Industrial robotics

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

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 Robotics
Machines, 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.

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 links
Joint 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).

2. Common Robot Configurations
Robot 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 control
3. 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, qua
lity, 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 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

Industrial robotics

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Industrial robotics