Documentos de Académico
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Documentos de Cultura
ROBOTICS
1921
First reference to the word robot appears in
a play opening in London entitled Rossums
Universal Robots. The play was written by
Czechoslovakian Karel Capek introduces the
word robot from the Czeck robota meaning serf
or subservient labor
1939
Isaac Asimovs science fiction writing introduces
robots designed for humanity and work safely.
He formulates the Three Laws of Robotics
1921
First reference to the word robot appears in a
play opening in London entitled Rossums
Universal Robots. The play was written by
Czechoslovakian Karel Capek introduces the
word robot from the Czeck robota meaning serf
or subservient labor
1939
Isaac Asimovs science fiction writing introduces
robots designed for humanity and work safely.
He formulates the Three Laws of Robotics
What is a Robot?
A reprogrammable,
multifunctional manipulator
designed to move parts,
materials, tools or special
devices through variable
programmed motions for the
performance of a variety of
different tasks.
These multi-purpose machines
are generally designed to carry
out repetitive function and be
adapted to other functions.
Why Robots?
Work Environments that is dangerous to
humans
Unpleasant working conditions:
Heat
Noise
Poisonous gases
Risk of injury by machines
Monotonous, boring work
Extreme physical exertion
Why Robots?
are obedient,
untiring,
precision welders.
Components of a robot
Communicator
A unit transmitting information and
receiving instructions from a remote
operator
Components of a robot
Control Computer/Controller
(Brain)
The central computer that integrates
the activity of several
microprocessors
brain of the robot
Components of a robot
End Effectors (Hands)
Device at the end of the manipulator
arm
that performs the actual work.
Gripper, hooks, scoops
Components of a robot
Manipulator (Arm)
Mechanism consisting of several
segment or arms which provides the
necessary motion to move the tool or
part into proper position.
Components of a robot
Power Supply
Generally some energy storage
device such as battery for a mobile
unit otherwise hook up to the power
grid.
Components of a robot
Sensor (Eye)
Usually a transducer of some kind
whose inputs are physical
phenomena and whose outputs
consists of electronic signals.
Components of a robot
Actuator
Serves as the muscle of the system,
produces the motion with power
supplied electrically, pneumatically
or hydraulics.
Robots Drive
Systems/Actuators
Pneumatic Drive
Reserved for smaller robots which
are limited to simple, fast cycle and
pick and place operation.
Have two to four degrees of freedom
Quick response
Lower initial and operating cost than
a hydraulic system
Accurate positioning and velocity
control are impossible (requires
mechanical stops)
Weak force capability
Robots Drive
Systems/Actuators
Hydraulic Drive
Used in larger robots
Generally heavy and require large floor space
and heavy floor loadings
Great force capability
Great holding strength when stopped (will not
sag)
Intrinsic safe in flammable environments such as
paintings
Accurate servo type positioning and velocity
control can be achieved
Messy-tends to leak oil even in the periods when
the robot is not in motion
High initial and operating costs
Robots Drive
Systems/Actuators
Electric Drive
Good for robots in light duty, precision
applications but does not offer the
speed and strength of a hydraulic drive.
Used in electronic assembly where
precision is required
Clean-no oil leaks
Lower initial and operating cost
compared as compared to hydraulic and
pneumatic drive
Less force capability as compared to
hydraulic system
jOINTS
Prismatic
Revolute
Revolute
Axes of Motion
Degrees of Freedom
Refers to
different axes
(joints )of motion
of robotic arm
The movement
about one axis is
hardware
independent of
movement about
any other axis.
Degrees of Freedom
Total number of locations
P = 2^n
where: P number of possible
locations
n degrees of freedom
Degrees of Freedom
Waist motion or Arm sweep
Motion of the entire arm about the fixed
base
Degrees of Freedom
Elbow extension
Wrist Motion
Pitch up and down
Yaw side to side
Roll - \rotation of the wrist about the axis
of the forearm
CLASSIFICATION OF
ROBOTS
1st Generation Robots
These machines are unable to gather any
information about their surroundings.
They can perform only pre-programmed motions,
and the information they can pass back about the
operating environment
Fixed sequence robots
CLASSIFICATION OF
ROBOTS
2nd Generation Robots
Future robots
detailed communication with their
surroundings
Make decisions and able to make
corrections
CLASSIFICATION OF
ROBOTS
2.5nd Generation Robots
Perceptual motor functions
Decide what to do next to accomplish
the task
3rd Generation
Smart robot
Decide the best way to accomplish the
task
CLASSIFICATION OF
ROBOTS
According to Control
Fixed/Variable Sequence
Pick and place robots
Point to point movement
CLASSIFICATION OF
ROBOTS
According to Control
Playback Robot
Robots that memorizes and records the
path and sequence of motions and can
repeat them continuously without the
guidance from the operator.
CLASSIFICATION OF
ROBOTS
According to Control
Numerically Controlled Robot
Programmed and operated much like a
numerically controlled machine.
Numerically Controlled Robot
Servo-controlled by digital data
CLASSIFICATION OF
ROBOTS
According to Control
Intelligent (Sensory) Robot
Equipped with a variety of sensors with
visual and tactile capabilities.
Controlled by powerful computers
Work
Envelope
refers to the
space with
which the
robot can use
its wrist.
Cartesian Coordinates
uses three perpendicular slides to
construct the X,Y and the Z axes
Rectangular work space or work
envelope.
CLASSIFICATION OF
ROBOTS
According to Movement
Rectilinear / Cartesian
Works with Cartesian manipulator arm
geometry
Movement is three directions only
up/down, left/right, front/back.
Cartesian Robots
are characterized by a
small work envelope,
but have a high degree
of mechanical rigidity
and are capable of great
accuracy in locating the
end effector.
are suitable for closely
calibrated tasks, and
machining.
CLASSIFICATION OF
ROBOTS
According to Movement
Cylindrical Robot
Robot whose work envelope is
cylindrical
Robots arm swings around its base in
circular or polar motion. (up and down,
front end)
Cylindrical Robots
mechanical
rigidity is
slightly lower
CLASSIFICATION OF
ROBOTS
According to Movement
Spherical Robot
Robot whose work envelope is spherical in
shape and obviously is has spherical
manipulator arm geometry.
With polar articulation for waist and shoulder
and rectilinear motion for reach.
The base moves in circular motion (up to 210
degrees) while its main arm moves up and
down and in and out (extension and retraction)
Spherical Robots
have a larger work
envelope and a lower
degree of mechanical
rigidity than
cylindrical models.
Their control is more
complicated than in
cylindrical robots,
because of the rotary
motion of the first
two joints
CLASSIFICATION OF
ROBOTS
According to Movement
Spherical Robot
CLASSIFICATION OF
ROBOTS
According to Movement
Fully Articulated Robot
CLASSIFICATION OF
ROBOTS
According to Movement
Fully Articulated Robot
Robot with polar articulation for all
degrees of movement
One example is the SCARA (Selective
Compliance Assembly Robotic Arm)
which has six axes therefore increases
its degrees of freedom.
Used in welding, painting, laser cutting
and water jet cutting.
Articulated Robots
Horizontal
Articulated
Robots
Vertical
Articulated
Robots
CLASSIFICATION OF
ROBOTS
According To Program Used
Positive Stop
Produces only 2 position motion
Limited sequence or Bang bang
motion
CLASSIFICATION OF
ROBOTS
According To Program Used
Point to Point
Ability to move a robot axis to any
position within its range
CLASSIFICATION OF
ROBOTS
According To Program Used
Continuous Path
Like point to point
Destination points are very closed
together.
CLASSIFICATION OF
ROBOTS
According to power supply used
Mitsubishi
Electrical
Pneumatic
Brodecia
Hydraulic
SELECTION OF ROBOTS
Work Volume
Speed and acceleration
Repeatability
Resolution
Accuracy
Economics
Safety
MODERN USES OF
ROBOTS
Exploration
Full of danger or deep ocean
Industry
Repetitive Work
Medicine
Operation (making medicines)
Entertainment
SCARA ROBOT
Selective Compliant Articulated
Robot Arm Assembly
4-axis robot with rotating elements that
move in a single plane.
Similar to a shoulder-elbow-wrist
combination movement with the
addition of an up-down component
SCARA ROBOT
Selective Compliant Assembly Robot
Arm
Applications
Assembly
Packaging
Sorting
Screw driving
Types of Automation
hard
automation
flexible
automation
Future of Robots
A constant rise in employee wage
levels.
A remarkable rate of technological
advance in the field of computers,
leading both to reductions in robot
prices and significant improvements
in their performance