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Robot Geometry
End Effectors
Robotic Arms
Sensors
Actuators
Robot Vision
Robot Geometry
1. What is robot geometry?
2. Types of robotic arms
3. Actuators
September 30, 2015
Robot Geometry
What is Robot Geometry?
The angles that a robot makes with the ground
Axes of Motion
This diagram has the axes of
motion marked with arrows
there are 3
A robot may in theory have
any number of axes.
The more axes there are the
more manoeuvrable the robot
is, however the more
complicated it will be to
program
Axes of motions do not need
to be rotations they can be
motions along a straight line
Axes that allow rotations are
known as revolute joints
Axes that allow movement in a
straight line are known as
prismatic joints
September 30, 2015
Degrees of Freedom
The number of
independent directions
in which the end
effector (tool or
gripper) of the robot
can move
Any solid object has a
maximum of six
degrees of freedom
X, Y and Z represent
movement along a line
Rx, Ry and Rz
represent rotations
September 30, 2015
Rx
Rz
z
Ry
y
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Actuators
1.
2.
3.
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Hydraulic Actuators
A car makes use of a hydraulic system. If we look at the
braking system of the car we see that only moderate force
applied to the brake pedal is sufficient to produce force large
enough to stop the car.
The underlying principle of all hydraulic systems was first
discovered by the French scientist Blaise Pascal in 1653. He
stated that if external pressure is applied to a confined fluid,
then the pressure is transferred without loss to all surfaces
in contact with the fluid
The word fluid can mean both a gas or a liquid
Where large forces are required we can expect to find
hydraulic devices (mechanical diggers on building sites, pit
props in coal mines and jacks for lifting cars all use the
principle of hydraulics.
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Hydraulic Actuators
1.
2.
3.
4.
5.
1.
2.
3.
4.
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Pneumatic Actuators
A pneumatic actuator uses air instead of fluid
The relationship between force and area is the
same in a pneumatic system compared to a
hydraulic system
We know that air is compressible, so in order to
build up the pressure required to operate the
piston, extra work has to be done by the pump to
compress the air. This means that pneumatic
devices are less efficient
If you have ever used a bicycle pump you may
have noticed that it becomes hot as it is used. The
heat produced by the mechanical work done in
compressing the air. Heat represents wasted
energy.
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Pneumatic Actuators
1.
2.
3.
4.
5.
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Electric Motors
Not all electric motors are suited for use as
actuators in robots
There are three basic characteristics of a
motor, when combined will determine the
suitability of a motor for a particular job.
The 3 characteristics are power, torque and
speed. Each of these characteristics are
interdependent, that means that you can
not alter one without affecting the others.
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Electric Motors
1.
2.
3.
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End Effectors
What is an end effector?
Types of end effectors
Grippers
Tools
September 30, 2015
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Grippers
Grippers are devices which can be used for
holding or gripping an object.
They include what you might call mechanical
hands and also anything like hooks, magnets and
suction devices which can be used for holding or
gripping.
Grippers take advantage of point-to-point control
(exact path that the robot takes between what it is
picking up and where it is placing it.
Grippers should be designed so that it requires the
minimum amount of manoeuvring in order to grip
the work piece
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Types of Grippers
1.
2.
3.
4.
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Types of Grippers
Mechanical
Suction
Magnetic
Hooks and Scoops
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Mechanical Grippers
We can think of a mechanical gripper as a robot hand. A basic robot hand will
have only two or three fingers
A mechanical hand that wraps around an object will rely on friction in order to
secure the object it is holding.
Friction between the gripper and the object will depend on two things, First is
the type of surface whether it be metal on metal, rubber on metal, smooth
surfaces or rough surfaces and the second is the force which is pressing the
surfaces together.
Mechanical grippers are often fitted with some type of pad usually made from
polyurethane as this provides greater friction. Pads are less likely to damage
the workpiece. Pads are also used so to have a better grip as the
polyurethane will make contact with all parts of the surface when the gripper
is closed
Mechanical grippers can be designed and made for specific purposes and
adjusted according to the size of the object. They can also have dual
grippers. We are all familiar with the saying two hands are better than one
and robots benefit from having dual grippers as they can increase
productivity, be used with machines that have two work stations where one
robot can load two parts in a single operation, operations in which the size of
objects or part change due to the machining processes and where the cycle
time of the robot is too slow to keep up with the production of other machines.
September 30, 2015
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Suction Grippers
1.
2.
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Magnetic Grippers
Magnetic grippers obviously only work on magnetic objects and therefore
are limited in working with certain metals.
For maximum effect the magnet needs to have complete contact with the
surface of the metal to be gripped. Any air gaps will reduce the strength of
the magnetic force, therefore flat sheets of metal are best suited to magnetic
grippers.
If the magnet is strong enough, a magnetic gripper can pick up an irregular
shaped object. In some cases the shape of the magnet matches the shape
of the object
A disadvantage of using magnetic grippers is the temperature. Permanent
magnets tend to become demagnetized when heated and so there is the
danger that prolonged contact with a hot workpiece will weaken them to the
point where they can no longer be used. The effect of heat will depend on
the time the magnet spends in contact with the hot part. Most magnetic
materials are relatively unaffected by temperatures up to around 100
degrees.
Electromagnets can be used instead and are operated by a DC electric
current and lose nearly all of their magnetism when the power is turned off.
Permanent magnets are also used in situations where there is an explosive
atmosphere and sparks from electrical equipment would cause a hazard
September 30, 2015
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Tools
Tools are devices which robots use to perform
operations on an object, for example, drills, paint
sprays, grinders, welding torches and any other tool
which get a specific job done.
Tools take advantage of continuous path control (the
path the end effector takes needs to careful, steady
and continuously controlled at every moment)
If we think of a spray gun and if it moves to quickly
then the paint will be too thin on the other hand if it
moves to slowly the paint will be too thick or in
blobs.
Any tool required can be fitted to the end of the
robotic arm and can be programmed to select and
change tools without human intervention
September 30, 2015
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Types of Tools
A common tool used as an end effector is
the welding tool. Welding is the process of
joining two pieces of metal by melting them
at the join and there are 3 main welding
tools: a welding torch, spot welding gun
and a stud welding tool
Other common tools are paints praying,
deburring tools, pneumatic tools such as a
nut runner to tighten nuts.
September 30, 2015
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Sensors
What is a sensor?
Types of sensors
Optical
Heat
Acoustic
Proximity
September 30, 2015
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What is a sensor?
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Types of Sensors
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Optical Sensors
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Heat Sensors
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Acoustic Sensor
We are all familiar with the microphone a
microphone is a device for converting sound
waves into electrical signals.
An acoustic sensor interprets the sound that
it senses and requires a computer
Basic acoustic sensors are used in robots to
responds to a human shout or the noise of
an explosion.
A more sophisticated sensor would be able
to recognise words and take appropriate
action and makes use of the concept of
speech recognition
September 30, 2015
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Proximity Sensor
A proximity sensor is a device that can
sense the presence of an object, just by
being close to it.
Sensors of this type have been made by
using the magnetic effect induced by the
presence of metals, the effect on electrical
capacitance induced by the presence of
most other materials or by detecting
reflected light or reflected ultrasonic sound.
September 30, 2015
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Robot Vision
What is robot vision?
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Robot Vision
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CONGRATULATIONS
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TRY AGAIN
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ACTIVITY 1:
Using five of the robots in your
portfolio (from the artificial intelligence
booklet), identify the job it is designed
to do. For example spray painting a
car. Then classify each robot into a
size category; the spray painting
robot can cover a large area.
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ACTIVITY TWO
Now using the five robots you used in
the previous activity, identify the axes
of motion for each, drawing arrows on
your robot diagram. If in doubt
discuss with the person next to you
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ACTIVITY THREE:
Once again use the five robots you
used in the previous activity, identify
the degrees of freedom for each,
drawing arrows on your robot
diagram. If in doubt discuss with the
person next to you. Remember
degrees of freedom is the number of
movements the end effector can
make.
September 30, 2015
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ACTIVITY FOUR
Think for a moment about the work
envelop of your own arm.
What movements can your arm make?
What shape does it make?
What size is the envelope?
Investigate the TALON V polar geometry
robot and the ASEA industrial robot and
compare their work envelops.
September 30, 2015
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Questions
Name the types of robotic arms
What is robot geometry?
What is an end effector?
What is an actuator?
What do we mean by degrees of freedom?
What do we mean by the term axes of motion?
Describe the term work envelop
Name four types of grippers, giving a brief description
What is the difference between a hydraulic actuator and a
pneumatic actuator?
Describe the Anthropomorphic System
Describe the Cartesian system
Describe the polar system
Describe the SCARA system
Describe the cylindrical system
September 30, 2015
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