EXPERIMENT NO.

Aim: Demonstration on robot.

Objective: To understand programming and functioning of Robot.

Introduction to robot:

An industrial robot is a general-purpose, programmable machine possessing certain anthropomorphic

characteristics. Other human- like characteristics arc the robot's capability to respond to sensory inputs,
communicates with other machines, and make decisions.

RIA defines “A robot is a reprogrammable, multi-functional manipulator designed to move material, parts,
tools, or specialized devices through variable programmed motions for the performance of a variety of tasks”

Reasons for the commercial and technological importance of industrial robots include the following:

a. Robots can be substituted for humans in hazardous or uncomfortable work environments.

b. A robot performs its work cycle with a consistency and repeatability that cannot be attained by humans.

c. Robots can be reprogrammed. When the production run of the current task is completed, a robot can be
reprogrammed and equipped with the necessary tooling to perform an altogether different task.

d. Robots are controlled by computers and can therefore be connected to other computer systems 10
achieve computer integrated manufacturing.

Robot anatomy – Joints and links

A joint of an industrial robot is similar to a joint in the human body: It provides relative motion between two
parts of the body. Each joint, or axis as it is sometimes called, provides the robot with a so-called degree-of-
freedom (DOF) of motion. In nearly all cases, only one degree-of-freedom is associated with a joint. Robots
are often classified according to the total number of degrees-of-freedom they possess.

Arm and Body Motions:

(a) Linear joint (type Joint): The relative movement between the input link and the output link is a
translational sliding motion, with the axes of the two links being parallel.

(b) Orthogonal joint (type O joint): This is also a translational sliding motion, but the input and output links
are perpendicular to each other during the move.

(c) Rotational Joint (type R joint): This type provides rotational relative motion, with the axis of rotation
perpendicular to the axes of the input and output links.

(d) Twisting joint (type T joint): This joint also involves rotary motion, but the axis or rotation is parallel to the
axes of the two links.

(e) Revolving joint (type V joint, V from the "v' in revolving): In this joint type, the axis of the input link is
parallel to the axis of rotation of the joint. And the axis of the output link is perpendicular to the axis of
rotation.
Wrist Motions: The robot‘s wrist is used to establish the orientation of the end effectors.

Robot wrists usually consist of two or three degrees-of-freedom. The three joints are defined as:

i. Roll, using a T joint to accomplish rotation about the robot‘s arm axis.
ii. Pitch, which involves up-and-down rotation, typically a R joint.
iii. Yaw, which involves right-and-left rotation, also accomplished by means of an R-Joint. A two D-O-F
wrist typically includes only roll and pitch joints (T and R joints)

Robot configurations:
1) Polar configuration: This configuration consists of a sliding arm (L joint) actuated relative to the body, that
can rotate about both a vertical axis (T joint) and a horizontal axis (R joint). Work Volume: Spherical

2) Cylindrical configuration: This robot configuration consists of a vertical column, relative to which an arm
assembly is moved up or down. The arm can be moved in and out relative to the axis of the column. Work
Volume: Cylindrical

3) Cartesian coordinate robot: Other names for this configuration include rectilinear robot and x-y-z robot. As
shown in Figure, it is composed of three sliding joints, two of which are orthogonal. Work Volume:
Rectangular

4) Jointed-arm robot: Also called as articulated arm robot. This robot manipulator has the general
configuration of a human arm. The jointed arm consists of a vertical column that swivels about the base using
a T joint. At the top of the column is a shoulder joint (shown as an R joint in our figure), who’s output link
connects to an elbow joint (another R joint)

5) SCARA: SCARA is an acronym for Selective Compliance Assembly Robot Arm. This configuration is similar to
the jointed arm robot except that the shoulder and elbow rotational axes are vertical, which means that the
arm is very rigid in the vertical direction, but compliant in the horizontal direction. This permits the robot to
perform insertion tasks (for assembly) in a vertical direction, where some side-to-side alignment may be
needed to mate the two parts properly.

Robot drive system:

Robot joints are actuated using any of three possible types of drive systems:

(1) Electric

(2) Hydraulic

(3) Pneumatic

Electric drive systems use electric motors as joint actuators (e.g., servomotors or stepping motors, the same
types of motors used in NC positioning systems, Hydraulic and pneumatic drive systems use devices such as
linear pistons and rotary vane actuators to accomplish the motion of the joint.

Pneumatic drive is typically limited to smaller robots used in simple material transfer applications. Electric
drive and hydraulic drive are used on more-sophisticated industrial robot. Electric drive has become the
preferred drive system in commercially available robots, as electric motor technology has advanced in recent
years. It is more readily adaptable to computer control, which is the dominant technology used today for
robot controllers. Electric drive robots are relatively accurate compared with hydraulically powered robots. By
contrast, the advantages of hydraulic drive include greater speed and strength.

The drive system, position sensors (and speed sensors if used), and feedback control systems for the joints
determine the dynamic response characteristics of the manipulator. The speed with which the robot can
achieve a programmed position and the stability of its motion are important characteristics of dynamic
response in robotics. Speed refers to the absolute velocity of the manipulator at its end-of-arm.

Types of robot programming:

There are various methods which robots can be programmed to perform a given work cycle. We divide this
programming method into three categories:

1. Manual method

2. Lead through method

3. Off-line programming

Manual method: This method is not really programming in the conventional sense of the world. It is more like
setting up a machine rather than programming. It is the procedure used for the simpler robots and involves
setting mechanical stops, cams, switches or relays in the robots control unit. For these low technology robots
used for short work cycles (e.g., pick and place operations), the manual programming method is adequate.

Lead through method: The lead through method makes use of a teach pendant to power drive the robot
through its motion sequence. The teach pendant is usually a small hand held device with switches and dials to
control the robots physical movements. Each motion is recorded into memory for future playback during work
cycle. The lead through method is very popular among robot programming methods because of its ease and
convenience.

Off- line programming: This method involves the preparation of the robot program off-line, in a manner
similar to NC part programming. Off-line robot programming is typically accomplished on a computer
terminal. Programming off-line can be done while the robot is still in production on the preceding job. This
means higher utilization of the robot and the equipment with which it operates. Another benefit associated
with off-line programming is the prospect of integrating the robot into the factory CAD/CAM data base and
information system.

End effectors and sensors:

We mentioned that end effectors are usually attached to the robot's wrist. The end effectors enable the robot
to accomplish a specific task. The two categories of end effectors are grippers and tools.

GRIPPERS

Grippers are end effectors used to grasp and manipulate objects during the work cycle. The objects are
usually work parts that are moved from one location to another in the cell. Mechanical grippers, consisting of
two or more fingers that can be actuated by the robot controller to open and dose to grasp the work part

• Vacuum grippers, in which suction cups are used to hold flat objects

• Magnetized devices, for holding ferrous parts

• Adhesive devices, where an adhesive substance is used to hold a flexible material such as a fabric.
 • Simple mechanical devices such as hooks and scoops.

TOOLS

Tools are used in applications where the robot must perform some processing operation on the work part.
Examples of the tools used as end effectors by robots to perform processing applications include:

• Spot welding gun

• Arc welding tool

• spray painting gun

• rotating spindle for drilling, routing. Grinding, and so forth

• Assembly tool (e.g., automatic screwdriver)

• Heating torch

• Water jet cutting tool

SENSORS

Sensors used in industrial robotics can be classified into two categories:

(1) Internal
(2) External.

Internal sensors are those used for controlling position and velocity of the various joints of the robot. These
sensors form a feedback control loop with the robot controller. Typical sensors used to control the position of
the robot arm include potentiometers and optical encoders. To control the speed of the robot arm,
tachometers of various types are used.

External sensors are used to coordinate the operation of the robot with other equipment in the cell. In many
cases, these external sensors are relatively simple devices. Such as limit switches that determine whether a
part has been positioned properly in a fixture or that indicate that a part is ready to be picked up at a
conveyor. Other situations require more-advanced sensor technologies, including the following:

• Tactile sensors: Used to determine whether contact is made between the sensor and another object. Tactile
sensors can be divided into two types in robot applications:

(1) Touch sensors and

(2) Force sensor

Touch sensors are those that indicate simply that contact has been made with the object. Force sensors are used
to indicate the magnitude of the force with the object. This might be useful in a gripper to measure and control the
force being applied to grasp an object.

Range Sensor:-It is used to indicate the actual distance of the object.

Proximity sensors:- Indicate when an object is close to the sensor.

Optical sensor:- Photocells and other photometric devices can be utilized to detect the presence or absence of
objects and are often used for proximity detection.

Machine vision:- Used in robotics for inspection, parts identification, guidance, and other uses.
We provide a more-complete discussion of machine vision in automated inspection.

Other sensors:- This miscellaneous category includes other types of sensors that might be used in robotics,
including devices for measuring temperature, fluid pressure, fluid flow, electrical voltage, current, and various
other physical properties.

Application of robots:

Material Handling Applications: Includes part transfer from conveyors and palletization. Some robots are
equipped with multiple tooling that can handle more than one part at a time.

Machine Loading and/or Unloading: In machine loading and/or unloading applications, the robot transfers parts
into and/or from a production machine, generally used in FMS.

Industrial robot applications of machine loading and/or unloading include the following processes:

• Die casting: The robot unloads parts from the die casting machine. Peripheral operations sometimes performed
by the robot include dipping the parts into a water bath for cooling.

• Plastic molding: Plastic molding is a robot application similar to die casting. The robot is used to unload molded
parts from the injection molding machine.

• Metal machining operations: The robot is used to load raw blanks into the machine tool and unload finished
parts from the machine.

Processing Operations

• Spot Welding

• Continuous Arc Welding

• Spray Coating

• Drilling, routing, and other machining processes

• Grinding, wire brushing, and similar operations

• Water jet cutting

• water culling

• Riveting

• Assembly and Inspection

ARISTO Robot

ARISTO is a 6 axis articulated robotic arm of industrial design, for training and research and is manufactured to
industrial standards. The robot is capable of lifting up to 2.5kg of payload. The robot can be used with pneumatic /
electrical grippers. ARISTO has ARISTO Simulation software that allows the user to learn robot functions,
applications and programming, both online and offline. ARISTO can be integrated into an FMS/ CIM set up and
controlled via FMS/ CIM Software.
TECHNICAL SPECIFICATION

Description

No. of Axes 6

Link 1 300 mm /11.8 in

Link 2 400 mm / 15.75 in

Vertical Height 400 mm / 15.75 in

Joint Actuators DC Servo Geared Motors

Payload 2.5 Kg / 5.5 lbs

Axis-1 (Waist) 300 deg

Axis-2 (Shoulder) 60 deg

Axis-3 (Elbow ) 60 deg

Axis-4 (Roll) 30 deg

Axis-5 (Pitch) 180 deg

Axis-6 (Roll) 330 deg

Controller PC Based PID Control Algorithm

Path Type Point to Point, Linear & Circular Interpolation Path

Power Supply 230 V AC, 50/60 Hz, 5 A

Repeatability ± 0.3 mm / ± 0.01 in

Weight (Approx.) 35 Kg 77 lbs

Field of Application

Pick and Place

Palletizing

Writing

Machine Loading / Unloading

Assembly

Interface ability with Machines

Simulation Software

ARISTOSIM, WorkSpace

Result

Study of performance of Robot has been performed.