Introduction to Robotics and Automation.pdf

ENGENEERING TECH

1. Introduction to Robotics and
Automation
Module 7

2. Automation
An automated system is an integrated system including
machines, control system, and computer technology to
optimize the productivity in a variety of industries.
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3. Industrial control
The backbone of automation systems are control systems
these systems include:
Sensors
Motion control
Pneumatic systems
Robots
Microcontroller
PLC

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4. Sensors
Devices to monitor the status of control variables.
Limit switch. By using some
actuator type of lever, it converts
mechanical motion into electrical
signals.
Proximity detectors/Photoelectric sensors are electronic sensors that
indicate the presence of an object without making physical contact
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5. Sensors
An ultrasonic sensor is a device that
uses high-frequency sound waves to
detect objects
Thermocouple, RTD, Bimetal
strip, Infrared sensors are being
used to control and monitor
temperature
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6. Sensors
Monometer, Pressure gauge for
pressure measurement
Accelerometer, Velometer, and
LVDT to measure vibration and
displacement
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7. Motion control - Motors
The electric motor is the most common device used to
perform the actuator function in an industrial automation
system. It converts electrical energy into mechanical power.
DC motor is a mechanically commutated electric motor
powered from direct current (DC). It has a rotating armature
and a stationary stator.
AC Motors is an electric motor driven by an alternating
current (AC).
Servo motors is a rotary actuator that allows for precise
control of angular position. It consists of a motor coupled to a
sensor for position feedback, through a reduction gearbox.
This type of motor used in motion control.
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8. Pneumatic systems
Use compressed air for linear and rotatory actuation.
Pneumatic cylinder
Converts compressed air energy to linear force and motion.
Linear actuator.


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9. Pneumatic systems
Air motors
Converts the energy of the compressed air to rotation and
torque.
Rotary actuators
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10. Pneumatic systems
Pneumatic valves
Control the direction/path of the flow
Control the rate of flow

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11. Robots
Robots playing curtail role in today’s manufacturing.
Accurate
Low maintenance
Repeatable
Programmable
Reliable
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12. Axis of rotation
6-axis motion
-Group one: arm sweep, shoulder swivel, elbow extension (1,2,3)
-Pitch, yaw, and roll (4,5,6)
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13. PLC
A programmable logic controller (PLC) is an industrial
grade computer that is capable of being programmed to
perform control functions .
Multiple input and output
Easy programing
Fast response
Easy to troubleshoot
Communication

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14. Overview
A reliable alternative for conventional relay control circuits.
Relay based control panel PLC based control panel
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15. PLC parts
Central Processing Unit Input / Output (I/O)
Power supply Programming device
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16. I/O
Interface with field devices.
Typical PLC inputs from pushbutton, limit switch, and sensors
Typical PLC outputs to contactor, light, solenoid
Fixed I/O
Small PLCs, fixed number of I/O, packaged with CPU, Low cost, less
flexibility, if a part fails usually unit should be replaced
Modular I/O
High flexibility, mix configurations, all modules connected to backplane.
Modular
Fixed 16

17. Power supply
Power supply provides DC power to other modules
plugged to rack.
In micro PLCs power supply may be used to power field
devices such as sensors.
In large systems a separate DC power source supply field
devices.

Power supply
Rack
I/O module
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18. CPU
Usually consist of micro
processors for implementing
the logic and communication
between modules.
Includes memory to store
results of logic processing and
program.
The PLC program is executed
in a repetitive process called
Scan.
PLC scan cycle
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19. Programming device
Is used to enter the program into the memory of processor.
Handheld programming devices can be used for small PLCs.
PC is the most common programming devices through PLC
software.
PC communicate with PLC via serial, parallel ports or Ethernet.
Ladder logic is the most popular programming language.
The origin of ladder logic is based on electromechanical relays.
Handheld device
PLC software, ladder program
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20. Example
1- Start mixer when temperature and
pressure reached the set points
2- Manual start
Relay ladder diagram
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21. Input module Output module
www. automationdirect.com
Run Mode
contacts
Rung
I/O address
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22. Allen-Bradley Pico controller (fixed type)
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23. Microcontroller
A microcontroller is a small computer on a single
integrated circuit containing a processor core, memory,
and programmable input/output pins.
Low cost
Clock
Integrated circuit
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24. Arduino
Arduino is an open source physical computing platform
based on a simple input/output (I/O) board and a
development environment that implements the
Processing language.
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