industrial robot

 

  • Unimation robots were also called programmable transfer machines since their main use at first was to transfer objects from one point to another, less than a dozen feet or
    so apart.

  • Each actuator must still move within its own degree of freedom, as for a serial robot; however in the parallel robot the off-axis flexibility of a joint is also constrained
    by the effect of the other chains.

  • The ability to preview the behavior of a robotic system in a virtual world allows for a variety of mechanisms, devices, configurations and controllers to be tried and tested
    before being applied to a “real world” system.

  • These actions are determined by programmed routines that specify the direction, acceleration, velocity, deceleration, and distance of a series of coordinated motions Other
    robots are much more flexible as to the orientation of the object on which they are operating or even the task that has to be performed on the object itself, which the robot may even need to identify.

  • In addition, depending on the types of joints a particular robot may have, the orientation of the end effector in yaw, pitch, and roll and the location of the tool point relative
    to the robot’s faceplate must also be specified.

  • They also have a means to change the speed since a low speed is usually required for careful positioning, or while test-running through a new or modified routine.

  • This allowed it accurately to follow arbitrary paths in space and widened the potential use of the robot to more sophisticated applications such as assembly and welding.

  • Teaching the robot positions may be achieved a number of ways: Positional commands The robot can be directed to the required position using a GUI or text based commands in
    which the required X-Y-Z position may be specified and edited.

  • The compact effector design allows the robot to reach tight work-spaces without any loss of speed.

  • Singularities[edit] The American National Standard for Industrial Robots and Robot Systems — Safety Requirements (ANSI/RIA R15.06-1999) defines a singularity as “a condition
    caused by the collinear alignment of two or more robot axes resulting in unpredictable robot motion and velocities.” It is most common in robot arms that utilize a “triple-roll wrist”.

  • When the desired position is reached it is then defined in some way particular to the robot software in use, e.g.

  • The operator can switch from program to program, make adjustments within a program and also operate a host of peripheral devices that may be integrated within the same robotic
    system.

  • • Motion control – for some applications, such as simple pick-and-place assembly, the robot need merely return repeatably to a limited number of pre-taught positions.

  • Moreover, the repeatability is different in different parts of the working envelope and also changes with speed and payload.

  • Another method is to slow the robot’s travel speed, thus reducing the speed required for the wrist to make the transition.

  • The user then moves the robot by hand to the required positions and/or along a required path while the software logs these positions into memory.

  • It can also increase the level of safety associated with robotic equipment since various “what if” scenarios can be tried and tested before the system is activated.

  • Since this is a limiting factor a robot may not be able to reach its specified maximum speed for movements over a short distance or a complex path requiring frequent changes
    of direction.

  • A robotics simulator is used to create embedded applications for a robot, without depending on the physical operation of the robot arm and end effector.

  • For example, the 3 DoF Delta robot has lower 3T mobility and has proven to be very successful for rapid pick-and-place translational positioning applications.

  • For more sophisticated applications, such as welding and finishing (spray painting), motion must be continuously controlled to follow a path in space, with controlled orientation
    and velocity.

  • Move to P1 and finish For examples of how this would look in popular robot languages see industrial robot programming.

  • Others in addition, machine operators often use user interface devices, typically touchscreen units, which serve as the operator control panel.

  • [5] They are one of the first robots to have been used in industrial applications.

  • Manufacturing independent robot programming tools are a relatively new but flexible way to program robot applications.

  • For example, for more precise guidance, robots often contain machine vision sub-systems acting as their visual sensors, linked to powerful computers or controllers.

  • Delta robots are particularly useful for direct control tasks and high maneuvering operations (such as quick pick-and-place tasks).

  • [9] SCARA robots are recognized by their two parallel joints which provide movement in the X-Y plane.

  • However a computer is often used to ‘supervise’ the robot and any peripherals, or to provide additional storage for access to numerous complex paths and routines.

  • End effectors are frequently highly complex, made to match the handled product and often capable of picking up an array of products at one time.

  • See robot control Positioning by Cartesian coordinates may be done by entering the coordinates into the system or by using a teach pendant which moves the robot in X-Y-Z directions.

  • A typical robot can, of course make a positional error exceeding that and that could be a problem for the process.

  • These include end effectors, feeders that supply components to the robot, conveyor belts, emergency stop controls, machine vision systems, safety interlock systems, barcode
    printers and an almost infinite array of other industrial devices which are accessed and controlled via the operator control panel.

  • Repeatability in an industrial process is also subject to the accuracy of the end effector, for example a gripper, and even to the design of the ‘fingers’ that match the gripper
    to the object being grasped.

  • In the manual mode, it allows the robot to move only when it is in the middle position (partially pressed).

  • However, when a manipulation task requires less than 6 DoF, the use of lower mobility manipulators, with fewer than 6 DoF, may bring advantages in terms of simpler architecture,
    easier control, faster motion and lower cost.

  • Some industrial robot manufacturers have attempted to side-step the situation by slightly altering the robot’s path to prevent this condition.

  • The common features of such units are the ability to manually send the robot to a desired position, or “inch” or “jog” to adjust a position.

  • This principle of operation allows natural reflexes to be used to increase safety.

  • It is this closed-loop stiffness that makes the overall parallel manipulator stiff relative to its components, unlike the serial chain that becomes progressively less rigid
    with more components.

  • They were accurate to within 1/10,000 of an inch[14] (note: although accuracy is not an appropriate measure for robots, usually evaluated in terms of repeatability – see later).

  • Lead-by-the-nose: this is a technique offered by many robot manufacturers.

  • Parallel Architecture[edit] A parallel manipulator is designed so that each chain is usually short, simple and can thus be rigid against unwanted movement, compared to a serial
    manipulator.

  • Specialized robot software is run either in the robot controller or in the computer or both depending on the system design.

  • Technical description Defining parameters[edit] • Number of axes – two axes are required to reach any point in a plane; three axes are required to reach any point in space.

  • Delta robots take advantage of four bar or parallelogram linkage systems.

  • They may utilize various sensors to aid the robot system in locating, handling, and positioning products.

  • • Compliance – this is a measure of the amount in angle or distance that a robot axis will move when a force is applied to it.

  • [1] Typical applications of robots include welding, painting, assembly, disassembly,[2] pick and place for printed circuit boards, packaging and labeling, palletizing, product
    inspection, and testing; all accomplished with high endurance, speed, and precision.

  • Injuries and fatalities could increase over time because of the increasing number of collaborative and co-existing robots, powered exoskeletons, and autonomous vehicles into
    the work environment.

  • Accuracy can vary with speed and position within the working envelope and with payload (see compliance).

  • This information was then transferred to the paper tape, which was also driven by the robot’s single motor.

  • There are two basic entities that need to be taught (or programmed): positional data and procedure.

  • Also in 1973 KUKA Robotics built its first robot, known as FAMULUS,[15][16] also one of the first articulated robots to have six electromechanically driven axes.

  • SCARA robots are used for jobs that require precise lateral movements.

  • • Repeatability – how well the robot will return to a programmed position.

  • A large emergency stop button is usually included as well.

  • Typical programming[edit] Most articulated robots perform by storing a series of positions in memory, and moving to them at various times in their programming sequence.

  • Errors in one chain’s positioning are averaged in conjunction with the others, rather than being cumulative.

  • Lower mobility parallel manipulators and concomitant motion A full parallel manipulator can move an object with up to 6 degrees of freedom (DoF), determined by 3 translation
    3T and 3 rotation 3R coordinates for full 3T3R mobility.

  • To be able to move and orient the effector organ in all directions, such a robot needs 6 axes (or degrees of freedom).

  • In a 2-dimensional environment, three axes are sufficient, two for displacement and one for orientation.

  • The former are faster, the latter are stronger and advantageous in applications such as spray painting, where a spark could set off an explosion; however, low internal air-pressurisation
    of the arm can prevent ingress of flammable vapours as well as other contaminants.

  • To fully control the orientation of the end of the arm(i.e.

  • • Speed – how fast the robot can position the end of its arm.

 

Works Cited

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7. ^
“Robots and robotic devices — Vocabulary”. www.iso.org. 2012. Retrieved 2020-11-15.
8. ^ “La robotique industrielle : guide pratique”. www.usinenouvelle.com (in French). Retrieved 2020-11-15.
9. ^ “Comment savoir si le robot SCARA est le bon choix
pour votre application”. www.fanuc.eu (in French). Archived from the original on 2021-04-15. Retrieved 2020-11-15.
10. ^ Nigatu, Hassen; Yihun, Yimesker (2020). Larochelle, Pierre; McCarthy, J. Michael (eds.). “Algebraic Insight on the Concomitant
Motion of 3RPS and 3PRS PKMs”. Proceedings of the 2020 USCToMM Symposium on Mechanical Systems and Robotics. Mechanisms and Machine Science. Cham: Springer International Publishing. 83: 242–252. doi:10.1007/978-3-030-43929-3_22. ISBN 978-3-030-43929-3.
S2CID 218789290.
11. ^ Turek, Fred D. (June 2011). “Machine Vision Fundamentals, How to Make Robots See”. NASA Tech Briefs. 35 (6): 60–62. Archived from the original on 2012-01-27. Retrieved 2011-11-29.
12. ^ “An Automatic Block-Setting Crane”.
Meccano Magazine. Liverpool UK: Meccano. 23 (3): 172. March 1938.
13. ^ Taylor, Griffith P. (1995). Robin Johnson (ed.). The Robot Gargantua. Gargantua: Constructor Quarterly.
14. ^ “International Federation of Robotics”. IFR International Federation
of Robotics. Retrieved 16 December 2018.
15. ^ KUKA-Roboter.de: 1973 The First KUKA Robot Archived 2009-02-20 at the Wayback Machine English, 28th of March 2010
16. ^ “History of Industrial Robots” (PDF). Archived from the original (PDF) on 2012-12-24.
Retrieved 2012-10-27.
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21. ^ “Operational stock of industrial robots at year-end in selected countries” (PDF). Archived from the original (PDF) on 2019-10-11. Retrieved 2019-10-26.
22. ^ LeVine,
Steve; Waddell, Kaveh (2019-03-01). “The big American robot push”. Axios (website). Retrieved 2019-03-01.
23. ^ Simon Cox (5 October 2017). “Worries about premature industrialisation”. The Economist. Archived from the original on 21 October 2017.
24. ^
[5]
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26. ^ “China overtakes USA in robot density”.
27. ^ Technology, Committee on Information; Automation; Workforce, and the U.S.; Board, Computer Science and Telecommunications; Sciences, Division on Engineering and Physical; Sciences,
National Academies of; Engineering; Medicine, and (2017-03-16). Information Technology and the U.S. Workforce: Where Are We and Where Do We Go from Here?. doi:10.17226/24649. ISBN 9780309454025.
Photo credit: https://www.flickr.com/photos/stignygaard/4848279231/’]