robot technology present
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MEMBERS GROUP:
ABDUL QAYUM KOMAR ABADI
NIK MOHD ZULHILMI MOHD ZAKI
MOHD NIZAR SHAHMIN
EZAFAHRINA EZUDDINNORASHIMA AHMAD KHAIRUDDIN
NURUL AMIRA JAMBURI
SITI NAZIHAH OSMAN
SITI AISYAH ABD HALIM
FAZIANA MOHAMAD
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DEFINITIONS OF ROBOT:
ROBOT from the Czech word robota,
which means slave laborer.
Czech playwright Karel Capek (1890-1938)made the first use of the word robot as
a perfect, tireless worker with arms andlegs.
According to Webster a robot is:"An automatic device that performs
functions normally ascribed to humans ora machine in the form of a human."
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LAW OF ROBOT:
1
A robot must not harm a human beingeither due to its action or inaction.
2
A robot must always obey a humanbeing unless it comes into conflictwith the first law
3
A robot must protect itself from harmunless it is in conflict with-either thefirst or second laws.
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COMPONENTS OF ROBOT:
CONTROLLER
ROBOT ARMS
ENDEFFECTOR
POWERSUPPLY
SENSORS
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CONTROLLER:
The controller is the "brain" of the robot and allowsthe parts of the robot to operate together
It works as a computer and allows the robot to
also be connected to other systems.
The controller runs a set of instructions writtenin code called a program
Many of today's industrial robots use an interfacethat resembles or is built on the Windows operatingsystem.
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ROBOT ARMS:
Robot
arms canvary insize andshape
With therobot arm,
theshoulder,elbow, andwrist moveand twist toposition
the endeffector inthe exactright spot.
Each of
thesejointsgives therobotanother
degree offreedom.
A simplerobot with
threedegrees of
freedom canmove in three
ways: up &down, left &right, andforward &backward.
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END EFFECTOR:
The endeffector connects to the robot's
arm andfunctions as a
hand
Some variationsof an effector are
a gripper, avacuum pump,
magnets, andwelding torches
This partcomes in directcontact with the
material therobot is
manipulating
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POWER SUPPLY:
The power supply is the engine
or motor that moves the linksinto their designatedpositions.
The links are the sectionsbetween the joints
Industrial robots generally
used one of the following typesof power supply: hydraulic,electric, or pneumatic.
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SENSORS:
Sensors allow the robot toreceive feedback about its
environment.
The sensor collectsinformation and sends it
electronically to the robotcontrolled
One use of these sensorsis to keep two robots that
work closely together frombumping into each
othVision sensors allow apick and place robot to
differentiate between itemsto choose and items to
ignore.
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CATEGORIES OF ROBOT IN INDUSTRY:
Cartesian Coordinate ( x, y, z)(base travel, reach and height)
Cylindrical Coordinates (, r, z)
(base rotation, reach point, height)
Polar/Spherical Coordinates ( , R, )
(base rotation, reach, elevation angle)
SCARA Coordinates ( , , z)
(base rotation, reach angle, height) Revolute Coordinates (, , )
(base rotational, elevation angle, reach angle)
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CARTESIAN COORDINATE
Motion is performedby straight and linearmovement along thex, y, z Cartesian axes.
Cartesian manipulator
are useful for table-top assemblyapplications and, asgantry robots fortransfer of material
and cargo.(a) A Cartesian or rectangular coordinates arm(b) The box-shaped work envelope
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ADVANTAGES
3 linearaxes
Easy tovisualize
Easy toprogramoff-line
Linear axes make it foreasy mechanical stops
DISADVANTAGES
Can only reach infront of itself
Requires large floor spacefor size of work envelop
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CYLINDRICAL COORDINATES
The first joint is revolutewhich produces arotation about thebased, while its secondand third joints areprismatic (RPP)
The joint variables arethe cylindricalcoordinates of the end-
effectors with respect tothe base
The work-space isactually between twoconcentric cylinders ofthe same height.
The annular volume
between the twocylinders is the zone inwhich the robot armmay operate,betweenfully retracted and fullyextended.
(a) A cylindrical coordinates arm(b) The cylinder-shaped work envelope
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ADVANTAGES
2 linear axes,one rotating
axis
Can reach allaround itself
Reach andheight axes
rigid
Rotationalaxis easy
to seal
DISADVANTAGES
Cannot reachabove itself
Base rotational axesis less rigid than a
linear axis
Linearaxes are
hard toseal
Horizontalmotion iscircular
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ADVANTAGES
One linear axis,
two rotationalaxes.
Longhorizontal
reach
DISADVANTAGES
Cannot reacharound obstacles
Generally has short
vertical reach
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SCARA COORDINATES
SCARA means SelectiveCompliance ArticulatedRobot Arm Or SelectiveCompliance AssemblyRobot Arm.
Has same work area asa cylindrical robot. But,reach axis includes a
rotational joint in a planeparallel to the floor.
This feature allows theSCARA robot to reacharound some obstacles inwork envelop.
For larger loads -linearmovement of shoulder.
(a) A SCARA coordinates arm(b) The cylinder-shaped work envelope
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ADVANTAGES
One linear axis,
two rotatingaxes
Height axis rigid
Large work area forfloor space
Can reach
around obstacles
Two ways toreach a point
DISADVANTAGES
Difficult to program off-line
Highly complex arm
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REVOLUTE COORDINATES
Revolute manipulator isalso called articulated or
anthromorphicmanipulator.
These type of robotresembles human arm.
Has three rotary joints
Two common revolutedesign are the elbowtype manipulator.
The elbow typeconfiguration providesrelatively large freedom
of movement in acompact space.(a) A Revolute coordinates arm(b) The spherical-shaped work envelope
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ADVANTAGES
Three rotating axes
Can reach above orbelow obstacles
Largest work area forleast work space
Two or four waysto reach a point
DISADVANTAGES
Difficult to program off-line
Most complex
manipulator
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INTERESTS AND NEEDS OF ROBOT:
perform tasks to produce a qualityproduction with a largequantity
dangers of working in anenvironment without the need to
consider safety and comfort
continuous work without fatigueand holidays
repeatedly perform by providing ahigh accuracy
perform tasks more quickly andaccurately
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