Introduction to
Industrial Robots
Agenda
Robot Classification
Types of Motions
Types of Joints
Robot Configurations
Robot Reference Frames
Wrist Motions
Robot Programming
Robot Classification
The following is the classification of Robots according to the
Robotics Institute of America
Variable-Sequence Robot
A device that performs the successive stages of a task according to a predetermined
method.
Playback Robot
A human operator performs the task manually by leading the Robot.
Numerical Control Robot
The operator supplies the movement program rather than teaching it the task
manually.
Intelligent Robot
A robot with the means to understand its environment and the ability to successfully
complete a task despite changes to the environment.
Types of Motions
Types of Joints
Revolute joint : A revolute joint is a one-degree-of-freedom kinematic
pair used in mechanisms. Revolute joints provide single-axis rotation
function used in many places such as door hinges, folding mechanisms,
and other uni-axial rotation devices.
Joint with single revolute joint Joint with two revolute joint
Types of Joints
Prismatic joint: A prismatic joint provides a linear sliding movement
between two bodies, and is often called a slider, as in the slider-crank
linkage. A prismatic pair is also called as sliding pair. A prismatic joint
can be formed with a polygonal cross-section to resist rotation.
Robot Configurations
Some of the commonly used configurations in Robotics are
Cartesian/Rectangular Gantry
Cylindrical
Spherical
Articulated
Selective Compliance Assembly Robot Arm (SCARA)
Robot Configurations
Cartesian/Rectangular Gantry: These Robots are made of 3 Linear
joints that orient the end effector, which are usually followed by
additional revolute joints.
Work Envelope Concept
Depending on the configuration and size of the
links and wrist joints, robots can reach a collection
of points called a Workspace.
Workspace may be found empirically, by moving
each joint through its range of motions and
combining all space it can reach and subtracting
what space it cannot reach
Robot Configurations
Cartesian Robot - Work Envelope
Robot Configurations
Cylindrical: Cylindrical coordinate Robots have 2 prismatic joints and
one revolute joint.
Robot Configurations
Cylindrical Robot - Work Envelope
Robot Configurations
Spherical joint: They follow a spherical coordinate system, which has
one prismatic joints and two revolute joint.
Robot Configurations
Spherical Robot - Work Envelope
Robot Configurations
Articulated: An articulated robot’s joints are all revolute, similar to a
human’s arm.
Robot Configurations
Selective Compliance Assembly Robot Arm (SCARA): They have
two revolute joints that are parallel and allow the Robot to move in a
horizontal plane, plus an additional prismatic joint that moves
vertically
Robot Configurations
Reference Frames
World Reference Frame which is a universal coordinate frame, as
defined by the x-y-z axes. In this case the joints of the robot move
simultaneously so as to create motions along the three major axes.
Joint Reference Frame which is used to specify movements of each
individual joint of the Robot. In this case each joint may be accessed
individually and thus only one joint moves at a time.
Tool Reference Frame which specifies the movements of the Robots
hand relative to the frame attached to the hand. The x’,y’and z’ axes
attached to the hand define the motions of the hand relative to this
local frame. All joints of the Robot move simultaneously to create
coordinated motions about the Tool frame.
Robot Reference Frames
Robot Reference Frames
Robot Reference Frames
Wrist Motions
typically has 3 degrees of freedom
Roll involves rotating the wrist about the arm axis
Pitch up-down rotation of the wrist
Yaw left-right rotation of the wrist
End effector is mounted on the wrist
Wrist Motions
Control Methods
Non Servo Control
implemented by setting limits or mechanical stops for
each joint and sequencing the actuation of each joint to
accomplish the cycle
end point robot, limited sequence robot
No control over the motion at the intermediate points,
only end points are known
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Programming accomplished by
setting desired sequence of moves
adjusting end stops for each axis accordingly
the sequence of moves is controlled by a “squencer”,
which uses feedback received from the end stops to
index to next step in the program
Low cost and easy to maintain, reliable
relatively high speed
repeatability of up to 0.01 inch
limited flexibility
typically hydraulic, pneumatic drives
Servo Control
Point to point Control
Continuous Path Control
Closed Loop control used to monitor position,
velocity (other variables) of each joint
Point-to-Point Control
Only the end points are programmed, the path used to
connect the end points are computed by the controller
user can control velocity, and may permit linear or
piece wise linear motion
Feedback control is used during motion to ascertain
that individual joints have achieved desired location
Often used hydraulic drives, recent trend towards
servomotors
loads up to 500lb and large reach
Applications
pick and place type operations
machine loading
Continuous Path Controlled
in addition to the control over the endpoints, the path
taken by the end effectors can be controlled
Path is controlled by manipulating the joints
throughout the entire motion, via closed loop control
Applications:
spray painting, polishing, grinding, arc welding
Robot Programming
Typically performed using one of the following
On line
teach pendant
lead through programming
Off line
robot programming languages
task level programming
Use of Teach Pendant
hand held device with switches used to control the
robot motions
End points are recorded in controller memory
sequentially played back to execute robot actions
trajectory determined by robot controller
suited for point to point control applications
Easy to use, no special programming skills required
Useful when programming robots for wide range of
repetitive tasks for long production runs
RAPID
Lead Through Programming
lead the robot physically through the required
sequence of motions
trajectory and endpoints are recorded, using a
sampling routine which records points at 60-80 times
a second
when played back results in a smooth continuous
motion
large memory requirements
Programming Languages
need to interface robot control system to external
sensors, to provide “real time” changes based on sensory
equipment
computing based on geometry of environment
ability to interface with CAD/CAM systems
meaningful task descriptions
off-line programming capability
Assignment
Discuss an activity that you think could be automated
by using a robot.
Define the tasks that the robot will perform.
What kind of special tooling is required? Sketch if you
will use any.
Can the activity be justified economically? Show your
development – do not simply say yes or no.
