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Lecture-3 Robot Work Envelops

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100 views

Lecture-3 Robot Work Envelops

Uploaded by

Deepak Tendolkar
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Lecture-3

Robotics(ME3102T)

Robot Work Envelopes

Dr. A. S. Rao
Lab-in-charge:
Technical Excellence Centre
Department of Mechanical Engineering
Veermata Jijabai Technological Institute
Mumbai-400019
Outline
Robot Classification Robot Reference Frames

Robot Components Programming Modes

Robot DOF Robot Characteristics

Robot Joints Robot Workspace

Robot Coordinates Robot Languages


Classification of Robots :
• Drive Technology

• Work Envelope/Coordinate Geometry

• Motion Control Methods


I. Drive Technology:
Motors are part of any robot system they produce
spatial displacement and control axis motions of the
robot. Based on power used to drive the joints of
the robot the 3 drive technologies are :
1) Electrical drive technology
2) Hydraulic drive technology
3) Pneumatic drive technology
1. Electrical drive technology:

Most Robotic manipulators today use electric drives in


the form of either D.C.Servomotors or D.C.Stepped
motors
D.C. Servomotors : More controllability for precision
work (neat/precise)
D.C. Stepped motors : Load carrying capacity is large
Applications :
- PCB Assembly
- IC manufacture, etc
2. Hydraulic drive technology:

Robotic manipulator which uses oil/liquid/gel as a


drive technology. We use it for very heavy load
carrying capacity purpose.

Limitation : Cleanliness will not be maintained

Applications:
- In steel industry for carrying molten steel
- Automobile industry
3. Pneumatic drive technology:

It is used as at the gripper for manipulating delicate


objects, e.g. used in glass industry.
The robot operates from compressed air and they
are activated tools.
Limitation: Built in compliance of air, i.e. air can be
compressed, creates noise while operation.
Application:
Used in pick and place operations in glass industry
II. Work Envelope/Coordinate
Geometry :

Work Envelope is defined as locus of points in 3


Dimensional space that can be reached by the wrist
of robot.
It consists of Rotary/Revolute motion about an axis
and Translation motion along an axis (i.e.
linear/sliding/prismatic/translate)
III. Motion Control Methods :
1. Point to Point motion : The discrete points are
specified, the tool moves in a sequence of
discrete points in the workspace.
2. Continuous or Controlled path motion : The end
effector must follow a prescribed path in 3D
space and speed of motion along the path may
vary
Examples : PTP : Spot welding, Loading & Unloading,
Pick and Place, etc.
CP : Spray painting, Arc welding, Grinding, etc.
Robot Components :
Main components are :
- Manipulator : Main body (Links, Joints etc)
- End effector : Welding Torch, Paint spray gun etc
- Actuators : servo motors,stepper motors,cylinders etc
- Sensors : Vision, Touch, Speech synthesizers etc
- Controller : receives data from PC and controls the
actuators
- Processor: calculates motions of joints@speeds
- Software : OS, Appliaction s/w
Degree of Freedom (DOF) :
• The no. of independent movements a robot can
perform in 3D space. (or) Direction in which a robot
moves when a particular joint is activated

• To fully place the object in space and also


orientate it as desired we need to have six DOF.

• A system with seven DOF does not have unique


solution i.e Robot mounted on conveyor belt or
mobile platform

• In 3.5 DoF, 3 DoF are along X,Y,Z axes, and 1/2


DoF for not fully controlled movement like fully
extended or retracted position of pneumatic
cylinder
Robot Joints :

Robots may have types of joints like,

• Linear (Prismatic): Either hydraulic or pneumatic


cylinder, used in Gantry, cylindrical or similar configurations

• Rotary (Revolute) : Most such joints electrically driven


either by servomotors or stepper motors

• Spherical : They posses multiple DOF ,difficult to control


they are not commonly used except in research work.
Robot Coordinates :
Robot configurations are specified by a succession of
P’s, R’s or S’s like “3P3R”
• Cartesian/Rectangular/Gantry (3P) : 3 linear joints
• Cylindrical (R2P) : 2 prismatic and 1 revolute joints
• Spherical (2RP) : 1 prismatic and 2 revolute joints
• Articulated/anthropomorphic (3R) : All revolute
joints, similar to a human’s arm, common for Industrial robots
• Selective Compliance Assembly Robot
Arm (SCARA) : 2 revolute joints, 1 prismatic (vertical)
they are very common in assembly operations
Robot Reference Frames :
Robot motions are accomplished in 3 coordinate frames like,

• World Reference Frame : Defined by X,Y,Z Axes motions


simultaneously, this is universal coordinate frame.

• Joint Reference Frame : Only one joint moves at a time

• Tool Reference Frame : Defined by X’,Y’,Z’ Axes motions


simultaneously attached to the hand defines the motions of the
hand relative to this local frame. This is very useful in robotic
programming.
Programming Modes :

Commonly used Programming Modes :


• Physical Setup: In this mode operator sets up switches and
hard stops along with devices like PLC’s

• Lead Through or Teach Mode : In this mode the robot


joints are moved with a teach pendant, point to point mode

• Continuously Walk -Through Mode : In this mode the


robot joints are moved simultaneously with a program, it’s a
continuous mode, for example painting robots
Robot Characteristics :

• Payload : It is the weight a robot can carry with out losing


accuracy, Typical values 6.6 lbs of 86 lbs Fanuc Robot LR mate.
• Reach : Reach is the a maximum distance a robot can reach
with in its work envelope (reaching dexterous points)
• Precision (Validity) : It is defined as how accurately a
specified point can be reached. Typical value 0.001 inch
(resolution of robot)
• Repeatability (Variability) : It is defined as how
accurately the same position can be reached. Typical value 0.001
inch range for 100 runs (say)
Robot WorkSpace :

• Depending on their configuration and size of


their links and joints robot can reach a
collection of points called a WorkSpace
• Shape of WS depends on each robot
characteristics
• WS may be found by moving each joint
through its range of motions
• Typical WS are Cartesian,Cylindrical,
Spherical,Articulated etc
Robot Language:
• A robot will require a programming
language for describing the operations that
are to be done. Recently, there are plenty of
robot programming languages available.
Among them, five robot languages are
commonly and basically used. They are:
RAIL, AML, VAL, AL, RPL
Robot Languages :
• Many robot languages are based on Cobol, Basic,
C, Pascal and Fortran etc
• Other languages are unique and at different level
from machine level to high level languages.
• High level languages are either interpreter based or
compiler based
• Interpreter based languages execute one line of the
program at time such as VAL® and AML® , so
debugging is easier
• Compiler based languages execute whole program
at time such as AL® and so debugging is difficult
Robot Languages…

RAIL:
• It will be a best language for controlling two major tasks
such as the manipulation and vision system. It is a high
level robot language based on Pascal, and it will
implement a Motorola 68000 central processor, teach
pendant, and terminal. This language was designed by
Automatix for arc welding and inspection purposes.
• RAIL comes with three different kinds of systems, namely:
• Hitachi Process Robot Arc Welding
• Cartesian Arm Assembly functions
• Vision system without arm
Robot Languages…
AML:
AML (A Manufacturing Language) is a high level
language based on sub routine, which is mainly
implemented to manage RS / 1 Assembly Robot, End
Effectors Active Force Feedback, and Cartesian Arm with
hydraulic motors. The RS / 1 assembly robot incorporates a
mini computer (IBM Series/1), 192 KB memory, matrix
printer, disk drive, display terminals, and keyboard. AML was
developed by IBM Corporation for robot programming. An
important reason for creating this language is to offer simple
subsets and as well as powerful base language.
Robot Languages…

VAL:
• VAL (Variable Assembly Language) Robot Programming
Language is adopted mainly for Unimation Robots. As this
language is designed with simple syntax, it is capable of
illustrating the robot functions very easily. It includes two
major tasks such as:
• Program instructions are used to provide VAL programs in
order to manage the robot functions.
• Monitor commands are used to execute the user written
programs.
Robot Languages…
AL:
• AL robot language was developed in Artificial Intelligence
Lab at Stanford University. It is the second generation
language based on simultaneous Pascal. The programs are
written and executed on PDP 10. If the program is
developed with high level code, then it should be written
in Stanford Artificial Intelligence Language (SAIL). The AL
system includes a big mainframe computer, and it
generally runs on PDP 11/45. The PDP 11/45 implements
one terminal, 128 KB RAM memory, and floating point
processor. This language has got the capability to
control two Stanford Scheinman and two PUMA 600
arms simultaneously.
Robot Languages…

RPL:
• RPL robot language makes the improvement, checking,
and correction of control algorithms very easy. It can be
done even by an unskilled programmer like line foreman,
production engineers, etc. The RPL programs are
translated to interpretable code with the help of a
compiler in SRI Robot Programming System. The programs
are typically written in BLISS 11 and run in RT 11. The
DECPDP 10 is cross compiled into the LSI 11 or PDP 11.
This robot language was designed in SRI International.
Robot Applications :
• Machine Loading
• Pick and Place operations
• Welding
• Painting
• Inspection and testing
• Assembly operations
• Manufacturing like drilling, deburring, cutting etc.
• Surveillance
• Medical applications
• Hazardous environments
• Underwater,space, and remote locations
Text Books :
• Fundamentals of Robotics: Analysis & Control – Robert J Schilling
• Fundamentals of Robotics - T. C. Manjunath
• Robotics and Control - R. K. Mittal & I J Nagrath

Reference Books :
• Introduction to Robotics - Saeed B. Niku
• Introduction to Robotics - John J CRAIG
• Robotics - Ashitava Ghosal

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