ROBOT PPT in Industrial range mmmmmmdddddd.pptx

About Industrial Robot

1. ROBOTICS

2. Introduction The Czech Play That Gave Us the Word ‘Robot’ by “ Karel Čapek” . “R.U.R.” (which stands for “Rossum’s Universal Robots”) premiered in Prague in 1921. C zech word “robota,” or forced labor. What i s Robot A  robot  is a machine, especially one programmable by a computer capable of carrying out a complex series of actions automatically. Three laws of Robots A robot may not injure a human being or, through inaction, allow a human being to come to harm. Robots will follow instruction given by humans with breaking law one. Robots will protect themselves without breaking other rules. Timeline of Robots: https://www.aventine.org/robotics/history-of-robotics

3. Types of Robot ROBOT Actuation Electric Pneumatic Hydraulic Kinematic Design Linear Revolute Spherical Joint Type Shoulder Joint Elbow Joint Wrist Joint

4. 1. Electric Actuator Which converts electric energy into motion with an electric motor. Electric actuators are probably the most common actuator type in robotics. They are fast, precise, and very portable. Although they are not as powerful as the other 2 types of actuator, they offer a good cost-to-strength ratio. 2. Pneumatic Actuator Creates force through the application of compressed air. As many manufacturing facilities already have pneumatic lines installed, this can be a handy option and is often used for robot tools. Benefits of pneumatics include its fast speed and simplicity. However, it offers limited power compared to hydraulics and requires a lot more extra hardware (pumps and pipes) compared to electric systems 3. Hydraulic Actuator Uses pressurized liquid to create motion. They offer more strength than the alternatives, which is why hydraulics are often used for heavy-duty applications. Hydraulic robots are often the strongest with a high range of mobility. However, they are expensive, require high maintenance, and can be very messy if the liquid leaks. Actuation type

5. Linear A linear or prismatic joint can move in a translational or sliding movement along a single axis. Revolute A revolute or rotational joint moves around a point about one degree of freedom. You can think of a revolute joint as being like the elbow joint in your arm — it can bend only in one direction. Spherical A spherical joint can move in multiple degrees of freedom around a single point. You can think of a spherical joint as being like the top shoulder joint of your arm — it can move in multiple directions but around the same point. Types of robot joint type

6. Actuation types Electric Actuator – Which converts electric energy into motion with an electric motor.Electric actuators are probably the most common actuator type in robotics. They are fast, precise, and very portable. Although they are not as powerful as the other 2 types of actuator, they offer a good cost-to-strength ratio. Pnuematic Actuator - Creates force through the application of compressed air. As many manufacturing facilities already have pneumatic lines installed, this can be a handy option and is often used for robot tools. Benefits of pneumatics include its fast speed and simplicity. However, it offers limited power compared to hydraulics and requires a lot more extra hardware (pumps and pipes) compared to electric systems Hydraulic Actuator - Uses pressurized liquid to create motion. They offer more strength than the alternatives, which is why hydraulics are often used for heavy-duty applications. Hydraulic robots are often the strongest with a high range of mobility. However, they are expensive, require high maintenance, and can be very messy if the liquid leaks. 3 Types of robot joint type by kinematic Design Linear A linear or prismatic joint can move in a translational or sliding movement along a single axis. Revolute A revolute or rotational joint moves around a point about one degree of freedom. You can think of a revolute joint as being like the elbow joint in your arm — it can bend only in one direction. Spherical A spherical joint can move in multiple degrees of freedom around a single point. You can think of a spherical joint as being like the top shoulder joint of your arm — it can move in multiple directions but around the same point. 3 Types of joints by function Shoulder Joint The shoulder joint sits at the base of a robotic manipulator. It is often the biggest joint and determines how much the robot can turn around. Elbow Joint The elbow joint sits in the middle of the robotic manipulator. It has the most impact on the robot’s lifting strength and sets a large proportion of the robot’s range of motion. Wrist Joint The wrist joint sits at the end of the robotic manipulator. It has the most effect on the position of the robot’s end effector. Often, wrist joints can spin a full 360 degrees.

7. Types of robots- How Robot Technology shaping today's world 6 Most common types of robots are Autonomous Mobile Robots Hybrids Automated Guided Vehicles Articulated Robots Humanoids Cobots Autonomous Mobile Robots(AMRs) These robots move throughout and make decisions based on real time as they move.with the help of sensors and cameras help them in collecting all the informations to give precise output.only limited human input is required to complete their job. Hybrids The various types of robots are often combined to create hybrid solutions that are capable of more complex tasks. For example, an AMR might be combined with a robotic arm to create a robot for handling packages inside of a warehouse. As more functionality is combined into single solutions, compute capabilities are also consolidated.

8. Automated Guided vehciles (AGV) AGV stands for Automated Guided Vehicle. It is a robot which is portable and follows marking lines or wires on the floor, use radio waves, vision cameras, magnets, or lasers for navigation. They usually perform typical tasks that are difficult to be carried out using manual carts. They are highly used in industries for transportation of raw materials. They required depots for proper and efficient navigation so that safety can be maintained.Mainly used in the warehouse industries. Articulated Robots Articulated robots (also known as robotic arms) are meant to emulate the functions of a human arm. Typically, these can feature anywhere from two to 10 rotary joints. Each additional joint or axis allows for a greater degree of motion—making these ideal for arc welding, material handling, machine tending, and packaging

9. Humanoids While many mobile humanoid robots may technically fall under the domain of an AMR, the term is used to identify robots that perform human-centric functions and often take human-like forms. They use many of the same technology components as AMRs to sense, plan, and act as they carry out task such as providing directions. Cobots cobot, or collaborative robot, is a robot designed to work alongside humans. As opposed to traditional industrial robots, which are typically kept away from humans because of potential hazards, a cobot creates a safe environment for both robots and humans. They often perform slower movements, remain aware of their surroundings with sensors and enter a safety mode when their usual patterns or environments are disrupted.

10. Robot Co-ordinates Robot configuration generally follow the coordinate frames with which they are defined Cartesian: 3P Cylindrical : PRP Spherical :P2R Articulated :3R Spherical compliance assembly robot arm(SCARA)2R1P Cartesian Coordinates-3P Way to specify the points in a plane using real numbers. Cartesian Coordinate Robots is called linear robots whose three principle axes of control are Linear. P-Prismatic Joint(Sliding Motion) R-Revolute Joint (Pin joints or hinge joints which contraints the motion of two bodies to pure rotation along a common axis Cylindrical Co-ordinate Robots -PRP Which is a 3D co-ordinate system the cylindrical robot has three axis of movement two are linear and one circular.

11. Spherical Coordinates-P2R Which represent a point in three dimensional space using the distance from the origin and two angles. Spherical robot have 2 rotary joints and one prismatic joints. Articulates coordinate-3R Are the most common industrial robots.they look like a human arm.ability to in a manner similar to how our arm and elbow work. Articulated robots with rotary joints can ranges from simple two jointed structure to system with 10 or more interacting joints. Selective compliance assembly robot arm(SCARA)-2R1P They have two revolute joints that are parallel allow the robot to move in horizotal plane plus an additinal prismatic joint that moves vertically.

12. Reference Frames Which defines the position of an object with respect to a robot It is recommended to teach targets with respect to a reference. There are 3 types of reference frame World reference frame Joint reference frame Tool reference frame World Reference Frame- This is a universal coordinate frame as defines by X,Y & Z axis. In this type joints of the robots move simultaneously in a coordinate manner to create motions along the three major axis. Joint Reference Frame- Is used to specify the movements of individual joints of the robot each joint is accessed to move individually so one joint will be moved at a time. Tool Reference Frame- Tool frame specifies movement of the robot hand relative to a frame attached to the hand,This frame will move with a robot as the robot changes its position this frame reference will change.This joints of the robot must move simultaneously to create coordinated motions about the tool frame.

13. Degree Of Freedom - DOF Which is used to define the Physical motion capabalities of a robot.Robot is essentially a combination of multiple mechanisms where each mechanism is formed by a set of links and joints. Each joint has its own DOF When multiple joints are connected to form a robotic arm. The resultant DOF is different, more the DOF the more flexible and adaptable the robot. Higher DOF require more working space but utilizes that working space very efficiently. Using Grublers Degree of freedom DOF=m(n-1) – 2l – h n=No. Of links=n2+n3+.....+nj (n2=no of binary links,n3=no of ternary links) l=No. Of lower pair, If more than two links are joined together at any point, then, one additional lower pair is to be considered for every additional link. h=No. Of higher pair Lower pair=Surface or area contact of the elements. Higher Pair=line or point contact of the elements. DOF in 2D plane(DOF=2) DOF of line in 2D Plane(DOF=3) DOF of a rigid body in 3D Plane(DOF=6) m=no of DOF for a single body. m=3 for planar bodies m=6 for spatial bodies Linear=x Horizontal=z Vertical=y Pitch =xy Yaw=xz Roll=yz

14. Example for DOF DOF=3(4-1)-2x4-0 DOF=1 DOF=3(5-1)-2x5-0 DOF=2 3 2 1 DOF=3(6-1)-2x7-0 DOF=1 4 DOF=3(4-1)-2x3-1 DOF=2

15. What is Kinematics of Robots Kinematics is the study of all the possible motions of a robot.(what are all the possible positions and motions this robot can achieve) Kinematics does not consider the forces that cause these motions,the only thing it consider whether the motion is achievable or not. Kinematics split into two parts Forward Kinematics- The joints of a perticular position what will be the resultant position of the end effector. Inverse Kinematics- What position should i set the robot joint to move the end effector to perticular position. Which is used to calculate the relationship between the position and orientation of the end effector and position of each joint.

16. Properties of efficient cell layout Short Motion Times A small cell footprint - Keep the cell size as small as necessary for the robot to perform its task effectively. Avoid unnecessary space, which can lead to wasted motion.Optimize the layout to ensure the robot can move swiftly between pick-up and drop-off locations. Everything within reach - Arrange tools, workpieces, and workspaces so that the robot can access them easily. Minimize the need for excessive movement. Optimal use of the robots workspace -Plan where incoming objects (parts, materials) will be placed and how they’ll be presented to the robot. Lean Output and Input - Streamline the flow of materials and products. Minimize waiting times and bottlenecks. Robots need to be within the fence.