1 / 26

Robot Basics

Robot Basics. Motion and Nomenclature. Robot Main Components. Programming Terminal. Controller. Manipulator. Manual Pendent. Controller.

psandra
Download Presentation

Robot Basics

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Robot Basics Motion and Nomenclature

  2. Robot Main Components Programming Terminal Controller Manipulator Manual Pendent

  3. Controller • The controller is the “brain” of the robot. This device stores and executes the programs that cause the manipulator to do it’s task. The controller also has the ability to input and output information for interfacing with other devices such as a CNC Milling Machine.

  4. Controller Peripheral hardwiring for extra components. Ex. Slide-base Wiring terminals for digital inputs. Wiring terminals for digital outputs. Analog I/O wiring terminals Digital I/O Displays. Emergency Stop

  5. The Manipulator Manipulator Wrist Elbow Shoulder Base The manipulator must be able to move many objects through a range of motions. Those motions can be termed linear or angular. These motions take place in joints on the manipulator. There can be many types of joints but the most common are:

  6. End Effector A turret end effector has multiple tools that can be changed on the machine. The device on the end of the manipulator is the end effector. The end effector can pick up objects as well as perform special applications such as spray painting, glue application, or special tooling such as driving bolts. Suction Cup Gripper

  7. Linear on the X Rotational on the X Linear on the Y Rotational on the Y Linear on the Z Rotational on the Z Degrees of Freedom

  8. Wrist Movement ROLL YAW PITCH

  9. Power Systems Robots use three main power systems to create movement in the actuators. Hydraulics - The use of a liquid to transfer power. Pneumatics - The use of a gas to transfer power. Electric - The use of AC and DC servos or Stepper Motors. Mostly servos are used in industrial robots.

  10. Classifications of Robots • Jointed Arm • Cartesian • Cylindrical • Spherical

  11. Jointed Arm Classification that contains rotary joints. Advantages: Most Versatile Classification Provides largest work envelope. Most flexible reach. Disadvantages: Requires complex controllers. Locations in the envelop can be weak in load capacity accuracy, and repeatability. Less stable at maximum reach.

  12. Work envelope looking from a top view. Jointed Arm Classification Jointed Arm

  13. SCRA Selective Compliance Assembly Robot - SCRA is a jointed arm classification that can move very rapidly. SCRA robots also have small payloads.

  14. Cartesian Classification Classification that has linear joints: Advantages: Simpler control High rigidity for repeatability Large payload Disadvantages Less Flexible Work Envelope is a cube shape.

  15. Cartesian Linear Linear Linear

  16. X Y Z Work envelope from a top view. Cylindrical Cylindrical classifications have a cylinder type envelope. Advantages: Larger work envelope than Cartesian. Disadvantages: Ideal for Pick and Place operations. Loss of mechanical rigidity due to inertia on the motors.

  17. Cylindrical Movement Linear Linear Rotation

  18. Y X Y Spherical Classification The work envelope is shaped like a ball.

  19. Axes Movement on the Eshed Robot AXIS 1

  20. Axes Movement on the Eshed Robot AXIS 2

  21. Axes Movement on the Eshed Robot AXIS 3

  22. Axes Movement on the Eshed Robot AXIS 4

  23. Axes Movement on the Eshed Robot AXIS 5

  24. Axes Movement on the Eshed Robot AXIS 6

  25. Axes Movement on the Eshed Robot AXIS 7

  26. Axes Movement on the Eshed Robot ALL AXES

More Related