ROBOTICS WORKING AREA TEMPUS IV Project 158644 JPCR

ROBOTICS WORKING AREA TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS ROBOTICS

Robot configurations: There are five basic configurations commonly available in commercial industrial robotics. TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS 2 ROBOTICS

1 Cartesian Robots A robot with 3 prismatic joints. Commonly Applications • pick and place work • assembly operations • handling machine tools • arc welding TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS 3 ROBOTICS

Cartesian Robots Advantages: Ability to do straight line insertions into furnaces. Easy computation and programming. Most rigid structure for given length. Disadvantages: • Requires large operating volume. • Exposed guiding surfaces require covering in dusty environments. • Can only reach front of itself • Axes hard to seal TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS 4 ROBOTICS

Cylindrical Robots A robot with 2 prismatic joints and a rotary joint Commonly used for: • handling at die-casting machines • assembly operations • handling machine tools • spot welding TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS 5 ROBOTICS

Robot body has a vertical column that swivels about a vertical axis. The arm consists of orthogonal slides which allow the arm to be moved up or down and in and out with respect to the body. CYLINDRICAL COORDINATE ROBOT TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS * 6 ROBOTICS

Cylindrical Robots Advantages: • can reach all around itself • rotational axis easy to seal • rigid enough to handle heavy loads through large working space • good access into cavities and machine openings Disadvantages: • can't reach above itself • linear axes is hard to seal • won’t reach around obstacles • exposed drives are difficult to cover from dust and liquids TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS 7 ROBOTICS

POLAR COORDINATE ROBOT TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS 8 ROBOTICS

Spherical/Polar Robots A robot with 1 prismatic joint and 2 rotary joints – the axes consistent with a polar coordinate system. Commonly used for: • handling at die casting or fettling machines • handling machine tools • arc/spot welding TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS 9 ROBOTICS

c) Polar coordinate configuration: (Spherical configuration) -The workspace within which it can move its arm is a partial sphere. -Has a rotary base and pivot that can be used to raise and lower a telescoping arm TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS 10 ROBOTICS

Spherical/Polar Robots Advantages: • large working envelope. • two rotary drives are easily sealed against liquids/dust. Disadvantages: • complex coordinates more difficult to visualize, control, and program. • exposed linear drive. • low accuracy. TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS 11 ROBOTICS

- Similar to the human arm. - Consists of several straight members connected by joints which are analogous to the human shoulder. JOINTED ARM CONFIGURATION TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS 12 ROBOTICS

Articulated Robots Advantages: • all rotary joints allows for maximum flexibility • any point in total volume can be reached. • all joints can be sealed from the environment. Disadvantages: • extremely difficult to visualize, control, and program. • restricted volume coverage. • low accuracy TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS 13 ROBOTICS

(Selective Compliance Articulated Robot Arm) - Similar to jointed arm configuration. - Shoulder and elbow rotational axes are vertical. - Permits the robot to perform insertion tasks in a vertical direction. SCARA TYPE CONFIGURATION TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS * 14 ROBOTICS

SCARA Robots (Selective Compliance Articulated Robot Arm) Commonly used for: • pick and place work • assembly operations TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS 15 ROBOTICS

SCARA Robots • • Advantages: high speed. height axis is rigid large work area for floor space moderately easy to program. • • Disadvantages: limited applications. 2 ways to reach point difficult to program off-line highly complex arm TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS 16 ROBOTICS

Advantages and Disadvantages of the 5 Robot Types Configuration Advantages Disadvantages Cartesian coordinates 3 linear axes, easy to visualize, rigid structure, easy to program Can only reach front of itself, requires large floor space, axes hard to seal Cylindrical coordinates 2 linear axes +1 rotating, can reach all Can’t reach above itself, base around itself, reach and height axes rotation axis as less rigid, linear rigid, rotational axis easy to seal axes is hard to seal, won’t reach around obstacles SCARA coordinates 1 linear + 2 rotating axes, height axis 2 ways to reach point, difficult to is rigid, large work area for floor space program off-line, highly complex arm Spherical (polar) 1 linear + 2 rotating axes, long coordinates horizontal reach Revolute coordinates Can’t reach around obstacles, short vertical reach 3 rotating axes can reach above or Difficult to program off-line, 2 or 4 below obstacles, largest work area for ways to reach a point, most complex least floor space manipulator TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS * 17 ROBOTICS

BASIC ROBOT MOTIONS: TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS 18 ROBOTICS

BASIC ROBOT MOTIONS: There are six degrees of freedom which provide the robot with the capability to move the end effector through the required sequence of motions. • Vertical traverse: up and down motions of the arm • Radial traverse: extension and retraction of the arm • Rotation about the vertical axis • Wrist swivel: Rotation of the wrist • Wrist bend: up – or – down movement • Wrist yaw : Right or Left swivel of the wrist TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS * 19 ROBOTICS

The Robotic Joints A robot joint is a mechanism that permits relative movement between parts of a robot arm. The joints of a robot are designed to enable the robot to move its endeffector along a path from one position to another as desired. TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS Depending on the nature of this relative motion between links, the joints are classified as prismatic revolute. 20 ROBOTICS

Robot anatomy and related attributes: Joints and Links: • A joint of an industrial robot is similar to a joint in the human body. • Each joint or axis provides the robot with the degree of freedom. Types of joints used in the robots: 1. a) Linear joint (Type L joint): The relative movement between the input link and the output link is a translational sliding motion, the axis of the two links being parallel TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS * 21 ROBOTICS

b) Orthogonal joint (Type O joint): a translational sliding motion, the input and output links are perpendicular to each other. TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS 22 ROBOTICS

c) Rotational joint (Type R joint): provides rotational relative motion, with the axis of rotation perpendicular to the axes of the input and output links. d) Twisting joint (Type T joint): involves rotary motion, but the axis of rotation is parallel to the axes of two links. TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS 23 ROBOTICS

e) Revolving joint (Type V joint): the axis of the input link is parallel to the axis of rotation of the joint, and the axis of the output link is perpendicular to the axis of rotation TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS 24 ROBOTICS

The Robotic Joints These degrees of freedom, independently or in combination with others, define the complete motion of the end-effector. These motions are accomplished by movements of individual joints of the robot arm. The joint movements are basically the same as relative motion of adjoining links. TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS 25 ROBOTICS

TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS 26 ROBOTICS

• Robot Technical Features: 1 WORK VOLUME: • The space within which the robot can operate. • The spatial region within which the end of the robot’s wrist can be manipulated. • Determined by its physical configuration, size and the limits of its arm and joint manipulations. • Robot manufacturers usually show a diagram of the particular model’s work volume. TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS 27 ROBOTICS

Work volume of different robots: Cartesian coordinate robot – Rectangular Box Polar coordinate robot – Partial sphere Cylindrical coordinate robot – Cylinder Jointed arm robot – Partial sphere TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS 28 ROBOTICS

Literature: Chapter 3 Industrial Robotics part 21. ppt - Google Docs TEMPUS IV Project: 158644 – JPCR Development of Regional Interdisciplinary Mechatronic Studies - DRIMS 29 ROBOTICS