INDUSTRIAL ROBOTICS

National Institute of Technology of Mexico

Technological Institute of Puebla

Department of Metal-Mechanics Laboratory of Advanced Manufacturing

Course: Industrial robotics

Professor: Sergio Javier Torrez Méndez

Practice number: 1

Practice name: Morphological analysis of industrial robots

Objective: generate a schematic diagram, to determine the number of degrees of freedom and
to stablish a classification

Teamwork members names:

Vargas Paredes Jaime

Tapia Maceda Daniel

Zambrano Rosas Jorge

Cortez Tetecatl Mario

Cuaya Acevedo Jhonatan

Date: 22/02/19 Evaluation: ______________

1. Introduction

Robotics is the combination of knowledge for the design, analysis, and control of robots. It is
considered an important part of Mechatronics. An industrial robot is an automatically controlled,
reprogrammable multipurpose manipulator programmable in three or more axes, which can be
either fixed in place or mobile for use in industrial automation applications (ISO 8373). The
industrial robot includes the manipulator, including actuators, the controller, including teach
pendant and any communication interface (hardware and software). The mechanism usually
consists of a series of segments, jointed or sliding relative to one another, for the purpose of
grasping and/or moving objects (pieces or tools) usually in several degrees of freedom (ISO 8373).

4.1 Degrees of freedom

The Degrees of freedom is the minimum number of independent variable to completely define a
robot configuration. This number, n, can be calculated as:

𝑛 = 𝜆 𝐿 − ∑ (𝜆 − 𝑓 𝑖)𝐽 𝑖=1

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where:

𝑛= Number of degrees of freedom

𝜆= Maximum number of degrees of freedom: 3 planar, 6 spatial

𝐿= Number of mobile links

𝐽= Number of joints

𝑓𝑖= Degrees of freedom for each joint i

2. Methodology

General steps for the laboratory practice are as follows:

a) Each teamwork with a maximum of six members, will do a visit to the laboratory to know and
operate each of the industrial robots.

b) Professor will explain the basic characteristics and application of each industrial robot. Also, the
Professor will give a demonstration how to operate each of these robots.

c) With help of measurements devices, each teamwork will measure the length of each links and
the range of motion of each joint for each industrial robot.

d) With the recorded information, each teamwork will draw the kinematic scheme, will determine
the number of degrees of freedom, the general workspace, and will establish which classification
each robot belongs to.

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3 Practice perform.

Robot 1.

This first circuit was separated

into two parts since the
teacher requested it.
the first its main task is to
transport a cylindrical material
from point A to point B This is
constituted by a rotating part
and two prismatic parts.

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The second part of this circuit is very

similar to the first, its main task is to
transport a base which loads material
from point A to a conveyor belt. likewise
it is constituted of a rotating part and
two prismatic

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In the third case we have a robot

that is mainly constituted by two
carriages, one longitudinal and one
axial. This robot has sensors that
show the limits of it. these last ones
were taken as a reference to
perform the calculations This is
constituted by three prisms

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The fourth and fifth

cases are somewhat
more complex than
the first three
because the
calculation of your
work area is not so
simple. for the
calculation of your
work area we will
follow the procedure
| recommended by
the teacher

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4. Conclusions

As mechanical engineering’s we need to understand how this industrial robots work, in this
practice we analyzed the degrees of freedom and the general workspace of the systems that we
can found in our laboratory whit this we are going to be able to understand the function of each
component that composes the system to get a general idea to assimilate all the information to In
the future be able to design a system in an optimum way .

5. References

Course blog: https://sites.google.com/site/sergiojaviertorresmendez/clients/roboticaindustrial

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