L29 B_Robotics in Manufacturing

INTRODUCTION TO ROBOTICS

  • Key Questions

    • What do we mean by a robot?

    • What is robotics?

    • Why do we study robotics?

    • What are possible applications of robots?

    • Can a human being be replaced by a robot?

Definitions

  • Origin of the term: "Robot" comes from the Czech word "robota" meaning forced or slave labor.

  • Historical Reference: First used by Karel Capek in 1920 in the play "Rossum’s Universal Robots (R.U.R)".

  • Karel Capek's definition: A machine resembling a human being.

ROBOT DEFINED

  • Coined by Karel Capek in "Rossum's Universal Robots (RUR)" in 1920.

  • Meaning in Czech: Worker or servant.

  • Robot Institute of America Definition (1979):

    • A reprogrammable, multifunctional manipulator designed to move materials, parts, tools, or specialized devices through variable programmed motions for a variety of tasks.

Other Definitions

  • Oxford English Dictionary: A machine capable of performing complex actions automatically; programmable by a computer.

  • International Organization for Standardization (ISO): An automatically controlled, reprogrammable, multipurpose manipulator, programmable in three or more axes, for industrial automation.

  • Robot Institute of America: Redefined as above; noted that a CNC machine is not a robot.

WHAT IS ROBOTICS

  • Definition: Art, knowledge base, and know-how in designing, applying, and using robots.

  • Components of Robotic Systems: Not just robots, includes other devices and systems used together with robots.

  • Applications: Manufacturing, underwater and space exploration, assisting the disabled, recreational uses.

  • Interdisciplinary Nature: Encompasses mechanical engineering, electrical engineering, computer science, cognitive sciences, biology, etc.

MOTIVATION

  • Market Demands:

    • Reduced production cost.

    • Increased productivity.

    • Improved product quality.

  • Role of Automation:

    • Fulfillment through hard or flexible automation.

    • Robotics exemplifies flexible automation.

BRIEF HISTORY OF ROBOTICS

  • 1954: First patent for manipulator by George Devol; considered the father of robots.

  • 1956: Joseph Engelberger starts Unimation, the first robotics company.

  • 1962: General Motors employs Unimate for die-casting.

  • 1969: NASA builds SAM and Stanford builds Shakey, the intelligent mobile robot.

  • 1970s: Continued advancements; notable inventions include Stanford Arm and Lunokhod I, a moon rover.

  • 1980s: Unimation develops PUMA manipulator; various innovations in robot design.

  • 1997—2000: Pathfinder and Sojourner Mars missions, development of humanoid robots like Asimo by Honda.

COMPONENTS OF A ROBOTIC SYSTEM

  1. Base

  2. Links and Joints

  3. End-effector / Gripper

  4. Wrist

  5. Drive / Actuator

  6. Controller

  7. Sensors

INTERDISCIPLINARY AREAS IN ROBOTICS

  • Mechanical Engineering: Kinematics and Dynamics for movement and force analysis.

  • Computer Science: Motion planning and artificial intelligence.

  • Electrical Engineering: Control schemes and hardware implementations.

DEGREES OF FREEDOM OUTLINE

  • Definition: One joint equals one degree of freedom.

  • Simple Robots: Typically have 3 degrees of freedom in X, Y, Z axes.

  • Modern Robot Arms: Can have up to 7 degrees of freedom, including roll, pitch, and yaw.

  • Human Arm Reference: Demonstrates degrees of freedom.

ROBOT CONFIGURATIONS

  • Types:

    1. Cartesian

    2. Cylindrical

    3. Spherical

    4. Articulated

    5. SCARA

CARTESIAN ROBOT CONFIGURATIONS

  • Characteristics: Linear movements along three axes; common for pick and place operations.

  • Examples: IBM’s RS-1, Sigma Robot.

CYLINDRICAL ROBOT CONFIGURATIONS

  • Characteristics: Combines linear and rotary movements; often used in manufacturing.

  • Examples: Versatran 600.

SPHERICAL ROBOT CONFIGURATIONS

  • Functions: One linear and two rotary movements; suitable for floor-object manipulation.

  • Examples: Unimate 2000B.

ARTICULATED ROBOT CONFIGURATIONS

  • Description: Rotary movements about three axes; useful in assembly lines.

  • Examples: T3, PUMA.

SCARA ROBOT CONFIGURATIONS

  • Design: Two revolute joints and one prismatic joint; moves in a horizontal plane.

JOINT DRIVES

  • Electric Drives: Preferred for most modern robots; utilize electric motors.

  • Hydraulic Drives: Provide high power and lift capacity; suitable for heavy duty tasks.

  • Pneumatic Drives: Generally for smaller robots in simple operations.

END EFFECTORS

  • Definition: Tools or devices attached to the end of the robotic arm for specific tasks (grasping, drilling, etc.).

  • Types:

    • Grippers: Mechanical, magnetic, and pneumatic.

    • Tools: For specific operations like welding and painting.

INDUSTRIAL ROBOT APPLICATIONS

  1. Material Handling: Pick-and-place, palletizing, and loading/unloading tasks.

  2. Processing Operations: Welding, spray coating, cutting, and grinding tasks.

  3. Assembly and Inspection: Includes quality control and verification processes.

ROBOTIC PROGRAMMING

  • Lead-through Programming: Involves teaching robots motions through physical guidance.

  • Robot Programming Languages: Includes textual languages for command entry.

  • Simulation & Off-line Programming: Preparation and downloading of programs remotely.

THANK YOU

  • Gratitude expressed for the engagement.