AUTOMATION IN MANUFACTURING SYSTEMS

ROBOTICS
M-4010

Federico Guedea Elizalde Ph.D

 Objectives

 To use Robot Technology to find cost-effective and

competitive manufacturing operations.

 To know type, capabilities and limitations of different

kind of robots, programming techniques and
peripherical components required for a flexible
manufacturing environment

 To make the appropiate selection of the robot, and

the configuration design for a specific application.

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 Topics
Basics of Robotics
1.1 Robot Definition
1.2 Robot structure, controller and motion systems
1.3 Robot Classification
1.4 Generic Robot Applications (videos)

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 Robot Definition

Origin

The term “robot” was

described in the Czech
theather play named
Rossum’s Universal
Robots .
The word “robota” means
servitude or forced worker.

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 Robot Definition(1)

Robot Institute of America

A multi-funcional and re-

programable manipulator
designed to move, parts or
special devices through
variable programmed
movements in order to execute
a variety of tasks.

(Shlussel, 1985)

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 Robot Definition(2)

A robot is a machine that can be

programmed to do a set of tasks, in the
same way that a computer is an
electronic circuit that can be
programmed to do a variety of tasks.

(Mckerrow, 1986)

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 Origins

Background

Remote
Manipulation

Numeric control for

Tooling machines

Robotics

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 Origins

1952 John Parsons designs a machine

controlled by a punched cards that
contains control data for the movements
of the tooling machine. This project is
financed to the MIT by the USA Air-force

1951 First master-slave manipulator to manage

radioactive materials. Goertz y
Bergsland.

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 Origins

1952 George C. Devol obtained a patent for a part-

transfer machine.
TEACH-IN / PLAYBACK

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 Origins

1962 Joseph Engelberger, Physics of Columbia

University and George C. Devol created
the UNIMATION company.

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 Origins

1962 The first robotic equipment developed

for FORD company, was named
Universal Transfer Device (UTD).

Next version was named PUMA

(Programmable Universal Machine for
Assembly)

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 Origins

Change over the time:

More Mobility
More skills
Wider work area
Ability to manage different pieces

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1.2 Robot structure, controller and motion
systems
 Structure

Mechanic subsystem Process Subsystem

Arms, hands, wrist, vehícle, Environment, people,
actuators, gears, brakes. company, tasks, other robots.

Electric Subsystem Sensory Subsystem

Motors, computers, interfaces, Internal External
communication links, sensors, Position Vision
power supply.
Velocity Presence
Force Chemical

Control Subsystem Planning Subsystem

Mechanical models, Process Perception, image recognition,
models, geometric environmental modelling, path
transformations, control loop planning.

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 Robot components

Programming Unit
(Teach Pendant)

Controller S4C
Manipulator
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 A manipulator arm

Axis 1 : -180° to +180°

Axis 2 : -70° to +70°
Axis 3 : -105° to +28°
Axis 4 : -300° to +300°
Axis 5: -120° to +120°
Axis 6 : -300° to +300°

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 The Controller

2 1

3 4

1. Mode Key
(manual, manual 100%
automatic)
2. Motor Power
3. Emergency Stop
4. Time counter

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 Programming Unit (Teach Pendant)

Numeric
Contrast Enable
Keyboard
Menu key Device
Keys Movement
Window keys
keys P5
P4

*
• Command
Window • lever

Soft stop Stop

User defined keys
Functional (P1,P2,P3,P4,P5)
Emergency
Keys Displacement
18 Keys
1.3 Robot Classification
 Robot Classification

Joint:
Is the equivalent of a human elbow or
knee.
Allow movements between the
connected parts (links).

Link:
Is a rigid component connected to a joint,
there are two links, one input link and
one output link.

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 Robot Classification

Type of joints
Lineal (L)[P] Ortogonal (O)[P]
L1 L1 L1
L2

L2

Rotary (R) Twisted (T)

L2
L1 L2

L1
L2
Vortex (V)

L1
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 Robot Classification

Construction Diagram of a robot

Type Manipulator-Arm
Joint 3
Link 2 (T)
Joint 2
(R)

Link 1
Joint 1
Link 0 (R)

Base

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 Robot Classification

A) B)

C) D)

A) Cartesian o rectangular. Defined by 3 distances.

B) Cylindric. Defined by 2 distances and one angle.
C) Spheric. Defined by 2 angles and one distance.
D) Spheric complete. Defined by 3 angles.
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 Robot Classification ( cont.)

SCARA: Selective Compliance Assembly Robot Arm, RRRL

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 Robot Classification
Delta Robot, is a parallel manipulator

Developed in Switzerland and commercialized by ABB

as a FlexPicker
 Robot Clasification

Stewart Platform, is a parallel manipulator with

an hexapode shape (6 legs)
1.4 Industrial Applications
 Industrial Application

- Manipulation
(Pick and Place)

- Painting

- Welding

- Assembling

- Inspection

- Material
Cut/Bending

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 Bibliography

Industrial Robotics: Technology, programs and aplications

Mikell P. Grooover, Mitchell Weiss, Roger N. Nagel and
Nicholas G. Odrey.

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