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Robotics Fundamentals by KevinChiu (Robot Applications (Manufacturing…
Robotics
Fundamentals
by KevinChiu
Robot company
Omron Adept
瑞士Staubli
日本發那科fanuc
kuka
Epson
Yaskawa Motoman
日本電裝 denso
Fuji
ABB
UR(Universal Robots)
Boston Dynamics
Classification of Robots
JIRA
RIA 3~6
Class 1: Manual Handling Device
a device with multiple degrees of freedom,actuated by an operator
Class 2: Fixed Sequence Robot
device that performs the successive stages of a task according to a predetermined, unchanging method, which is hard to modify
Class 3: Variable Sequence Robot
same as in class 2, but easy to modify
Class 4: Playback Robot:
a human operator performs the task manually by leading the robot, which records the motions for later playback; the robot repeats the same motions according to the recorded information
Class 5: Numerical Control Robot
Control Robot: the operator supplies the robot with a movementprogram rather than teaching it the task manually
Class 6: Intelligent Robot
a robot with the means to understand its environment and the ability to successfully complete a task despite changes in the surrounding conditions under which it is to be performed
AFR
Type A: handling devices with manual control to telerobotics
Type B: automatic handling devices with predetermined cycles
Type C: programmable, servo controlled robots with continuous or point-to-point
trajectories
Type D: same as C but with capability to acquire information from its environment
Robot Components
Manipulator or the rover:
End effector
Actuators
sensor
controller
Processor
Software
Robot Coordinates
Articulated
Cartesian
Cylindrical
Polar
Delta
scara
Programming Modes
Physical Set-up
an operator sets up switches and hard stops that control the motions of the robot. This mode is usually
Lead Through or Teach Mode
During playback, the controller moves the joints to the same locations and orientations.
point-to-point
Continuous Walk-Through Mode
During playback, the exact motion that was recorded is executed.
point-to-point with motion
Software Mode
is executed by the controller to control the motions.The programming mode is the most sophisticated
Robot Characteristics
Payload
the weight a robot can carry and still remain within its other specifications.
Reach
the maximum distance a robot can reach within its work envelope.
Precision (validity)
defined as how accurately a specified point can be reached.
Repeatability (variability)
how accurately the same position can
be reached if the motion is repeated many times.
Robot Languages
Interpreter-based languages
execute one line of the program at a time. Each line of the program has a line number.
Compiler-based languages
use a compiler to translate the whole program into machine anguage before it is executed.
level
Micro-Computer Machine Language Level
the programs are
written in machine language.basic and efficient.but it is difficult to understand
Point-to-Point Level
the robot follows the points as
specified.primitive and simple, easy.
but not very powerful.
Primitive Motion Level
to develop more sophisticated programs, including sensory information, branching, and conditional statements. Most languages
Structured Programming Level
Most languages in this level are compiler-based, powerful, and allow more sophisticated programming. difficult to learn.
Task-Oriented Level
no actual languages in existence in this level—yet. Autopass was supposed to be task-oriented.
Robot Applications
Machine loading
Pick and place operations
Welding
painting
Inspection
Sampling
Assembly tasks
Manufacturing
removal
drilling
de-burring
laying glue
cutting
circuit boards
electronic devices
Medical applications
Assisting disabled individuals
Hazardous environments
Underwater, space, and inaccessible locations
