to manipulate weights until 150 kg.• Point to point movement control and trajectory follow-up.• To synchronize with with mobiles targets.• Compatibility with PC’s.• High reliability (during at least 400 work hours).• Artificial vision that includes at least orientation and recognition capability.• Tactile sensors.• Coordination of the different parts of the unit.• Capability of trajectory correction on-line.• Mobility.• Movement optimization.• Energy conservation.• General purposes appendices.• Voice communication• Security according the Asimov laws.
Current robotics limits
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Robots Specifications
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Robots ComponentsRobots ComponentsRobots ComponentsRobots Components
• The manipulator.
• The sensors.
• The control unit.
• The power convert unit.
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Núria Rosillo Guerrero
Robots Specifications
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Robots ComponentsRobots ComponentsRobots ComponentsRobots Components
The manipulator
It constitutes the mechanical structure of the robot.
Classes of kinematic pairs:
• Revolution pairs.• Prismatic pairs.
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Historic Review
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Núria Rosillo Guerrero
Robots Specifications
Classification
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Robots Components
Robots ComponentsRobots ComponentsRobots ComponentsRobots Components
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Historic Review
Introduction
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Núria Rosillo Guerrero
Robots Specifications
Classification
Applications
Robots Components
Robots ComponentsRobots ComponentsRobots ComponentsRobots Components
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Núria Rosillo Guerrero
Robots Specifications
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Robots Components
Robots ComponentsRobots ComponentsRobots ComponentsRobots Components
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The sensors
Classification:
• Internal sensors
• External sensors
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Robots Specifications
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Robots ComponentsRobots ComponentsRobots ComponentsRobots Components
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The Unit Control
Functions:
• Beginning and end of the movement of the individual components of the manipulator in a sequence of specified points.
• Data is stored in its memory, about the position and sequence of movements.
• It permits the robot to interact with the environment by means of sensors.
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Robots Specifications
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Robots ComponentsRobots ComponentsRobots ComponentsRobots Components
Power conversion Unit
Its mission is to provide the necessary energy to the engines. It can be a power amplifier in the case of the systems moved by servos, or it can be a compressor in the case the robot uses pneumatic o hydraulic system
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Main specifications:
• Load capacity.• Mobility.• Work Space .• Agility.• Precision and repeatability.• Work Environment.
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Load Capacity
It’s the maximum weight that it can move under any configuration.
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Mobility
The mobility is determined by the total number of independent movements that the robot is able to do. The movements can be displaced or rotations.
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Work Space
It`s the space region composed by all the points that can be reached by the end of the arm o any point of the wrist, without taking the tool into account. The volume and the shape of the work space is very important for industrial applications, because they determine the robots capabilities.
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Robots SpecificationsRobots SpecificationsRobots SpecificationsRobots Specifications
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Work Space
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Agility
It`s measurement by two parameters: maximum velocity and maximum accelerations
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Precision and Repeatability
Precision: Capability to position the terminal element at a point in its work space.Repeatability: it is the measurement of the robot’s ability to situate its terminal element in the same point several times.
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Robots Specifications
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Robots SpecificationsRobots SpecificationsRobots SpecificationsRobots Specifications
Work Environment
Robots normally work in contaminated environment or under extreme temperatures, and it has to be designed to fit this kind of atmosphere..
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Robots Specifications
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ClassificationClassificationClassificationClassification
Classification based on the mechanical configuration of the robot
Classification based on the type of control.
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Robots Specifications
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Classification based on a mechanical Classification based on a mechanical configurationconfigurationClassification based on a mechanical Classification based on a mechanical configurationconfiguration
Robots with cylindrical coordinates
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Núria Rosillo Guerrero
Robots Specifications
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Classification based on a mechanical Classification based on a mechanical configurationconfigurationClassification based on a mechanical Classification based on a mechanical configurationconfiguration
Robots with spherical coordinates
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Núria Rosillo Guerrero
Robots Specifications
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Robots Components
Classification based on a mechanical Classification based on a mechanical configurationconfigurationClassification based on a mechanical Classification based on a mechanical configurationconfiguration
Robots with articulated arms
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• Spherical.• Parallelogram.• Cylindrical.
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Robots Specifications
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Classification based on a mechanical Classification based on a mechanical configurationconfigurationClassification based on a mechanical Classification based on a mechanical configurationconfiguration
Spherical
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Robots Specifications
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Classification based on a mechanical Classification based on a mechanical configurationconfigurationClassification based on a mechanical Classification based on a mechanical configurationconfiguration
Spherical
...
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Núria Rosillo Guerrero
Robots Specifications
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Classification based on a mechanical Classification based on a mechanical configurationconfigurationClassification based on a mechanical Classification based on a mechanical configurationconfiguration
Parallelogram
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Núria Rosillo Guerrero
Robots Specifications
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Classification based on a mechanical Classification based on a mechanical configurationconfigurationClassification based on a mechanical Classification based on a mechanical configurationconfiguration
Parallelogram
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Núria Rosillo Guerrero
Robots Specifications
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Classification based on a mechanical Classification based on a mechanical configurationconfigurationClassification based on a mechanical Classification based on a mechanical configurationconfiguration
Cylindrical
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Núria Rosillo Guerrero
Robots Specifications
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Classification based on a mechanical Classification based on a mechanical configurationconfigurationClassification based on a mechanical Classification based on a mechanical configurationconfiguration
Cylindrical
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Núria Rosillo Guerrero
Robots Specifications
Classification
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Classification based on a mechanical Classification based on a mechanical configurationconfigurationClassification based on a mechanical Classification based on a mechanical configurationconfiguration
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Robots with Cartesian coordinates
• Type Projection.• Type Portico.
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Classification based on a mechanical Classification based on a mechanical configurationconfigurationClassification based on a mechanical Classification based on a mechanical configurationconfiguration
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Projection
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Classification based on a mechanical Classification based on a mechanical configurationconfigurationClassification based on a mechanical Classification based on a mechanical configurationconfiguration
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Portico type
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Classification based on a mechanical Classification based on a mechanical configurationconfigurationClassification based on a mechanical Classification based on a mechanical configurationconfiguration
Portico type
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Classification based on type of controlClassification based on type of controlClassification based on type of controlClassification based on type of control
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Classification based on the kind of control
• Not servo controlled.• Servo controlled.
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Classification based on type of controlClassification based on type of controlClassification based on type of controlClassification based on type of control
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Not servocontrolled
Characteristics: • High velocity due to the small dimensions.• Low cost, easy maintenance and operation. Extremely reliable .• High precision and repeatability.• Not flexible respect the applications.
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Classification based on type of controlClassification based on type of controlClassification based on type of controlClassification based on type of control
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Servocontrolled
CONTROLSYSTEM
CONTROLSYSTEM
SENSORSENSOR
PROCESSPROCESS
ENTRY
EXIT
DESIRED STATE FOR THE EXIT
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Classification based on type of controlClassification based on type of controlClassification based on type of controlClassification based on type of control
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Servocontrolled
Characteristics: • High storage capacity.• The terminal element can have one of two types of movement: point to point and continuous trajectory.• Inside the physical limits, the precision of the position can be modified fiddling with the amplifiers of the servo control system.• The programming can be carried out by apprenticeship or by a programming language like VAL, ARLA…• It’s possible to program the movement of each axis to situate the terminal element in any part of the work space.• More expensive, low reliability, unlimited flexibility.
Historic Review
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Classification based on type of controlClassification based on type of controlClassification based on type of controlClassification based on type of control
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Point to point robots servo controlled
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Classification based on type of controlClassification based on type of controlClassification based on type of controlClassification based on type of control
Robots servo controlled with continuous trajectory
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ApplicationsApplicationsApplicationsApplications
Soldering
Materials Applications
Rectified
Maintenance
Assembly Operations
Inspection
Smelting
Cut
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Robots Specifications
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ApplicationsApplicationsApplicationsApplications
Smelting
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ApplicationsApplicationsApplicationsApplications
Soldering
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ApplicationsApplicationsApplicationsApplications
Materials Applications
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ApplicationsApplicationsApplicationsApplications
Rectified
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Maintenance
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Assembly Operations
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Inspection
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ApplicationsApplicationsApplicationsApplications
Cut
