ECE 03 – Electronics 3: Robotics System & Design PDF

ECE 03 – ELECTRONICS 3: ELECTRONICS SYSTEM & DESIGN BSECE III ENGR. JOEL ANTHONY L. SEVILLA JANUARY 2025 ROBOTICS The term robotics refers to the behavior of any device that can alter its operation in response to a command or a change in its environment. RO...

ECE 03 – ELECTRONICS 3: ELECTRONICS SYSTEM & DESIGN BSECE III ENGR. JOEL ANTHONY L. SEVILLA JANUARY 2025 ROBOTICS The term robotics refers to the behavior of any device that can alter its operation in response to a command or a change in its environment. ROBOT A multifunctional, programmable manipulator designed to move parts, materials tools and special devices through variable programmed motions for the performance of a variety of different tasks. ROBOT It is a device that can move and react to sensory input It is a device that operates with some degree of autonomy, usually under computer control. ROBOT Defined by Robotics Industry Association (RIA) as a re-programmable, multifunctional manipulator designed to move material, parts, tools or specialized devices through variable programmed motion for a variety of tasks. ROBOT Possess certain anthropomorphic characteristics  mechanical arm  sensors to respond to input  intelligence to make decisions ROBOT CLASSIFICATION The following is the classification of robots according to the Robotics Institute of America Variable-Sequence Robot : A device that performs the successive stages of a task according to a predetermined method easy to modify. Playback Robot : A human operator performs the task manually by leading the robot. ROBOT CLASSIFICATION Numerical Control Robot : The operator supplies the movement program rather than teaching it the task manually. Intelligent Robot : A robot with the means to understand its environment and the ability to successfully complete a task despite changes to the environment. APPLICATION OF ROBOT 1. Used for manufacturing, especially for repetitive task on production lines Material handling Storage Transport Delivery APPLICATION OF ROBOT 2. Used in hazardous environment 3. Tele-presence Medical operation Space exploration 4. Games ROBOT BASIC COMPONENTS 1. MANIPULATOR/ACTUATORS It performs the physical work of the robot system. It is a device that produces mechanical motions. Common types of actuators are servomotors, stepper motors, pneumatic cylinders, etc. It consist of two elements: Joints – axis where the motion is produced: linear, twisting, rotation and revolving. Links – rigid part that connects the joints. It consists of two sections: Mechanical section and Attached appendage 2. CONTROLLER Considered as the heart of the operation, it stores preprogrammed information for later recall and it controls peripheral devices and communicates with computers for constant updates. 3. POWER SUPPLY It supplies power to the controller and the manipulator. It can be a hydraulic, pneumatic and electric supply. 4. SENSORS Used to collect information about the internal state of the robot or to communicate with the outside environment. Robots are often equipped with external sensory devices such as a vision system, touch and tactile sensors, etc. Which helps to communicate with the environment. 5. END EFFECTOR It is a device connected to the wrist flange of the manipulator. It can either be a hand, grippers, electromagnet, suction, tools or wheels. GRIPPER 4. END EFFECTOR TOOLS 4. END EFFECTOR SUCTION WRIST Typically has 3 degrees of freedom Roll - involves rotating the wrist about the arm axis Pitch - up-down rotation of the wrist Yaw - left-right rotation of the wrist End effectors are mounted on the wrist. WRIST MOTIONS ROBOT MOTION 1. Base Travel – refers to the movement of the base. 2. Axes Control Servo System – it is a device that provides positional control over the axes of the robot, it contains the following commands: Command pulses – cause the motor to move. Feedback device – converts the positional data of the motor into electric pulses. 3. Non – Servo Control – movement is stopped by hard mechanical stops, only have three axes: up/down, in/out, and left/right. 4. Servo Control – feedback path is established between the servo motor and the controller. CATEGORIES OF ROBOTS 1. Based on Effectors 3. Based on Mechanical Mobile robot Configurations Manipulator robot Cartesian Cylindrical 2. Based on Drive System Spherical Electric drive Articulated Arm Hydraulic Drive SCARA Pneumatic drive Cartesian Configuration Cylindrical Configuration Spherical Configuration Articulated Configuration Selective Compliance Assembly Robot Arm (SCARA): They have two revolute joints that are parallel and allow the robot to move in a horizontal plane, plus an additional prismatic joint that moves vertically. Based on Mechanical Configurations Based on Mechanical Configurations ROBOT TECHNOLOGY LEVEL 1. Low technology robot – used for industrial environment jobs, like machine loading, material handling, press operation and simple assembly. 2. Medium technology robot – primarily used for picking and placing and for machine loading and unloading. ROBOT TECHNOLOGY LEVEL 3. High technology robot – used for material handling, press transferring, painting and sealing, spot welding, arc welding and variety of task in the manufacturing environment.