Ch 1: Overview of robots Ch 2: Robot anatomy Chapter 3: Spatial descriptions & transformations Ch 4: Manipulator kinematics Ch 5: Jacobian - velocities & static forces Ch 6: Manipulator dynamics Ch 7: Trajectory generation Ch 8: Linear Control of Manipulators Ch 9: Nonlinear Control of Manipulators 207008 – Robot công nghiệp Ch 1: Overview of robots Humanoid robot Serial robot Serial manipulators are the most common industrial robots They are designed as a series of links connected by motor-actuated joints that extend from a base to an end-effector A humanoid robot is a robot with its body shape built to resemble that of the human body 1-2 Ch 1: Overview of robots Mobile robot Parallel robot A parallel manipulator is a mechanical system that uses several computercontrolled serial chains to support a single platform, or end-effector A mobile robot is an automatic machine that is capable of movement in any given environment 1-3 Ch 1: Overview of robots • What are Robots? – Machines with sensing, intelligence and mobility • Why use Robots? – Perform 4A tasks in 4D environments Automation Augmentation Assistance Autonomous Industrial robots Kinematics Dynamics Control Dangerous, Dirty, Dull, Difficult Mobile robots Kinematics/Control Sensing and Sensors Motion planning Mapping/Localization 1-4 1.1 Robotic History – three stages - 1921: The first reference to the word robot appears in a play opening in London, entitled Rossum's Universal Robots The word robot comes from the Czech word, robota, which means drudgery or slave-like labor - 1948: A teleoperator-equipped articulated arm is designed by Raymond Goertz for the Atomic Energy Commission - 1961: The first industrial robot was online in a General Motors automobile factory in New Jersey It was Devol and Engelberger's UNIMATE It performed spot welding and extracted die castings - 1980, The robot industry starts its rapid growth, with a new robot or company entering the market every month 1-5 1.2 Typical applications in industry Robots are used in a vast range of industries 1-6 1.2 Typical applications in industry 1-7 1.2 Typical applications in industry 1-8 1.2 Typical applications in industry 1-9 1.2 Typical applications in industry Application Automotive Industry Spot welding Handling Assembly Fitting Application General Industry Handling Loading Palletizing Adaptation 1-10 1.3 Classification There are four main aspects to classify robots: • Types of workspace • Robot generation • Types of control • Drive system 1-11 Classification based on type of workspace • Cartesian Configuration 1-12 Classification based on type of workspace • Cylindrical Configuration 1-13 Classification based on type of workspace • Spherical Configuration 1-14 Classification based on type of workspace • Revolute/Jointed Configuration 1-15 Classification based on robot generations Several organizations have defined classification systems for different types of robots One such organization is JARA, the Japan Robot Association (previously JIRA, the Japan Industrial Robot Association) They define six different classes of robot: Manual handling device: This type of robot has multiple degrees of freedom, but all of its actions are performed under the direct control of an operator Certain devices in this class may be referred to as co-bots (cooperative robots) Fixed sequence robot: This type of robot repeats a fixed sequence of actions without needing to be controlled by an operator However, the sequence of actions it performs cannot be modified (i.e it is not programmable) 1-16 Classification based on robot generations 3.Variable sequence robot: This type of robot is similar to class 2, except that the sequence of actions can be reprogrammed easily allowing it to be quickly adapted to perform new tasks 4.Playback robot: This type of robot is first guided through a sequence of actions by an operator, then repeats the same actions automatically 5.Numerical control robot: This type of robot moves through a sequence of actions, which it receives in the form of numerical data 6.Intelligent robot: A robot that senses its environment and responds to changes in it in order to continue performing its function 1-17 Classification based on types of control Pick-and-Place Robot Industrial Robot 1-18 Classification based on drive system Common drive systems used in hydraulic drive, and pneumatic drive robotics are electric drive, • Electric Drives Electric drive robots are relatively accurate compared to hydraulically powered robots Types: AC/DC servomotors, stepper motors Advantages: quiet, less floor space, electric power readily available, cleanair environments, precision 1-19 Classification based on drive system • Pneumatic Drives Pneumatic drives: air-driven actuators Advantages: economical, easy installation, less costly than hydraulic drives, good speed and accuracy Disadvantages: precision is less than electric drives (air is compressible), air needs conditioning, noisy, vibration 1-20 Classification based on drive system • Hydraulic Drives Hydraulic drives are electric pump connected to a reservoir tank and a hydraulic actuator Advantages: precise motion control over a wide range of speeds and loads, robust, and greater strength Disadvantages: expensive, high maintenance, not energy efficient, noisy, not suited for clean-air environments 1-21 1.4 Robot components Clip: How robots work – YouTube 1-22 1.5 Robot specifications Specification Axes Payload Robot Motion Range Robot Motion Speed V-reach H-reach Repeatability Drive system Structure Values kg mm, rad mm/s, rad/s mm mm  mm - 1-23 1.5 Robot specifications Axis Movement Specifications: Axes - The individual segments of each robot manipulator are connected with mechanical joints - each serves as an axis of movement The most common industrial robots have six axes of movement The number and placement of axes determines the flexibility of each model Robot Motion Range - Much like the joints between bones, robot axes have limits to each movement Every axis has a specific scope of motion On a typical specifications sheet, the degree of movement shows up as positive or negative degree of movement from the center base position of each axis Robot Motion Speed - Each axis moves at a different speed They are listed as degrees traveled per second Focus on this criterion when you need to match certain speed specifications for your application Repeatability - Industrial robots are known for their accuracy But this ability to return to an exact location again and again, known as a robot's repeatability, can vary with each model More precision-driven applications will require tighter repeatability figures Repeatability is listed as a millimeter of alteration plus or minus from the point Robot Specifications for Weight: Payload - The weight capacity of each robot manipulator is its payload This is a critical specification and includes the tooling weight as well You can rule out a number of robots with this robot specification category alone Robot Mass - Every robot has a specific weight or mass This number only indicates how much the robot manipulator weighs It does not include the weight of the robot's controller This specification may not be quite as important unless you are trying to install your robot on a table or shelf Specifications and Work Envelope: V-Reach - How high can the robot go? A robot's vertical reach specification refers to the height of the robot when it extends upwards from the base Use this to determine whether or not a model is tall enough for your application and location H-Reach - How far can a robot reach? The horizontal reach measures the distance of the fully extended arm - from the base to the wrist Some applications will require a wider work envelope with a big reach, others are satisfied with a contained, short horizontal reach Structure - Robots are engineered with different structures The most common by far is the vertical articulated type, sometimes called a vertical jointed-arm robot Other structure types include SCARA, Cartesian and parallel kinematic robots 1-24