ROBOTICS ROBOT MODELLING TEMPUS IV Project 158644 JPCR
ROBOTICS ROBOT MODELLING TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS
Robots categories Handling device Manual control Tele-operators Program controlled Hard programming Free programming Insertion of device TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS Industrial Robots ROBOTICS 2
Robot Definition by ISO 8373 The industrial robot is an automatically controlled, freely programmable, multipurpose manipulator programmable with three or more axes, which can be fixed for industrial applications, either at a fixed place or mobile. Free-programmable: the programmable movements or toolbox without the physical change may be amended. Adaptable multi-purpose: with the physical change to the different applications. Physical change: apart of the mechanical structure or the control system, the change in the programming cassettes, ROMs, etc. Axis: statement uses the robot motion in linear or rotary mode to be determined. TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 3
Service Robots Definition A service robot is a robot in the semi-or fully automatically works to provide useful services for the benefit of people and machines, it performs other than production tasks. TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 4
Manipulators control movement of bodies that are mainly used for handling tasks. They consist of several members that move relative to each other. Telecommunications operators are remotely controlled manipulators. TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 5
Insertion devices are motion tools, their motion regarding motion sequence and / or paths or angles according to a fixed program run which, without mechanical intervention can not be changed. They are used for handling tasks. TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 6
Degree of freedom f Number of possible, independent movements (translations, rotations) of a rigid body relative to a reference coordinate system. f = max 6 Body Reference coordinate system TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 7
Work place Movement area (risk area) Fixed movement space Variable Not usable Work place Industrial robot Tool Handling object Not usable room TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS Usable room ROBOTICS 8
Workspace determination Requirements Structure of Robots Working place TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 9
Workspace properties • Mobility - Type and number of axles - Mechanical limits • Accessibility - Construction • Volume - Length of the segments - Type and number of axles - Part position >> Part orientation • Finesse - Positions of poses without singularity TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 10
Frame types + Cheap Space saving Only one encoder Vibrations Cultivation robots + + Interchangeability Maintenance Line access Mobility - Safeguarding Accessibility Stand robot TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS Surface accessibility Costs Maintenance Portal robot + Movable Costly Mobile Robot ROBOTICS 11
Robot Composition 1 TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 12
Robot Composition 2 Robot’s Mechanics: Joints - Several segments - Multiple joints - Open kinematic chain - Elastic - Imprecise - Small Payloads - Low accuracy - Summation of the errors of individual axles TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS Looking forward - Robot selection - Robot design ROBOTICS 13
End-Effector End-effector is the part that moves the robot. Graber Tool Measuring equipment TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 14
Axis Axes are run independently driven members. Drive Storage Sensor Axis - Rotation Axis 2. Axis - Translation Axis Number of axles : 3 to 6 (+1, 2, 3, …) TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 15
Pose Position (x, y, z) + Orientation (Ф, θ, ψ) = Pose (x, y, z, Ф, θ, ψ) TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 16
TCP Tool-Center-Point Tool operating point Tool Grabber Measuring equipment Spatially fixed TCP TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 17
Robot motion Free motion Manual robot free to move in Cartesian coordinates Motion in joint coordinates Rotation or displacement in joint coordinates TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS Motion in world coordinates Change the pose in Cartesian coordinates ROBOTICS 18
Coordinate Systems (CS) • Coordinate systems for position definition of the TCP's - Reference coordinate system - World coordinate - User coordinate system - Work piece coordinate system - Displacement coordinate - Coordinated external axes TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 19
Work piece Coordinate System The reference-CS is the base of the manipulator. Reference CS TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 20
World Coordinate System Reference CS -Hanging IR -Multiple-IR in the same working space World CS If it is not specifically defined, the true world-CS match the reference CS. TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS Reference CS ROBOTICS 21
User-Coordinate System Device 1 User KS-1 Device 2 Reference CS World CS - User-CS can be defined for each device. - User-CS is based on the world CS. -The rotation / movement of the device (and thus the user CSs), all programmed to follow the device poses. TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS User CS-2 ROBOTICS 22
Work piece Coordinate System - Several pieces of the same size - Off-Line Programming (to extract data from the drawing) - Establish and operate the IRs Device Work piece 2 Application CS Work piece 1 Work piece CS 2 Work piece CS 1 World CS -The rotation / movement of the work piece (and thus of the work piece CSs), all programmed poses follow the work piece. TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 23
Displacement Coordinate System - In the same movement in different parts of the work piece. By compensating for differences in the searches work piece pose. Work piece CS Movement CS Initial pose (Programmed pose) of the work piece Movement The same CS motion New pose of work piece TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 24
Coordinated external axes Coordination of the user CSs Coordination of reference CSs Work piece CS User CS Traverseing Reference CS TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 25
Coordinate System (CS) • Coordinate systems to determine the tool pose - The robot flange coordinate system - Tool coordinate system - TCP's fixed in space TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 26
The robot flange coordinate system • Robot flange-KS can not be changed • Agrees with the robot flange • Can be used for a definition of tool orientation • Definition and determination will depend on the robot manufacturer. TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS 27
Tool coordinate system • The tool-CS is defined based on the robot flange-CS. • The TCP is selected for the position of the tool. Wire tip, electrode tip, glue gun, work piece center, . . . Graber TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS Tool ROBOTICS 28
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