MechatronicsDept.

,Dynamics&ControlGroup,207701IndustrialRobot

OverviewofRobots

Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD)

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MechatronicsDept.,Dynamics&ControlGroup,207701IndustrialRobot

Outline

Whatarerobots?
Briefhistoryofrobot
Whatisaindustrialrobot
Industrialrobotconfiguration
Industrialrobotclassification
Robotprogramming
Industrialrobotapplications

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MechatronicsDept.,Dynamics&ControlGroup,207701IndustrialRobot

Whatarerobots?
Definition(RoboticsAssociationofAmerica):"A
reprogrammable,multifunctionalmanipulator
designedtomovematerial,parts,tools,or
specializeddevicesthroughvarious
programmedmotionsfortheperformanceofa
varietyoftasks". Complicateddefinition!
Asimplerversion:Anautomaticdevicethat
performsfunctionsnormallyascribedtohumans
oramachineintheformofahuman.
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MechatronicsDept.,Dynamics&ControlGroup,207701IndustrialRobot

Anotherpointofview.
WhatareRobots?Ans:Machineswithsensing,intelligence and
mobility
WhyuseRobots?Ans:Perform4Atasksin4Denvironments
Automation
Augmentation
Assistance
Autonomous
Industrialrobots
Kinematics
Dynamics
Control

Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD)

Dangerous,
Dirty,
Dull,
Difficult

Mobilerobots
Kinematics/Control
SensingandSensors
Motionplanning
Mapping/Localization
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MechatronicsDept.,Dynamics&ControlGroup,207701IndustrialRobot

Whostosay?
Manydeviceswithvaryingdegreesof
autonomyarecalledrobots.
Manydifferentdefinitionsforrobotsexist.
Someconsidermachineswhollycontrolled
byanoperatortoberobots.
Othersrequireamachinebeeasily
reprogrammable.
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MechatronicsDept.,Dynamics&ControlGroup,207701IndustrialRobot

Whatisaindustrialrobot?
Amanipulator(oranindustrialrobot)is
composedofaseriesoflinksconnectedtoeach
otherviajoints.Eachjointusuallyhasan
actuator (amotorfore.g.)connectedtoit.
Theseactuatorsareusedtocauserelative
motionbetweensuccessivelinks.Oneendof
themanipulatorisusuallyconnectedtoastable
baseandtheotherendisusedtodeployatool.
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MechatronicsDept.,Dynamics&ControlGroup,207701IndustrialRobot

RobotsinEarlyHistory
AncientGreekpoetHomerdescribed
maidensofgold,mechanicalhelpersbuiltby
Hephaistos,theGreekgodofmetalsmiths.
In1495,LeonardodaVincidrewplansfora
mechanicalman.
Realrobotswereonlypossibleinthe1950s
and1960swiththeintroductionof
transistorsandintegratedcircuits.

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MechatronicsDept.,Dynamics&ControlGroup,207701IndustrialRobot

RobotsinEarlyHistory
1948, Ateleoperatorequippedarticulatedarmis
designedbyRaymondGoertzfortheAtomicEnergy
Commission.
1961,ThefirstindustrialrobotwasonlineinaGeneral
MotorsautomobilefactoryinNewJersey.ItwasDevoland
Engelberger'sUNIMATE.Itperformedspotweldingand
extracteddiecastings..
1980,Therobotindustrystartsitsrapidgrowth,witha
newrobotorcompanyenteringthemarketeverymonth.

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MechatronicsDept.,Dynamics&ControlGroup,207701IndustrialRobot

FirstCommercialRobot
Afterthe1950sthefirst
commercialrobotnicknamed
theUnimate,wascreated.
ThefirstUnimatewasinstalled
ataGeneralMotorsplantto
workwithheateddiecasting
machines.

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MechatronicsDept.,Dynamics&ControlGroup,207701IndustrialRobot

- Followingtheearly

instancesofrobotsinplays
andsciencefictionstories,
robotsthenstartedto
appearontelevisionshows,
likeLostinSpace(1965)and
theninHollywoodmovies.
Scientiststodayarestilla
longwayofffrom
programmingrobotswhich
canthinkandactlike
humans.
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MechatronicsDept.,Dynamics&ControlGroup,207701IndustrialRobot

IndustrialRobotDefined
Ageneralpurpose,programmablemachinepossessing
certainanthropomorphiccharacteristics
Hazardousworkenvironments
Repetitiveworkcycle
Consistencyandaccuracy
Difficulthandlingtaskforhumans
Multishift operations
Reprogrammable,flexible
Interfacedtoothercomputersystems
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MechatronicsDept.,Dynamics&ControlGroup,207701IndustrialRobot

What will we focus on? Robots in industries

Robots are used in a vast range of industries.

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MechatronicsDept.,Dynamics&ControlGroup,207701IndustrialRobot

Robotcomponents

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MechatronicsDept.,Dynamics&ControlGroup,207701IndustrialRobot

StructuresofRobot
Manipulatorconsistsofjointsandlinks
Jointsproviderelativemotion
Linksarerigidmembersbetweenjoints
Variousjointtypes:linearandrotary
Eachjointprovidesadegreeof
freedom
Mostrobotspossessfiveorsix
degreesoffreedom
Robotmanipulatorconsistsoftwo
sections:
Bodyandarm forpositioningof
objectsintherobot'sworkvolume
Wristassembly fororientationof
objects

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MechatronicsDept.,Dynamics&ControlGroup,207701IndustrialRobot

ManipulatorJoints
Translationalmotion
Linearjoint(typeL)
Orthogonaljoint(typeO)

Rotarymotion
Rotationaljoint(typeR)
Twistingjoint(typeT)
Revolvingjoint(typeV)
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MechatronicsDept.,Dynamics&ControlGroup,207701IndustrialRobot

JointNotationScheme
Usesthejointsymbols(L,O,R,T,V)todesignate
jointtypesusedtoconstructrobotmanipulator
Separatesbodyandarmassemblyfromwrist
assemblyusingacolon(:)
Example:TLR:TR
Commonbodyandarmconfigurations
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MechatronicsDept.,Dynamics&ControlGroup,207701IndustrialRobot

PolarCoordinateBodyandArmAssembly
NotationTRL:

Consistsofaslidingarm(Ljoint)actuated
relativetothebody,whichcanrotateaboutboth
averticalaxis(Tjoint)andhorizontalaxis(Rjoint)
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MechatronicsDept.,Dynamics&ControlGroup,207701IndustrialRobot

CylindricalBodyandArmAssembly
NotationTLO:

Consistsofaverticalcolumn,
relativetowhichanarm
assemblyismovedupordown
Thearmcanbemovedinor
outrelativetothecolumn
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MechatronicsDept.,Dynamics&ControlGroup,207701IndustrialRobot

CartesianCoordinateBodyandArmAssembly
NotationLOO:

Consistsofthreeslidingjoints,
twoofwhichareorthogonal
Othernamesincluderectilinear
robotandxyzrobot
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MechatronicsDept.,Dynamics&ControlGroup,207701IndustrialRobot

JointedArmRobot
NotationTRR

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MechatronicsDept.,Dynamics&ControlGroup,207701IndustrialRobot

SCARARobot
NotationVRO
SCARAstandsforSelectively
CompliantAssemblyRobotArm
Similartojointedarmrobot
exceptthatverticalaxesareused
forshoulderandelbowjointstobe
compliantinhorizontaldirectionfor
verticalinsertiontasks

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MechatronicsDept.,Dynamics&ControlGroup,207701IndustrialRobot

RobotClassification
There are four main aspects to classify
robots:
Types of workspace
Robot generation
Types of control

Drive system

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MechatronicsDept.,Dynamics&ControlGroup,207701IndustrialRobot

Classificationbasedontypeofworkspace
CartesianConfiguration

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MechatronicsDept.,Dynamics&ControlGroup,207701IndustrialRobot

Classificationbasedontypeofworkspace

CylindricalConfiguration

Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD)

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MechatronicsDept.,Dynamics&ControlGroup,207701IndustrialRobot

Classificationbasedontypeofworkspace
SphericalConfiguration

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MechatronicsDept.,Dynamics&ControlGroup,207701IndustrialRobot

Classificationbasedontypeofworkspace
Revolute/JointedConfiguration

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MechatronicsDept.,Dynamics&ControlGroup,207701IndustrialRobot

Classificationbasedonrobotgenerations
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 cobots (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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MechatronicsDept.,Dynamics&ControlGroup,207701IndustrialRobot

Classificationbasedonrobotgenerations
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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MechatronicsDept.,Dynamics&ControlGroup,207701IndustrialRobot

Classificationbasedontypesofcontrol

Pick-and-Place Robot

Prepared by Q. C. Nguyen (PhD) & C.B. Pham (PhD)

Continuous Path Robot

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MechatronicsDept.,Dynamics&ControlGroup,207701IndustrialRobot

Classificationbasedondrivesystem
Common drive systems used in robotics are electric drive,
hydraulic drive, and pneumatic drive.
ElectricDrives

Electric drive robots are relatively

accurate compared to hydraulically
powered robots.
Types:AC/DCservomotors,stepper
motors.
Advantages: quiet, less floor space,
electric power readily available, clean
air environments, precision.
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MechatronicsDept.,Dynamics&ControlGroup,207701IndustrialRobot

Classificationbasedondrivesystem
PneumaticDrives

Pneumaticdrives:airdriven
actuators.
Advantages:economical,easy
installation,lesscostlythan
hydraulicdrives,goodspeedand
accuracy.
Disadvantages:precisionisless
thanelectricdrives(airis
compressible),airneeds
conditioning,noisy,vibration.
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MechatronicsDept.,Dynamics&ControlGroup,207701IndustrialRobot

Classificationbasedondrivesystem
HydraulicDrives
Hydraulicdrivesare
electricpump
connectedtoa
reservoirtankanda
hydraulicactuator.

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 cleanair environments.
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MechatronicsDept.,Dynamics&ControlGroup,207701IndustrialRobot

RobotProgramming
Leadthroughprogramming
Workcycleistaughttorobotbymovingthe
manipulatorthroughtherequiredmotioncycleand
simultaneouslyenteringtheprogramintocontroller
memoryforlaterplayback
Robotprogramminglanguages
Textualprogramminglanguagetoentercommands
intorobotcontroller
Simulationandofflineprogramming
Programispreparedataremotecomputerterminal
anddownloadedtorobotcontrollerforexecution
withoutneedforleadthroughmethods
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MechatronicsDept.,Dynamics&ControlGroup,207701IndustrialRobot

LeadthroughProgramming
1. Poweredleadthrough
Commonforpointto
pointrobots
Usesteachpendant
2. Manualleadthrough
Convenientfor
continuouspathcontrol
robots
Humanprogrammer
physicalmoves
manipulator
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MechatronicsDept.,Dynamics&ControlGroup,207701IndustrialRobot

LeadthroughProgrammingAdvantages
Advantages:
Easilylearnedbyshoppersonnel
Logicalwaytoteacharobot
Nocomputerprogramming
Disadvantages:
Downtimeduringprogramming
Limitedprogramminglogiccapability
Notcompatiblewithsupervisorycontrol

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MechatronicsDept.,Dynamics&ControlGroup,207701IndustrialRobot

RobotProgramming

Texturalprogramminglanguages
Enhancedsensorcapabilities
Improvedoutputcapabilitiestocontrolexternalequipment
Programlogic
Computationsanddataprocessing
Communicationswithsupervisorycomputers

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MechatronicsDept.,Dynamics&ControlGroup,207701IndustrialRobot

SimulationandOffLineProgramming

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MechatronicsDept.,Dynamics&ControlGroup,207701IndustrialRobot

RobotApplication
Machineloading
Pickandplaceoperations
Welding
Painting
Sampling
Assemblyoperation
Manufacturing
Surveillance
Medicalapplications
Assistingdisabledindividuals
Hazardousenvironments
Underwater,space,andremotelocations
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MechatronicsDept.,Dynamics&ControlGroup,207701IndustrialRobot

IndustrialRobotApplications
1. Materialhandlingapplications
Materialtransfer pickandplace,palletizing
Machineloadingand/orunloading
2. Processingoperations
Welding
Spraycoating
Cuttingandgrinding
3. Assemblyandinspection

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MechatronicsDept.,Dynamics&ControlGroup,207701IndustrialRobot

RoboticArcWeldingCell
Robotperforms
fluxcoredarc
welding(FCAW)
operationat
oneworkstation
whilefitter
changespartsat
theother
workstation

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MechatronicsDept.,Dynamics&ControlGroup,207701IndustrialRobot

Willwebecomerobots?

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