1. 1
Industrial robots
Outlines :
● Manipulator components
● Robot control systems
● End Effectors
● Industrial robot applications
● Robot programming language

2. 2
Industrial Robot Defined
A general-purpose, programmable machine
possessing certain anthropomorphic characteristics

Hazardous work environments

Repetitive work cycle

Consistency and accuracy

Difficult handling task for humans

Multishift operations

Re-programmable, flexible

Interfaced to other computer systems

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Manipulator components
 Manipulator consists of joints
and links
 Joints provide relative motion
 Links are rigid members between
joints
 Various joint types: linear and rotary
 Each joint provides a “degree-of-
freedom”
 Most robots possess five or six
degrees-of-freedom
 Robot manipulator consists of
two sections:
 Body-and-arm – for positioning of
objects in the robot's work volume
 Wrist assembly – for orientation of
objects
Base
Link0
Joint1
Link2
Link3Joint3
End of Arm
Link1
Joint2

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Manipulator Joints
 Translational motion
 Linear joint (type L)
 Orthogonal joint (type O)
 Rotary motion
 Rotational joint (type R)
 Twisting joint (type T)
 Revolving joint (type V)

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Polar Coordinate Body-and-Arm Assembly
 Notation scheme (TRL):

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Cylindrical Body-and-Arm Assembly
 Notation scheme (TLO) :

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Cartesian Coordinate
Body-and-Arm Assembly
 Notation scheme (LOO):

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Jointed-Arm Robot
 Notation scheme (TRR) :

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SCARA Robot
 Notation scheme (VRO):
 Stands for Selectivity
Compliant Assembly
Robot Arm

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Wrist Configurations
 Wrist assembly is attached to end-of-arm
 End effector is attached to wrist assembly
 Function of wrist assembly is to orient end effector
 Body-and-arm determines global position of end effector
 Two or three degrees of freedom:
 Roll
 Pitch
 Yaw
 Notation : (RRT)

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Grippers and Tools

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Joint Drive Systems
 Electric
 Uses electric motors to actuate individual joints
 Preferred drive system in today's robots
 Hydraulic
 Uses hydraulic pistons and rotary vane actuators
Noted for their high power and lift capacity
 Pneumatic
 Typically limited to smaller robots and simple
material transfer applications

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Industrial Robot Control System
 Limited sequence control
 Playback with point-to-point control
 Playback with continuous path control
 Intelligent control

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Industrial Robot Control System
 Limited sequence control
 pick-and-place operations using
mechanical stops to set positions.
 These robots do not require any sort of
programming, and just uses the
manipulator to perform the operation.
 every joint can only travel to the
intense limits .

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Industrial Robot Control System
 Playback Robots with Point to Point Control
 They can be programmed (taught) to move from a point
within the work envelope to another point within the
work envelope.
 Application: machine loading and unloading
applications as well as more-complex applications, such
as spot welding and assembly .

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Industrial Robot Control System
 Playback Robots with Continuous Path Control
 This type of robots can control the path, and can end on any specified
position.
 These robots commonly move in the straight line. The initial and final
point is first described by the programmer.
 it can also move in a curved path
by moving its arm at the desired points.
 Applications :
 are arc welding,
 spray painting,
 and gluing operations.

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Industrial Robot Control System
 Intelligent control
 The intelligent control robot is capable of
performing some of the functions and
tasks carried out by human beings.
 It can detect changes in the work
environment by means of sensory
perception.
 It is equipped with a variety of sensors
providing visual (computer vision) and
tactile (touching) capabilities to respond
instantly to variable situations.

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Industrial Robot Applications
 Material handling applications
 Material transfer – pick-and-place, palletizing
 Machine loading and/or unloading
 Processing operations
 Welding
 Spray coating
 Cutting and grinding
 Assembly and inspection

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Robotic Arc-Welding Cell
 Robot performs flux-
cored arc welding
(FCAW) operation at one
workstation while fitter
changes parts at the
other workstation

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Robot programming
 Type of Robot Programming
 Joint level programming
 basic actions are positions (and possibly movements)
 joint angles in the case of rotational joints .
 linear positions in the case of linear or prismatic joints.
 Robot-level programming
 the basic actions are positions and orientations (and perhaps trajectories) of Pe and
the frame of reference attached to it.
 High-level programming
 Object-level programming
 Task-level programming

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Robot programming methods
 Typically performed using one of the following
 On line
 teach pendant
 lead through programming
 Off line
 robot programming languages
 task level programming

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Robot programming methods
 Online teach pendant programming
 hand held device with switches used to control the robot
motions
 End points are recorded in controller memory
 sequentially played back to execute robot actions
 trajectory determined by robot controller
 suited for point to point control applications

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Robot programming methods
 Lead Through Programming
 lead the robot physically through the required sequence
of motions
 trajectory and endpoints are recorded, using a sampling
routine which records points at 60-80 times a second
 when played back results in a smooth continuous
motion
 large memory requirements

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Robot programming methods
 On-Line/Teach Box
 Advantage:
 Easy
 No special programming skills or training
 Can specify other conditions on robot movements
(type of trajectory to use – line, arc)
 Disadvantages:
 Potential dangerous (motors are on)

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 Off-line Programming
 Programs can be developed without needing to use the robot
 The sequence of operations and robot movements can be optimized or easily
improved
 Previously developed and tested procedures and subroutines can be used
 Existing CAD data can be incorporated-the dimensions of parts and the geometric
relationships between them, for example.
 Programs can be tested and evaluated using simulation techniques, though this
can never remove the need to do final testing of the program using the real robot
 Programs can more easily be maintained and modified
 Programs can more be easily properly documented and commented.

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