Module 1 of Robotics robotics robotics.pptx

Robotics m1

1. Robot and Robotics As per Robotics Institution of America (RIA) :- A n industrial robot is a reprogrammable multi-functional manipulator which has various program motions for the performance of variety of task. Robotics is the science of designing and building robots, suitable for real life applications in automated manufacturing and other non-manufacturing /special environment.   Robotics is the art, knowledge base and knowhow of designing, applying and using robots in the human endeavours.

2. Classification of Industrial Robots 1. Motion 2 . Mechanical configuration 3. Control system 4. Power drive 5. Industrial application 6. Generation

3. Robot in Automobile sector

4. Robots for welding

5. Robots for Painting

6. Robot for Art

7. Mechanical Configuration It is based on three linear and three rotary motion. Linear motions are referred to X,Y and Z axis, also termed as prismatic (P) motion. X indicates left- right , Y indicates forward -backward and Z indicates up-down motion. Rotary motions may be referred to three joint angles namely θ , φ and ψ or else, also termed as rotational motion(R).

8. Basic Types Cartesian Coordinate configuration- PPP Cylindrical Coordinate configuration- PRP Polar Coordinate configuration-PRR Revolute / Jointed arm Coordinate configuration- RRR ( Anthropomorphic )

9. Cartesian Coordinate configuration- PPP

10. Cylindrical Coordinate configuration- PRP

11. Polar Coordinate configuration-PRR

12. Jointed arm Coordinate configuration- RRR ( Anthropomorphic ) Most common industrial robot structure This type of robot is used for many purposes Welding and painting Machine tool tending   Metal casting and general material handling

13. Control system Servo Control ( Continuous feedback) P-T-P type robot b. Continuous path robot Non- servo Control ( No feedback)

14. Robot sizes range from a reach of 0.5 to 3.5 m and carrying capacities from 3 to 1000 kg and more.

15. Robot Joints Vs Human Joints

16. Robot -Joints Linear joint ( L-joint) Orthogonal Joint (O-Joint) Rotational joint (R-joint) Twisting joint (T-joint) Revolving joint (V-joint)

17. Linear joint ( L-joint), Orthogonal Joint (O-Joint) Linear joint Orthogonal Joint link link

18. Rotational joint (R-joint ), Twisting joint (T-joint) Rotational joint (R-joint) Twisting joint (T-joint)

19. Revolving joint (V-joint) Revolving joint (v-joint)

20. DIFFERENT MOTION   Vertical motions/ up-down.   Radial motions.   Rotational motions.- About the vertical axis   Pitch motions – up/down of the wrist   Yaw motions – wrist swivel- right/ left   Roll motions – wrist swivel- rotation of wrist.