Robot

Mechanisms

© 2008 Rkm
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 Robot – 5 constituents

Constituents

3.Control
1.Structure 2.Actuator
System

•WRIST/ARM 4.SENSOR
•BODY
•LEGS/WHEELS 5.PROGRAM
© 2008 Rkm
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 Robot Work Cell
 Environment of robot
 Alldevices; workpieces; sensors; ..
 Other robots; Machines; CNC; fixtures;
objects; Conveyors; ..
{tool}
Wrist {T}
Arm End-effector
{base} Links & Joints
{B} {object}
Z {R} Base Workpiece
© 2008 Rkm Y Table
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Robot Coordinate frames
 define geometric relationships
 position + orientation
 Reference frame
 Base frame
•{frame} •{2}
 Link/joint
 Tool •{F} •{p q r]
 Object
 Table
 ….
© 2008 Rkm
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 Robot Anatomy
The Manipulator
 Arm
 Wrist
Kinematic chains formed by
joining links
Rigid links connected by joints

End-effector: “the hand”/

tool/work-device/gripper/..
© 2008 Rkm
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 Robot Anatomy –
Links and Joints
• Two or more links – joined to
form a kinematic chain
• Binary links + joint – 1 DOF
 Motion at joint –
linear/rotational
 Linear joint [L or P]
 Rotational joint [R/ ..]
© 2008 Rkm
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 Links and chain
 A kinematic  A link which is
chain is an connected to two
assembly of rigid other links is
called binary link.
bodies
A chain which
connected by consists of
joints to provide only binary links
constrained (or is called simple
desired) motion chain.
© 2008 Rkm
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 Robot Anatomy –
Links and Joints ..
 Binary links
 Connected – joint

B
C

A 1 2
D
Input Joint
Output
© 2008 Rkm
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 Robot Anatomy –
Joints – Linear [ L / P ]

Splined/Telescoping/Sliding Shaft
Rack-n-Pinion/Slider Crank/Screw-n-Nut
•Limited joint range
•Rigidity
© 2008 Rkm
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 Robot Anatomy –
Joints – Rotational [ R / ?]
three types – R / V / T

Rotary [R]

Revolute [V]

Twist [T]
© 2008 Rkm
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 Robot Anatomy –
Joints – Design
Rotary/Rotational
•Joint Offset
•Joint motion
Range
Offset

Joint Design?
Issues?
© 2008 Rkm
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 Robot Joints –
requirements
 Hold links together – move
 Frictionless – free motion
 Rigid – no play; no deformation
 No backlash
 No offset
 No misalignment
 Joint motion range – max.
 Compact/light weight/..
© 2008 Rkm
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 Robot Anatomy –
Manipulator Mechanism
 Arm
 to reach
 as large as possible
 3-D Space – 3 DOF
 Wrist
 to orient to do the work
 as compact as possible
 3-D Space – 3 DOF
© 2008 Rkm
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 Anatomy of Arm
Mechanism/Configuration/Structure
 Four common Configurations
 Cartesian
 Cylindrical
 Spherical
 Articulated/Jointed

based on
 types and arrangements of joints
 Shape of workspace
© 2008 Rkm
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 Anatomy of Arm ..
1. Cartesian Configuration
Workvolume
Workspace

Work
PPP envelope
or
LLL

© 2008 Rkm
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  Useful in inserting components
into PCB

© 2008 Rkm
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 Construction of prismatic joints

© 2008 Rkm
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 Anatomy of Arm ..
Cartesian Configuration ..
Characteristics
•3 Linear axes/joints: LLL or PPP
•XYZ or Rectilinear (3 P)
•Cuboid workspace/workenvelop/work volume
•Simple control; poor mechanical flexibility
•Equal and constant spatial resolution
•Rigid/accurate
•1 of 8 quadrants
•Cannot reach on floor/base
•Gantry/Box/Cincinnati
2008
© Rkm
T3-800; IBM-RS-1
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 Anatomy of Arm ..
2. Cylindrical Configuration
Workspace

TPP
or
TLL

© 2008 Rkm
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  Best suited for assembly operations where
360 degree movement is allowed and
insertion could happen in z-direction
© 2008 Rkm
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 Anatomy of Arm ..
Cylindrical Configuration ..

Joint axis 3 Face plate for

attaching wrist
Joint axis 2
Joint axis 1 TPP
or
TLL
© 2008 Rkm
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 Anatomy of Arm ..
Cylindrical Configuration ..
P
Characteristics
•TPP ( 1 R + 2 P) (r, , z) P
•Hollow cylinder workspace T
•Better reach – 4 of 8
•Poor dynamic performance
•other conf.: PVP; VPP; .. Offset
•Joint Design:

© 2008 Rkm
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 Anatomy of Arm ..
3. Spherical Configuration
Workspace
TRP

© 2008 Rkm
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  This design is well suited for machine loading as
it is well suited for long straight reach into a
press or moulding machine
© 2008 Rkm
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 Anatomy of Arm ..
Spherical Configuration ..
Characteristics P
•Polar configuration R
•TRP (2 R + 1 P) T
•Hollow spherical workspace
•Better reach – 4+ of 8 (below base)
•Better mechanical flexibility
•other configurations
•UNIMATE-2000; MAKER 110; ..
© 2008 Rkm
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 Anatomy of Arm ..
4. Articulated Configuration
Workspace
TRR
R
R
T
Others:
VRR
TRV
© 2008 Rkm
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 Very compact: Has a large working volume
for its size
 It also avoids prismatic joints
© 2008 Rkm
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 Anatomy of Arm ..
Articulated Configuration ..

Arm

Wrist

© 2008 Rkm
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 Anatomy of Arm ..
Articulated Configuration ..
Joint 3 (R)
(Elbow) Face plate for
Joint 2 (R) attaching wrist
(Shoulder)
P

Arm point
Joint 1(T)
(Waist)
© 2008 Rkm
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 Anatomy of Arm ..
Articulated Configuration ..
Characteristics
•Jointed Arm
•TRR (3 Rotational joints)
•Spherical workspace
•Better reach – ~8 of 8 (below base)
•Excellent mechanical flexibility
•Poor accuracy, rigidity
•PUMA; CRS+; T3-776; RHINO; ..
© 2008 Rkm
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 Anatomy of Wrist
•For Orientation along 3 principal axes
 3 rotations along
 3 DOF
 No ‘P’ joint
•Three motions:
Wrist roll – rotation along arm axis
Pitch – up-down; ┴ to roll & yaw axes
Yaw – left-right; ┴ to roll & pitch
•Compact; light weight; strong; ..
Should not diminish performance
© 2008 Rkm
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 Anatomy of Wrist ..
•TRR wrist

Arm T
End Face plate
R to attach
Yaw end-effector
Pitch
Roll
R
© 2008 Rkm • Roll-pitch-yaw (RPY) wrist 32
 Condition of degeneracy: If the hand were to yaw 90 deg,
then the position of the roll joint would coincide with the pitch
joint. This would make it difficult to rotate about the long axis
of the arm.
 So while designing a wrist, the yaw angles are limited to 45
deg

© 2008 Rkm
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 Anatomy of Wrist ..
•RRT wrist
Joint 1 Joint 2 Joint 3

Tool point

Arm end

Yaw Pitch Roll

•Many other configurations:

RT; R; TVR; ..
© 2008 Rkm
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 Design of wrist
 The mass at the end of the arm should be
minimized, otherwise the arm will have to
be made stronger. This may increase the
inertia of the robot
 The volume of the wrist should be
minimized, or it may intrude into the work
space and collide with other obstacles
 The wrist must allow transmission of power
to the gripper. This can be done through a
mechanical linkage or hydraulic hose pipes
 It should also accommodate a force sensing
device
© 2008 Rkm
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 Class Test 1
time: 5 minutes

Give a neat sketch of a

3-DOF TVR Configuration
Arm showing:
Joints and links

Workspace/workvolume
© 2008 Rkm
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 Class Test 1- Solutions

Link 2 J 3 Link 3
(V) J 2

(R) Link 2 J3
(V) J2 Link 3
Arm Point
Link 1
(T) J1 (R)

Link 1

Does it give (T) J 1

3-D workspace?
© 2008 Rkm
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 4-DOF SCARA
MANIPULATOR
Axis 2 Axes 3 & 4
L2
Axis 1
Link 1 J2 Link 2 Link 3
J3
J1
d3
L1
J4

Link 0 Link 4
L4
(End-
effector)

Tool Point
© 2008 Rkm
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 Robot Specifications
 How to specify?
 Mechanical Characteristics
- Manipulator/Arm ONLY

 Capability

© 2008 Rkm
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 Robot Specifications
 Manipulator/Arm ONLY
 Load carrying capacity

 Work volume; workspace; work

envelop
 Reach – farthest point from base

 Traverse speed – max./min.

 Accuracy – Precision – repeatability –

resolution
© 2008 Rkm
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 Robot Specifications
 Capabilities

 Force/Torque

 Task capability – PTP/CP

 Control system – OLC/CLC;
Intelligent; Robust/Force/ ..
 Sensing capability
© 2008 Rkm
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 Robot Specifications
 Traverse speed
 Current max – 1.7 m/s
 Hydraulic faster than electrical
 Objective – minimum cycle time
 Speed effects:
 accuracy (inversely proportional to
speed)
 Size/mass of object to manipulated
 Distance to move
© 2008 Rkm
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 Robot Specifications
 Traverse speed …
 Smallvs. large distance travel
 Average speed
 Total time for n short distances

max v

t
© 2008 Rkm
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 Robot Specifications
Accuracy/Precision/
Repeatability/Resolution
 Assumptions:
 Apply to Manipulator w/o EE
 Worst case
 For p-t-p task
 Static condition
 1-DOF
© 2008 Rkm
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 Robot Specifications
Resolution
 Smallest change in position that can be
sensed (detected by feedback devise)
CONTROL RESOLUTION (CR)
 A strobe emits 1000 flashes/min
 A disk making 1 rpm
Control resolution=360º/1000=0.36º
Angular motion < 0.36º cannot be
detected by this strobe
© 2008 Rkm
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 Robot Specifications
Resolution ..
 Smallest change in position that can be
addressed by a program
PROGRAM RESOLUTION
 12 bit memory; 1 m 1-DOF joint range
212=4096 addressable points
PR=1000/4096=0.244 mm
Linear motion < 0.244 mm cannot be
addressed
© 2008 Rkm
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 Robot Specifications
Resolution ..
 PROGRAM RESOLUTION
 n bit memory 2n addressable points
= number of points a program can
address/specify/Store
Ideal: CR=PR=SR (System Resolution)
BASIC RESOLUTION UNIT (BRU)
Total Resolution – vector sum of
resolution along each axis
© 2008 Rkm
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 Robot Specifications
 SYSTEM RESOLUTION/BRU/CR/PR
 Distance between two reachable points (say)
P1 & P2 [addressable/programmed points]
 Let T be the target point – worst case?
System Resolution
Accuracy –
ability to Accuracy
position at
target T
A=0.5 SR
© 2008 Rkm
P1 T P2 48
 Robot Specifications
Repeatability
 Error in reaching
target r (2r=R)
 Ability to reach a
program point
 Experiments .. Distribution of
 3 – repeatability return points
error – random
 Shape in 2-D/3-D
 Mechanical P1 P1
inaccuracies
© 2008 Rkm
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 Robot Specifications
Accuracy – worst case
 SPATIAL RESOLUTION (SR)- system
resolution degraded by mechanical
inaccuracies
System Resolution
Spatial Resolution
Accuracy Accuracy

P1 T P2

© 2008 Rkm
P1 T P2
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 Robot Specifications
Accuracy
Factors that effect accuracy
 work volume/reach
 Position
 Motion cycle
 Load
 Speed
 wear
Accuracy varies w/i workspace
 Global – worst accuracy within full workspace
 Local – at a target point
© 2008 Rkm
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 Robot – Constituents
 Structure
 Actuators
 Sensors
 Control system –
Controller
 Program/Programming

© 2008 Rkm
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 Robot – Actuators
Actuator + Transmission System
 Required for – motion/power (do
work)
 Determine:
 Manipulator’s capacity to do work –
force/torque/speed - Joint/End-effector
 Strength/Load Carrying Capacity
 Application – task/environment
 Capability – p-n-p/ welding/ assembly
 Dynamic performance
© 2008 Rkm
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 Robot – Actuators ..
Desirable Characteristics
 High torque
 Low inertia/low weight
 Smooth motion
 High speed small motion
 Self locking
 Typically less than 1 rotation
 Low cost
 …….
© 2008 Rkm
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 Robot – Actuators ..
 Linear – rotary
 E/H/P/M

 Electric
 AC/DC motor
 Servo

 Stepper

 Transmission System –
 gear train/harmonic drive/ chain/..
© 2008 Rkm
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 Robot – Actuators ..
Direct Drive Vs Indirect Drive
 Direct Drive
 Actuator+TS – Heavy/bulky
 Difficult to locate at joint
 Additional load – higher capacity

 At base
 Complex & Difficult Transmission
 Too many parts
 Smaller capacity required

© 2008 Rkm
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 Robot Work Cell ..

 Workcell Control
 Applications Engineering

 Physical Design
 Logical design
 Ergonomic design
 Safety design
© 2008 Rkm
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 Robot Work Cell ..
 Workcell Activities
 Simultaneous
 Sequential
 Communication
 Coordination
Device lock
Interlock
Transmit/receive/acknowledge
© 2008 Rkm
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© 2008 Rkm
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