1.0 2.

TITLE:

LABORATORY 1-RV-2AJ-Articculated-arm Robot

EXPERIMENT OUTCOMES(S)
2.1 2.2 2.3 To operates and control arm robot using ONLINE method To learn and use effectively the teaching box/pendant To be able to execute a workable and safe instruction for robot movement using MELFA Software/language

3.0

SUMMARY
Politeknik Merlimau arm robot modeled RV 2AJ manufactured by Mitsubishi is 5 axis arm robot. The robot is industrial type, which can be programmed and reprogrammed to perform multi task at one time, using two interface teaching box/pendant or computer aided by the software. High-tech arms and robot controlled are among the outstanding features of RV-2A, which have 5 degrees of freedom. High precision AC servo motors make the drive system almost completely maintenance-free

4.0

OPERATIONAL RULES
In order to prevent damage to the robot: Do not switch off the controller power while the robot has power on the servo Avoid collision. If you think the robot will cause a collision press the emergency stop button immediately Do not change the tool-end coordinates

5.0

OPERATES MODES
Identify the four parts of robot system, namely; 1. 2. 3. 4. The Mitsubishi RV-2AJ-robot arm The robot controller A teach Pendant(or TeachBox) The PC

6.0

CREATING A TEACH-POINT
Teach points (TPS) define target position for the robot. A Teach point for the RV-2AJ robot consists of 5 values, Namely: 1. 2. 3. 4. 5. Cartesian X position Cartesian Y position Cartesian Z position A-wrist rotation A B-wrist rotation B

7.0 7.1

INTRODUCTION TO MELFA-BASIC Instruction reference

Explanation Moves the robot to a teach-point position Moves the robot a teach-point in a straight line Moves the robot to a position above the teach-point in a straight line(Z-Axis distance in Tool-frame) Override speed limit(0 to 100%) (never use more than 30 for safety!make this the first line of your program) Delay in second-Robot waits Open the gripper Closes the gripper Calls a subroutine Returns from the subroutine Define a position variable End of program Example MOV P1 MVS P1 MVS P1,-50 MVS 20

Command MOV MVS

OVRD

DLY HOPEN HCLOSE GOSUB RETURN DEF POS END

DLY 0.5 HOPEN HCLOSE 1 GOSUB*PICK RETURN DEF POS PTMP END

PROCEDURE
To operate the robot in correct method, firstly, moves the robot to a tech-point position before opens the gripper. Users need to wait for a few second to functions the gripper, as it will be delay in 5 seconds once it opened. After that, moves the robot to position above the teachpoint in straight line and wait for 5 seconds before to enter for next steps. Once the delaying time end, user may close the gripper and the gripper will be delay in 5 seconds before completely shut down. The robot commonly moves according clockwise. Lastly, user must moves the robot to a tech-point position. 1. Hold the [MOVE] + [+X(J1)] key are pressed The J1 axis will rotate in the plus direction 2. Hold the [MOVE] + [-X(J1)] key are pressed rotate in the minus direction

3. Hold the [MOVE] + [+Y(J2)] key are pressed The J2 axis will rotate in the plus direction 4. Hold the [MOVE] + [-Y(J2)] key are pressed rotate in the minus direction

5. Hold the [MOVE] + [+Z(J3)] key are pressed The J3 axis will rotate in the plus direction 6. Hold the [MOVE] + [-Z(J3)] key are pressed rotate in the minus direction

7. Hold the [MOVE] + [+A(J4)] key are pressed The J3 axis will rotate in the plus direction 8. Hold the [MOVE] + [-A(J4)] key are pressed rotate in the minus direction(6-AXIS TYPE ONLY) 9. Hold the [MOVE] + [+B(J5)] key are pressed The J3 axis will rotate in the plus direction 10. Hold the [MOVE] + [-B(J5)] key are pressed rotate in the minus direction

DISCUSSION
1) Explaination about industrial robot,definition and application Industrial robot have been widely introduced to many production lines and estimated to increase more in the future. This is owing to many merits of industrial robots that conventional machines dont possess. Industrial robots, in place of human can do elaborate job without say anything. They can also continue to work in hazardous condition for human without taking rest. The application of industrial robot Screw tightening work using robot vision iVY system NEW, Process-to-process transfer using inverse specifications, Process-to-process transfer of heavy workpieces. Applications including: welding, painting, assembly, packaging, palletizing, depalletizing, machine tending, sealing, glueing, cutting, cleaning, deburring, die casting, grinding, polishing, material handling, case packing, pick and place, pre-machining, press brake tending, etc. In industrial robot have many type of robotic arm an example :
SCARA ROBOT ARM SCARA stands for Selective Compliant Assembly Robot Arm or Selective Articulated Robot Arm. SCARA robots are parallel-axis jointed robots which are rigid in the 'Z' axes. The rigid 'Z' axis is why they are called selective compliant. SCARA robots are very useful for high speed operations and confined workspaces. ARTICULATED ROBOT Articulated robots are robots with rotary joints. These rotating joints give the robot its mobility. This type of robot can range from a simple two-joint robot to complex 10 joint robots. The more joints an articulated robot has the greater the range of motion.

PARALLEL ROBOT A parallel robot is a closed loop system. The end effector is connected to a base via multiple kinematic chains. Parallel robots are very fast, light, strong, and reliable

GANTRY AND CARTESIAN ROBOTS Gantry, Cartesian, or linear robots are industrial robots whose three principle joints of control are linear. These robot joints move in a straight line rather than rotate and are at right angles to each other. This type of robot is used for CNC machine tending, milling, and large products.

2) Explanation about articulated of arm robot and application. Definition articulated of arm robot. An articulated robot is a robot which is fitted with rotary joints. Rotary joints allow a full range of motion, as they rotate through multiple planes, and they increase the capabilities of the robot considerably. An articulated robot can have one or more rotary joints, and other types of joints may be used as well, depending on the design of the robot and its intended function. With rotary joints, a robot can engage in very precise movements. Articulated robots commonly show up on manufacturing lines, where they utilize their flexibility to bend in a variety of directions. Multiple arms can be used for greater control or to conduct multiple tasks at once, for example, and rotary joints allow robots to do things like turning back and forth between different work areas.

Application of arm robot. Robotic arms are typically used in industry. Repetitive autonomous robots perform one task repeatedly based upon predetermined movements and specifically located objects. Start and stop commands are determined by position, acceleration, deceleration, distance, and direction. More complex actions are executed based upon sensor processing. If object orientation or position is unknown, arms are often paired with machine vision and artificial intelligence to identify the object and subsequently control the arm.

Robots palletizing food (Bakery)

Flat-glass

3) WHAT IS DIFFEERENT BETWEEN SCALAR ROBOT AND VERTICAL ARTICULATED ROBOT SCALAR ROBOT Commonly used in assembly applications, this selectively compliant arm for robotic assembly is primarily cylindrical in design. It features two joints that provide compliance in one selected plane ARTICULATED ROBOT This robot design features rotary joints and can range from simple two joint structures to 10 or more joints. The arm is connected to the base with twisting joint. The links in the arm are connected by rotary joint. Each joint called an axis and provides and addiction degree of freedom, or range of motion. Industrial robot commonly have four or six axes. SCARA stands for Selective Compliant Articulated robots are robots with rotary Assembly Robot Arm or Selective Articulated joints. These rotating joints give the robot its Robot Arm. SCARA robots are parallel-axis mobility. This type of robot can range from a jointed robots which are rigid in the 'Z' axes. simple two-joint robot to complex 10 joint The rigid 'Z' axis is why they are called robots. The more joints an articulated robot selective compliant. SCARA robots are very has the greater the range of motion useful for high speed operations and confined workspaces. They are very accurate, capable of placing small parts in exact locations at high speeds. An articulated robot can be a versitle alternative to traditional means of production.

5. What is different between joint movement and linear movement?

Linear movement Joint movement

The robots utilize precision T-slots as the pathway for hardened steel shafts, providing linear motion in the X, Y and/or Z axis. Additionally, a Cartesian robot or a linear robot is capable of reaching every single point within a work envelope at an extremely reasonable cost. XYZ directional movement that takes place in vertical or horizontal positions can be designed to move a few ounces or thousands of pounds depending on application requirements.

A typical robotic arm is made up of seven metal segments, joined by six joints. The computer controls the robot by rotating individual step motors connected to each joint .Unlike ordinary motors, step motors move in exact increments This allows the computer to move the arm very precisely, repeating exactly the same movement over and over again. The robot uses motion sensors to make sure it moves just the right amount.

The location at which two or more parts of a robotic arm make contact. Joints allow parts to move in different directions. An articulated robot is a robot which is fitted with rotary joints. Rotary joints allow a full range of motion, as they rotate through multiple planes, and they increase the capabilities of the robot considerably. An articulated robot can have one or more rotary joints, and other types of joints may be used as well, depending on the design of the robot and its intended function.

Movement in a straight line across one axis.

A cartesian robot, also known as a cartesian coordinate robot, is a common type of industrial robot. It has three "arms" that each function along linear axes of control. Each of these axes is at a right angle to the other two. A common application for the cartesian robot is a computer numerical control (CNC) machine, and it can have a multitude of uses, especially as either a milling or drawing machine.

6) Explain briefly what is safety measure you took during handling this robot? Safety measure handling robot Control devices outside the robot's restricted space The robot controller, teach pendant and mini-pendant should be installed outside the robot's restricted space and in a place where you can observe all of the robots movements and operate the robot easily. In addition, the teach pendant and mini-pendant should be installed so that when someone is trying to stop the robot with the emergency stop switch, it is clear to which robot they are connected, in order to prevent anyone from accidentally pressing the emergency stop of the wrong robot. Positioning of emergency stop switches They can be reached easily should it be necessary to stop the robot immediately. The emergency stop switches should be red. Emergency stop switches should be designed so that they will not be released after pressed, automatically or mistakenly by any other person. Emergency stop switches should be separate from the power switch.

Positioning of operating status indicators Operating status indicators should be positioned in such a way where workers can easily see whether the robot is on a temporary halt or on an emergency or abnormal stop. Note: The UL-Listed robot units have motor ON lamps on their robot arms. Setting-up a safety fence A safety fence should be set up so that no one can easily enter the robot's restricted space. 1. The fence should be constructed so that it cannot be easily moved or removed. 2. The fence should be constructed so that it cannot be easily damaged or deformed through external force. 3. Establish the exit/entrance to the fence. Construct the fence so that no one can easily get past it by climbing over the fence. 4. The fence should be constructed to ensure that it is not possible for hands or any other parts of the body to get through it. 5. Take any one of the following protections for the entrance/ exit of the fence: - Place a door, rope or chain across the entrance/exit of the fence, and fit it with an interlock that ensures the emergency stop device operates automatically if it is opened or removed.

- Post a warning notice at the entrance/exit of the fence stating "In operationEntry forbidden" or "Work in progress--Do not operate" and ensure that workers follow these instructions at all times. When making a test run, before setting up the fence, place an overseer in a position outside the robots restricted space and one in which he/she can see all of the robots movements. The overseer should prevent workers from entering the robot's restricted space and be devoted solely to that task.

Setting the robot's motion space The area required for the robot to work is called the robot's operating space.If the robots motion space is greater than the operating space, it is recommended that you set a smaller motion space to prevent the robot from interfering or disrupting other equipment. No robot modification allowed Never modify the robot unit, robot controller, teach pendant or other devices. Cleaning of tools If your robot uses welding guns, paint spray nozzles, or other end-effectors requiring cleaning, it is recommended that the cleaning process be carried out automatically Lighting Sufficient illumination should be assured for safe robot operation. Protection from objects thrown by the end-effector

Object being held by the end-effector is dropped or thrown by the end-effector, consider the size, weight, temperature and chemical nature of the object and take appropriate safeguards to ensure safety. Affixing the warning Label Place the warning label packaged with the robot on the exit/entrance of the safety fence or in a position where it is easy to see. Posting the moving directions of all axes. Post a notice showing axes names and moving directions in a visible location on the robot unit. The posted moving directions should match the actual directions. No posting or wrong direction posting may result in bodily injuries or property damages due to incorrect operation. Changing the configuration When the components of the robot system or optional devices (including hardware and software) have been changed or added, carry out necessary tests or inspections of safety functions.

Ensuring safety of workers performing jobs within the robot's restricted space When performing jobs within the robots restricted space, take any of the following steps to ensure that robot operation can be stopped immediately upon a malfunction. a. Ensure an overseer is placed in a position outside the robots restricted space and one in which he/she can see all robot movements, and that he/she is devoted solely to that task. b. An emergency stop device should be activated immediately upon a malfunction. c. Do not permit anyone other than the worker engaged for that job to enter the robots restricted space. d. Ensure a worker within the robot's restricted space carries the portable emergency stop switch so he/she can press it (the emergency button on the teach pendant) immediately if it should be necessary to do so.

CONCLUSION
From the experiment, we able to operates and control arm robot using ONLINE method. Besides that, we also to learn and use effectively the teaching box/pendant. We also able to execute a workable and safe instruction for robot movement using MELFA software/language.

REFERENCE
1. http://www.industrial-automation.com.au/ 2. http://www.industrial-automation-show.com/CN/ 3. http://www.societyofrobots.com/robot_arm_tutorial.shtml 4. Thomas,R.1993.Programming expand limits of robot controller, Journal of Industrial Engineering ,pp.34-40. 5. Zish, B.I. and W.E. Polmer . 1984. FMS Robot to material transport interface, Journal of Robots Today,pp.38-41. 6. Zadeh,Lotfi 1995.Fuzzy Sets. Journal of Information and control,8 : 338-353.