ROBOTICS 2

Robot Control Systems

• Robots require efficient control systems for motion and task execution. • Drive systems influence speed, load capacity, and dynamic performance. • Understanding different drive systems helps in selecting the right one for specific applications.

Hydraulic Drive

• Utilizes hydraulic fluid to power motion. • Advantages: High speed and strength, suitable for heavy-duty applications. • Disadvantages: Requires larger floor space, potential for oil leakage. • Uses: Rotary motions, hydraulic pistons to accomplish linear motions

Electric Drive

• Powered by electric motors (DC stepping or servomotors). • Advantages: High accuracy and repeatability, better for precise tasks. • Applications: Ideal for smaller robots performing intricate operations. • Uses: Actuation of rotational joints (drive train and gear systems), linear joints (pulley systems)

Pneumatic Drive

• Uses compressed air for movement. • Advantages: Fast cycles, simple design, absorbs shock contact. • Uses: Suitable for smaller robots with limited degrees of freedom, typically in pick and place operations (translation movements).

Advanced Actuators

• Include novel technologies for specific applications. • Can combine multiple types of drive mechanisms

Speed of Motion

Industrial Robots can achieve speeds up to 500 degrees per second or 1.7m/s. _____ determines how quickly the robot can accomplish a given work cycle. It is generally desirable in production to minimize the cycle time of a given task. Speed would be measured at wrist and can be obtained through a fully extended arm.

Limited-sequence Robots

• Operate based on pre-set sequences using limit switches or mechanical stops. • No feedback system; movement is predetermined

Playback Robots

• Record positions and motions for replay. • Utilize servo control to ensure accuracy.

Playback Robots with Point-to-Point Control

• Perform tasks by moving through a series of specified points. • Common in pick and place operations.

Playback Robots with Continuous Path Control

• Control the path taken by the robot, ensuring smooth motion through closely spaced points

Intelligent Robots

• Use advanced sensors and digital computers to interact intelligently with the environment. • Capable of complex decision-making and adaptive behavior.

Precision Movement

A robot is expected to perform repeated task in the real world and its performance is ultimately measured by its ability to position and orient the end effectors at the desired locations on a large number of times.

Spatial Resolution

smallest increment of movement

Accuracy

position of end effector with respect to a desired target point

Repeatability

position of end effector with respect to previously taught point

Compliance

displacement of end effector in response to a force or torque against it