Robotics Lecture Notes PDF

12/13/22 ROBOTICS Lecture 3 Introduction to Robotics 454EngI – Industrial Robotics Dr. Majed Moosa Adapted from Emam Fathy 1 1 ROBOTICS: HISTORY AND FUTURE! 2 1 12/13/22 INTRODUCTION § Robotics is a relatively young field of modern technology that crosses traditional engineering boundaries....

12/13/22 ROBOTICS Lecture 3 Introduction to Robotics 454EngI – Industrial Robotics Dr. Majed Moosa Adapted from Emam Fathy 1 1 ROBOTICS: HISTORY AND FUTURE! 2 1 12/13/22 INTRODUCTION § Robotics is a relatively young field of modern technology that crosses traditional engineering boundaries. § Understanding the complexity of robots and their applications requires knowledge of: – Electrical engineering. – Mechanical engineering. – Industrial engineering. – Computer science. – Mathematics. 2 3 INTRODUCTION § The science of robotics has grown tremendously over the past twenty years, fueled by rapid advances in computer and sensor technology as well as theoretical advances in control and computer vision. § This course is concerned with fundamentals of robotics, including kinematics, dynamics, and control. 3 4 2 12/13/22 INTRODUCTION § A robot is a mechanical or virtual artificial system, usually an electro-mechanical machine that is guided by a computer program or electronic circuit. § Robotics is the branch of mechanical engineering, electrical engineering and computer science that deals with the design, construction, operation, and application of robots. § Robots can be autonomous or semi-autonomous such as: – Humanoids such as ASIMO (Honda's Advanced Step in Innovative Mobility). 4 5 Humanoids such as ASIMO (Honda's Advanced Step in Innovative Mobility). 5 6 3 12/13/22 LAWS OF ROBOTICS • • • • • Asimov proposed three “Laws of Robotics” and later added the “zeroth law” Law 0: A robot may not injure humanity or through inaction, allow humanity to come to harm Law 1: A robot may not injure a human being or through inaction, allow a human being to come to harm, unless this would violate a higher order law Law 2: A robot must obey orders given to it by human beings, except where such orders would conflict with a higher order law Law 3: A robot must protect its own existence as long as such protection does not conflict with a higher order law 7 HISTORY OF ROBOTICS: I • The first industrial robot: UNIMATE • 1954: The first programmable robot is designed by George Devol, who coins the term Universal Automation. He later shortens this to Unimation, which becomes the name of the first robot company (1962). UNIMATE originally automated the manufacture of TV picture tubes 8 4 12/13/22 HISTORY OF ROBOTICS: II 1978: The Puma (Programmable Universal Machine for Assembly) robot is developed by Unimation with a General Motors design support PUMA 560 Manipulator 9 HISTORY OF ROBOTICS: III 1980s: The robot industry enters a phase of rapid growth. Many institutions introduce programs and courses in robotics. Robotics courses are spread across mechanical engineering, electrical engineering, and computer science departments. Adept’s SCARA robots Cognex In-Sight Robot Barrett Technology Manipulator 10 5 12/13/22 HISTORY OF ROBOTICS: IV 1995-present: Emerging applications in small robotics and mobile robots drive a second start-up growth of companies and research 2003: NASA’s Mars Exploration Rovers will launch toward Mars in search of answers about the history of water on Mars 11 INTRODUCTION § Robots can be autonomous or semi-autonomous such as: – Industrial robots. – Medical robots. – Patient assist robots. – Therapy robots. – Collectively programmed (swarm robots). – UAVdrones. – Microscopic Nano robots. – Etc. 6 12 6 12/13/22 Medical Robot 7 13 Therapy Robot 14 7 12/13/22 Robotic Fish 8 15 9 16 8 12/13/22 10 17 Collectively Programmed (Swarm Robots) 18 9 12/13/22 MODERN ROBOTS (EXAMPLES) § Mobile robot § They have the capability to move around in their environment and are not fixed to one physical location. § Mobile robots are also found in industry, military and security environments or to perform certain tasks like vacuum cleaning. 11 19 12 20 10 12/13/22 13 21 MODERN ROBOTS (EXAMPLES) § Industrial robots (manipulators) § Industrial robots usually consist of a jointed arm (multi-linked manipulator) and an end effector that is attached to a fixed surface. One of the most common type of end effector is a gripper assembly. § An automatically controlled, reprogrammable, multipurpose, manipulator programmable in three or more axes, which may be either fixed in place or mobile for use in industrial automation applications. 14 22 11 12/13/22 15 23 16 24 12 12/13/22 INDUSTRIAL ROBOTS § An industrial robot is defined as an automatically controlled, reprogrammable, multipurpose manipulator programmable in three or moreaxes. § Typical applications of robotsinclude – Welding. – Painting. – Assembly. – pick and place (such aspackaging), – Product inspection. – Testing. 17 25 TYPES AND FEATURES § The most commonly used robot configurations are: 1. Articulated robots ( a robot with rotaryjoints). 2. SCARArobots. 3. Delta Robots ( is a type of parallel robots). 4. Cartesian coordinate robots. 5. Gantry robots (x-y-z robots). 18 26 13 12/13/22 Articulated robots 19 27 SCARA robots 20 28 14 12/13/22 Delta Robots 21 29 22 Cartesian coordinate robots 30 15 12/13/22 23 31 ADVANTAGES •Greater flexibility, re-programmability, kinematics dexterity • Greater response time to inputs than humans • Improved product quality • Maximize capital intensive equipment in multiple work shifts • Accident reduction • Reduction of hazardous exposure for human workers • Automation less susceptible to work stoppages 32 16 12/13/22 DISADVANTAGES • Replacement of human labor • Greater unemployment • Significant retraining costs for both unemployed and users of new technology • Advertised technology does not always disclose some of the hidden disadvantages • Hidden costs because of the associated technology that must be purchased and integrated into a functioning cell. Typically, a functioning cell will cost 3-10 times the cost of the robot. 33 17