robot technology present

8/3/2019 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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robot technology present

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