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Ch 1: Overview of robots

Serial robot
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Humanoid robot
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Ch 1: Overview of robots

Parallel robot
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Mobile robot
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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
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Dangerous, Dirty, Dull, Difficult

Mobile robots
Kinematics/Control Sensing and Sensors Motion planning Mapping/Localization

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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.
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1.2. Typical applications in industry


Robots are used in a vast range of industries.

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1.2. Typical applications in industry

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1.2. Typical applications in industry

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1.2. Typical applications in industry

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1.2. Typical applications in industry


Application Automotive Industry

Spot welding

Handling

Assembly

Fitting

Application General Industry

Handling
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Loading

Palletizing

Adaptation
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1.3. Classification
There are four main aspects to classify robots: Types of workspace Robot generation Types of control Drive system

Clip: How robots work YouTube


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Classification based on type of workspace


Cartesian Configuration

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Classification based on type of workspace


Cylindrical Configuration

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Classification based on type of workspace


Spherical Configuration

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Classification based on type of workspace


Revolute/Jointed Configuration

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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: 1. 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).

2. 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).
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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.

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Classification based on types of control

Pick-and-Place Robot
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Industrial Robot
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Classification based on drive system


Common drive systems used in hydraulic drive, and pneumatic drive. Electric Drives Electric drive robots are relatively accurate compared to hydraulically powered robots. Types: AC/DC servomotors, stepper motors. robotics are electric drive,

Advantages: quiet, less floor space, electric power readily available, cleanair environments, precision.
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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.

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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.
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1.4. Robot components

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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 -

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