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12/13/22 ROBOT KEY COMPONENTS AND APPLICATIONS Lecture 4 IE454: Industrial Robots Dr. Majed Moosa Adapted from Emam Fathy & Vikram Kapila 1 1 THE ROBOT WITH A "HUMAN" BODY 2 1 12/13/22 MODERN ROBOTS (EXAMPLES) § Mobile robot § They have the capability to move around in their environment an...

12/13/22 ROBOT KEY COMPONENTS AND APPLICATIONS Lecture 4 IE454: Industrial Robots Dr. Majed Moosa Adapted from Emam Fathy & Vikram Kapila 1 1 THE ROBOT WITH A "HUMAN" BODY 2 1 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 3 12 4 2 12/13/22 13 5 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 6 3 12/13/22 15 7 16 8 4 12/13/22 INDUSTRIALROBOTS § 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 9 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 10 5 12/13/22 Articulated robots 19 11 SCARA robots 20 12 6 12/13/22 Delta Robots 21 13 22 Cartesian coordinate robots 14 7 12/13/22 23 15 KEY COMPONENTS Power conversion unit Sensors Actuators Controller User interface Manipulat or linkage Base 16 8 12/13/22 ROBOT BASE: FIXED V/S MOBILE Robotic manipulators used in manufacturing are examples of fixed robots. They can not move their base away from the work being done. Mobile bases are typically platforms with wheels or tracks attached. Instead of wheels or tracks, some robots employ legs in order to move about. 17 Robot Mechanism Mechanical Elements 18 9 12/13/22 SENSORS • Human senses: sight, sound, touch, taste, and smell provide us vital information to function and survive • Robot sensors: measure robot configuration/condition and its environment and send such information to robot controller as electronic signals (e.g., arm position, presence of toxic gas) Accelerometer Using Piezoelectric Effect •Robots often need information that is beyond 5 human senses (e.g., ability to: see in the dark, detect tiny amounts of invisible radiation, measure movement that is too small or fast for the human eye to see) Flexiforce Sensor 19 VISION SENSORS Vision Sensor: e.g., to pick bins, perform inspection, etc. Part-Picking: Robot can handle work pieces that are randomly piled by using 3D vision sensor. Since alignment operation, a special parts feeder, and an alignment pallete are not required, an automatic system can be constructed at low cost. In-Sight Vision Sensors 20 10 12/13/22 FORCE SENSORS Force Sensor: e.g., parts fitting and insertion, force feedback in robotic surgery Parts fitting and insertion: Robots can do precise fitting and insertion of machine parts by using force sensor. A robot can insert parts that have the phases after matching their phases in addition to simply inserting them. It can automate high- skill jobs. 21 PROXIMITY SENSORS Infrared Ranging Sensor Example KOALA ROBOT •6 ultrasonic sonar transducers to explore wide, open areas •Obstacle detection over a wide range from 15cm to 3m •16 built-in infrared proximity sensors (range 5-20cm) •Infrared sensors actasa “virtual bumper” and allow for negotiating tight spaces 22 11 12/13/22 TILT SENSORS Tilt sensors: e.g., to balance a robot Example Tilt Sensor Planar Bipedal Robot 23 ACTUATORS/MUSCLES: I • Common robotic actuators utilize combinations of different electro-mechanical devices – – – – – Synchronous motor Stepper motor AC servo motor Brushless DC servo motor Brushed DC servo motor http://www.ab.com/motion/servo/fseries.html 24 12 12/13/22 ACTUATORS/MUSCLES: II Pneumatic Cylinder Hydraulic Motor Stepper Motor DC Motor Pneumatic Motor Muscle Wire Servo Motor 25 CONTROLLER • Provide necessary intelligence to control the manipulator/mobile robot • Process the sensory information and compute the control commands for the actuators to carry out specified tasks 26 13 12/13/22 STORAGE HARDWARE Storage devices: e.g., memory to store the control program and the state of the robot system obtained from the sensors 27 COMPUTATION HARDWARE Computational engine that computes the control commands RoboBoard Robotics Controller BASIC Stamp 2 Module 28 14 12/13/22 INTERFACE HARDWARE Interface units: Hardware to interface digital controller with the external world (sensors and actuators) Operational Amplifiers Analog to Digital Converter LM358 LM358 LM1458 dual operational amplifier 29 ROBOTS IN INDUSTRY •Agriculture •Automobile •Construction •Entertainment •Health care: hospitals, patient-care, surgery , research, etc. •Laboratories: science, engineering , etc. •Law enforcement: surveillance, patrol, etc. •Manufacturing •Military: demining, surveillance, attack, etc. •Mining, excavation, and exploration •Transportation: air, ground, rail, space, etc. •Utilities: gas, water, and electric •Warehouses 30 15 12/13/22 INDUSTRIAL APPLICATIONS OF ROBOTS •Material handling •Material transfer •Machine loading unloading •Spot welding •Continuous arc welding •Spray coating •Assembly •Inspection and/or Material Handling Manipulator Assembly Manipulator Spot Welding Manipulator 31 ROBOTS IN SPACE NASA Space Station 32 16 12/13/22 ROBOTS IN HAZARDOUS ENVIRONMENTS TROV in Antarctica operating under water HAZBOT operating in atmospheres containing combustible gases 33 MEDICAL ROBOTS Robotic assistant micro surgery for 34 17 12/13/22 ROBOTS IN MILITARY PREDATOR SPLIT STRIKE: Deployed from a sub’s hull, Manta could dispatch tiny mine-seeking AUVs or engage in more explosive combat. ISTAR GLOBAL HAWK GOLDENEYE 35 ROBOTS AT HOME Sony SDR-3X Entertainment Robot Sony Aido 36 18 12/13/22 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 37 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. 38 19