Robots & Automation – MFET 445

Robots & CNC in Integrated

Manufacturing – MFET 685
 Agenda
• Selecting a suitable robot
• Industrial Robot applications

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Selecting a suitable robot
 Choosing the best robot for your application, one must
consider the following factors needed for the operation:
 Work envelope
 Degrees of Freedom (DOF)
 Resolution
 Accuracy
 Repeatability
 Operational Speed
 Load Capacity
Work Envelope
 The work envelope is different for each robot configuration
and is defined by its type of joints and DOF.
 All the fixtures, equipment and other machinery that will
work with the robot must be located within the work
envelope.
 In order to choose a robot for your application, make sure to
check the robot’s maximum reach or rotation in each of the
joints.
Degrees of Freedom
 The number of DOF determines the robot’s ability to move
within the work envelope.
 Robots with six DOF can work anywhere within the work
envelope.
 Not all applications require a versatile unit.
 It will be determined what type of operation is the robot
performing.
 Additional DOFs can be added if the robot is mounted on
rails or other peripheral devices, this permits the robot move
to move horizontally or vertically.
Additional DOF
Resolution
 Resolution is determined by the robot’s control system and
refers to the smallest incremental movement the robot can
make.
 Command resolution: is the closest distance between
movements and is calculated by dividing the travel distance of
each joint by the number of control increments.
 Spatial Resolution: describes the accuracy of the robot’s tool
tip. Spatial resolution takes into account commands resolution
and mechanical inaccuracy.
Resolution
200 steps / revolution
Native resolution 1.8 degrees
At 1 meter extension
Spatial resolution is 0.031m (31mm)

1m
At 3 meter extension
Spatial resolution is 0.093m (93mm)

3m
Fanuc R2000 robot servos αi series
32M steps / revolution
Native resolution 11.25x10-6 degrees
At 1 meter extension
Spatial resolution is 196 x 10-9 m

1m
Accuracy
 Accuracy expresses how precisely the robot’s hand is
programmed to reach a predetermined point.
Accuracy
Accuracy
Repeatability
 Repeatability expresses how close the robot’s hand will
actually come to the designated position while repetitively
perform the task or procedure.
 Repeatability vs. Accuracy
Repeatability
• “How close will the robot be to the same
position as the same move made before”
• A measure of the error or variability when
repeatedly reaching for a single position.
• This is the result of random errors only
• Repeatability is often smaller than
accuracy.
Accuracy
• “How close does the robot get to the
desired point”
• This measures the distance between the
specified position, and the actual position of
the robot end effector.
• Accuracy is more important when
performing off-line programming, because
absolute coordinates are used.
Repeatability vs. Accuracy
Resolution, Repeatability, Accuracy

*BRU: Basic Resolution Unit

Compliance
Operational Speed
 Also known as dynamic performance, represents how fast the
robot can accelerate, decelerate, and come to a stop at a
given point.
 The two most important factors that influence operation speed:
 Desired accuracy
 Payload
Load Capacity
 The payload indicates the maximum mass the robot can lift
before either failure of the robots, or dramatic loss of
accuracy. It is possible to exceed the maximum payload, and
still have the robot operate, but this is not advised.
 When the robot is accelerating fast, the payload should be
less than the maximum mass. This is affected by the ability to
firmly grip the part, as well as the robot structure, and the
actuators.
 The end of arm tooling should be considered part of the
payload.
 Industrial Robot Applications
 Robots find application in a vast number of fields such as
 Manufacturing
 Undersea operations
 Farming and Agriculture
 Military and Space Service
 Nuclear Power Plant Service
 Construction and Power Lines
 Gas Station
 Electronics
 Medical
 Food Industry
30  Packaging
 Grinding
• Robot must be well sealed
against dust and grit

• Rigid structure
• Force Control

• Injury reduction

https://www.youtube.co
m/watch?v=OMAT6sEipg
E

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 Material Handling

Injury reduction, error reduction

https://www.youtube.com/watch?v=quWFjS3Ci7A

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 Part Loading & Unloading
https://www.youtube.com
/watch?v=pdPJaLzyR2w

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 Spot Welding

https://www.youtube.com/watch?v=ArxzMqf3aZg

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 https://www.youtube.com/watch?v=taTL_nozwJs

Palletizing https://www.youtube.com/watch?v=cLVCGEmkJs0

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ABB IRB660

axis distance rate time

1 180 95 1.89 sec
2 60 95 0.63 sec
3 60 95 0.63 sec
6 90 240 0.38 sec
6 180 95 1.89 sec
3 60 95 0.63 sec
2 60 95 0.63 sec
1 90 240 0.38 sec

7.07 sec/cycle
509.50 cycles/hr
ABB IRB660

axis distance rate time

1 180 95 1.89 sec
2 60 95 0.63 sec
3 60 95 0.63 sec
6 90 240 0.38 sec
6 180 95 1.89 sec
3 60 95 0.63 sec
2 60 95 0.63 sec
1 90 240 0.38 sec

5.05 sec/cycle

712.50 cycles/hr
 Moulding Industry https://www.youtube.
com/watch?v=gNAEF
wCreRo

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 Spray Painting https://www.youtube.com/watch?v=jB_
3awvUTyo

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 Spray Painting

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 Arc Welding https://www.youtube.com
/watch?v=NJIgQjKDVUg

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 https://www.youtube.com/watch?v=8P9gHmsmZiE
Assembly

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 Foundry

https://www.youtube.c
om/watch?v=I-
whL4K8ZZA

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 PC Board Assembly https://www.youtube
.com/watch?v=S8qka
Tsr2_o

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 Inspection

https://www.youtube.com/watch?v=PINQDJESQnQ

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 Inspection https://www.youtube.com/watch?v=844UiRBVxlY

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 https://www.youtube.com

Under-Sea Operations /watch?v=HOFQd711sas

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 https://www.youtub
e.com/watch?v=hjd
Farming and Agriculture 5DaxkLhQ

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 https://www.youtube.c
Bio-Agriculture om/watch?v=zXplJ3Cb
2pQ

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 Military
https://www.youtu
be.com/watch?v=c
NZPRsrwumQ

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 Space
 Mars Pathfinder with Sojourner- landed on the planet Mars
on July 4, 1997.
 Galileo- designed to orbit Jupiter and send a probe into its
atmosphere. Launched on October 18, 1989, from the space
shuttle Atlantis

https://www.youtube.com/watch?v=FZYnIsLNz3c

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 Space
Mars Rover Galileo Spacecraft

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 https://www.youtube.com/wat
Nuclear Power Plant ch?v=-JfUO50dR90

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 Power Line Maintenance

https://www.youtube.com/watch?v=2h6UPMcy8-o

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 Gasoline Refilling Station

https://www.youtube.com/watch?v=3y_J7fg03fA

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 https://www.youtube.co
m/watch?v=qGpM4G7A4
Aircraft Refueling 4w

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 Electronics Industry.
 The MAKER 110 – Polar
Configuration.
 The MAKER performs a
semiconductor wafer-
etching application in the
electronics industry

https://www.youtube.c
om/watch?v=lHHjKIN https://www.youtube https://www.youtube.com
wkPg .com/watch?v=Fz24x /watch?v=nOVVtog2lH4
3CPo1I

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 Surgery
https://www.youtube.com/watch?v=VJ_3GJNz4fg

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 Prosthesis Development
 Prosthetics, mechanical contrivances adapted to reproduce
the form, and as far as possible, the function, of a lost or
absent member.
 The replacement of a missing body part by an artificial
substitute is called prosthesis; the branch of surgery dealing
with prosthesis is prosthetics.
 Microprocessors are used to monitor neurons in the spinal
cord making it possible to create cybernetic or robotic arms
and legs.

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 Prosthetic Devices
https://www.youtube.
com/watch?v=_qUPnn
ROxvY&t=7s

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 Food Industry
https://www.youtube
.com/watch?v=QDpr
rrEdomM

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 Food Industry https://www.youtube.
com/watch?v=FmXLq
ImT1wE

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