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INTRODUCTION

Industrial robots are general purpose, programmable machine possessing certain human like features.

When doing a job, robots can do many things faster than humans.  Robots do not need to be paid, eat, drink, or go to the bathroom like people.  They can do repetitive work that is absolutely boring to people and they will not stop, slow down, or fall to sleep like a human.

Definition of an Industrial Robot

A robot is a re-programmable multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks.

History and evolution of industrial Robotics

The word "Robot" comes from the Czech word "robota", meaning "forced labor." 

The word "robotics" also comes from science fiction - "Runaround" (1942) by Isaac Asimov. 

The first modern industrial robots were probably the “Unimates”, created by George Devol and Joe Engleberger in the 1950's and 60's.  Engleberger started the first robotics company, called "Unimation", and has been called the "father of robotics."

The General Electric Walking Truck the first legged vehicle with a computer-brain, by Ralph Moser at General Electric Corp. in the 1960s. 

early robots (1940's - 50's) Grey Walter's "Elsie the tortoise"

"Shakey" Stanford Research Institute in the 1960s. 

Evolution of industrial RoboticsMachines, like the puppets in this theater, were designed

to imitate human actions over 3,000 years ago.

First generation robots were designed to perform factory work.

Such robots performed simple tasks that were dangerous or unpleasant for people.

Robots were used to weld, spray paint, move heavy objects, handle hot materials, etc.

Second generation Robots perform more complex tasks and simulate many human functions.

Such robots move, sense surroundings, and respond to changes in their environment.

Types of Robotics according to JIRA :(Japanese Industrial Robot Association)

Class1: Manual Handling Device

Class2: Fixed-Sequence Robot

Class3: Variable Sequence Robot

Class4: Playback Robot

Class5: Numerical Control Robot

Class6: Intelligent Robot

According to AFR :The Association Francaise de Robotique

Type A: Handling Devices with manual control

Type B: Automatic Handling Devices with predetermined cycles

Type C: Programmable, servo controlled robots

Type D: Type C with interactive with the environment

Working of robots

Robot is constructed with a series of joints and links.

1. Joints and linksJoint provides relative motion between two parts of

body. Each joint provides the robot with a degree of freedom

(D.O.F) of motion. Robots are often classified according to the total number

of degrees of freedom (Most robots possess five or six degrees-of-freedom).

Two links are connected to each joint (input link and output link).

Links are the rigid components of the robot manipulator.

2. Common Robot ConfigurationsRobot manipulator consists of two sections;1) Body-and-arm: for positioning of objects in the

robot's work volume• Polar configuration• Cylindrical configuration.• Cartesian coordinate robot.• Jointed arm robot.• SCARA

2) Wrist assembly: for orientation of objects.

Roll Pitch Yaw

3. Joint Drive systems• Electrical (servomotors or stepping

motors)• Hydraulic (greater speed and strength,

but relatively low accuracy)• Pneumatic (limited to smaller robots).The drive system, position sensors (and the

speed sensors if used), and feedback control system determined the dynamic response characteristics of the manipulator.

ROBOT CONTROL SYSTEMS

Each joint has its own feedback control system, and a supervisory controlled coordinates the combined actuation of the joint according to the sequence of the robot program.

Robot controllers can be classified into;

1. Limited sequence control, used only for simple motion cycles such as pick and place operations

2. Playback with point to point control3. Playback with continuous path control, it capable to

one or both;1. Greater storage capacity.2. Interpolation calculations

4. Intelligent control :1. Interact with the environment.2. Make a decision when things

go wrong during the work cycle.

3. Communicate with humans.4. Make computations during the

motion cycle.5. Respond to advantage sensor

inputs such as machine vision.

5. SENSORS

Internal used to control position and velocity of the various joints.

Potentiometers and optical encoder.External to coordinate the operation of the

robot with other equipment in the cell.1. Limit switch.2. Tactile sensors, to determine whether

contact is made• Touch sensors• Force sensors.

3. Proximity sensors (range sensors).4. Optical sensors.5. Machine vision

Industrial Applications :

Situations that tend to promote of robot for human labor are :

1. Hazardous work environment for human.2. Repetitive work cycle.3. Difficult handling for human.4. Multi-shift operations.5. Infrequent changeovers.6. Part position and orientation.

Applications :

1. Material handling.2. Processing operations.3. Assembly and inspection.

Advantages

• Robotics and automation can, in many situation, increase productivity, safety, efficiency, quality, and consistency of products

• Robots can work in hazardous environments

• Robots need no environmental comfort

• Robots work continuously without any humanity needs and illnesses

• Robots have repeatable precision at all times

• Robots can be much more accurate than humans, they may have mili or micro inch accuracy.

• Robots and their sensors can have capabilities beyond that of humans

• Robots can process multiple stimuli or tasks simultaneously, humans can only one.

• Robots replace human workers who can create economic problems

Robots in automobile sector

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