Presentation on robots

8/14/2019 Presentation on robots

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Sharwan kumar

Presentation on robots


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Intro Robot, defined

"A re-programmable, multifunctionalmanipulator, designed to move material,

parts, tools, or specialized devices throughvarious programmed motions for theperformance of a variety of tasks."-- Fromthe Robot Institute of America, 1979


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Robot Physical Configuration

All most all of the current day robots fall

under the following four configurations.

Polar Co-ordinate Configuration

Cylindrical Co-ordinate Configuration

Jointed Arm Configuration

Cartesian Co-ordinate Configuration


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This configuration sometimes also referred to

as Spherical Co-ordinates as the workspace

within which it can move its arm is a partial

sphere.

The robot typically has a rotary base and a

pivot that can be used to raise and lower the

telescopic arm


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C li d i l C di


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Cylindrical Co-ordinate

Configuration

Here, robot body is a vertical column that

swivels about a vertical axis. The arm consists

of several orthogonal slides which allow the

arm to be moved up or down and in and out

with respect to the body.


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Cylindrical Co-ordinate

Configuration


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The jointed arm is similar to human arm in

appearance. The arm consists of several

straight members connected by joints which

are analogous to human shoulder, elbow and

wrist.

The robot arm is mounted to the base which

can provide the robot with a capacity to workwithin a spherical work enclosure.


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Cartesian Co-ordinate

configuration. This robot is Cartesian because it allows x-y-z

positioning. Three linear joints provide thethree axes of motion and define the x, y and z

planes. This robot is suited for pick and placeapplications where either there are noorientation requirements or the parts can bepre-oriented before the robot picks them up

(such as surface mounted circuit boardassembly)..


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Cartesian Co-ordinate

configuration.


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Robotic Motions

Irrespective of the configuration, the purpose

of a robot is to perform an useful task. To

accomplish the task, an end Effector or Hand

is attached to the end of the robots arm. By

moving the end effectors along with the arm a

robot can perform any specific function for

which the effectors are designed.


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Basic robot motions

There are six basic motions which provide the

robot with the capability to move the end

effectors through the required sequence of

motions.The six basic motions consist of

three arm and body motions and three wrist

motions. These motions are describe below:-


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Degrees of Freedom

In three dimensions, the six DOFs of a rigid body aresometimes described using these nautical names:

Moving up and down (heaving);

Moving left and right (swaying); Moving forward and backward (surging);

Tilting along vertical axis (pitching);

Tilting front to back (yawing);

Tilting side to side , along length (rolling).
http://en.wikipedia.org/wiki/Heavehttp://en.wikipedia.org/wiki/Swayhttp://en.wikipedia.org/wiki/Surgehttp://en.wikipedia.org/wiki/Flight_dynamicshttp://en.wikipedia.org/wiki/Flight_dynamicshttp://en.wikipedia.org/wiki/Surgehttp://en.wikipedia.org/wiki/Swayhttp://en.wikipedia.org/wiki/Heave


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Degrees of Freedom


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Major features of a Robot

The major features that are common to almost

all types of robots are :

Manipulator (or arm)

Controller(the brain of robot )

Sensors

Power supply unit


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Manipulator (or arm)

The robot manipulator contains three structural

elements.

The arm ,

the wrist and

the hand (or end effectors).


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The end effectors

At the end of human arm there is hand and

figures , similarly at the free end of the robot

arm there is a component called end effectors.


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The end effectors


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End effectors

End effectors fall in two major categories .

these are:

Grippers

Tools


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Grippers

Grippers are end effectors used to hold objects.

The objects are the work parts that are moved

by the robot for purposes such as picking parts

from conveyors, arranging parts in

pallets,machine loading and unloading,

handling of cartoons and materials etc


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Tools

Tools are end effectors designed to perform

some work on the part rather than merely

grasping it .

Such applications include spot welding gun ,

spray painting gun , arc welding gun etc


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Controller

A digital computer is the most commonly used

controller.

It directs and controls the movement of the

manipulator and the end effector by controlling

the motors that drive the robot links at the

joints.


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Sensors

Sensors are the transducers that are used to

measures physical variable of interest.the robot

must take on more humanlike senses and

capabilities in order to perform the task in asatisfactory way.

These senses and capabilities include vision

and hand-eye coordination, touch and hearing.


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Power supply unit

This unit provides the required to the

manipulators actuators

Industrial robots make use of three types of

drives . these are:-

Hydraulic drive:

Pneumatic drive:

Electric drive:


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Hydraulic drive:

These are mostly used for driving high power

robots as they can deliver large power while

being relatively small in size.


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Pneumatic drive:

This type of drive is used in smaller

robots.these robots are often limited to pick

and place operation with fast cycles.


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Thank You

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Presentation on robots