robot technology present

Download Robot Technology PRESENT

Post on 06-Apr-2018

221 views

Category:

Documents

0 download

Embed Size (px)

TRANSCRIPT

  • 8/3/2019 Robot Technology PRESENT

    1/26

  • 8/3/2019 Robot Technology PRESENT

    2/26

    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

  • 8/3/2019 Robot Technology PRESENT

    3/26

    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."

  • 8/3/2019 Robot Technology PRESENT

    4/26

    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.

  • 8/3/2019 Robot Technology PRESENT

    5/26

    COMPONENTS OF ROBOT:

    CONTROLLER

    ROBOT ARMS

    ENDEFFECTOR

    POWERSUPPLY

    SENSORS

  • 8/3/2019 Robot Technology PRESENT

    6/26

    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.

  • 8/3/2019 Robot Technology PRESENT

    7/26

    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.

  • 8/3/2019 Robot Technology PRESENT

    8/26

    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

  • 8/3/2019 Robot Technology PRESENT

    9/26

    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.

  • 8/3/2019 Robot Technology PRESENT

    10/26

    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.

  • 8/3/2019 Robot Technology PRESENT

    11/26

    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)

  • 8/3/2019 Robot Technology PRESENT

    12/26

    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

  • 8/3/2019 Robot Technology PRESENT

    13/26

    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

  • 8/3/2019 Robot Technology PRESENT

    14/26

  • 8/3/2019 Robot Technology PRESENT

    15/26

    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

  • 8/3/2019 Robot Technology PRESENT

    16/26

    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

  • 8/3/2019 Robot Technology PRESENT

    17/26

  • 8/3/2019 Robot Technology PRESENT

    18/26

    ADVANTAGES

    One linear axis,

    two rotationalaxes.

    Longhorizontal

    reach

    DISADVANTAGES

    Cannot reacharound obstacles

    Generally has short

    vertical reach

  • 8/3/2019 Robot Technology PRESENT

    19/26

    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

  • 8/3/2019 Robot Technology PRESENT

    20/26

    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

  • 8/3/2019 Robot Technology PRESENT

    21/26

  • 8/3/2019 Robot Technology PRESENT

    22/26

    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

  • 8/3/2019 Robot Technology PRESENT

    23/26

    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

  • 8/3/2019 Robot Technology PRESENT

    24/26

  • 8/3/2019 Robot Technology PRESENT

    25/26

    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

  • 8/3/2019 Robot Technology PRESENT

    26/26