ME3015 - Industrial Robot - Nguyen, Quoc Chi - C1

Industrial Robot, Lecture 2-Overview of industrial robots
Overview of Industrial
Robots
© 2016 Quoc Chi Nguyen, Head of Control & Automation Laboratory, nqchi@hcmut.edu.vn 2-1
Outline
- What are robots?
- Brief history of robot
- What is a industrial robot
- Industrial robot configuration
- Industrial robot classification
- Robot programming
- Industrial robot applications
“Robot”
The word “robot” comes from the play

`Rossum`s Universal Robots`, by Czech
writer Karel Capek (1921)
• Robot, from robota, “servitude, forced
labour, drudgery”
• Robots rebel, and kill all humans
What are robots?

- Definition (Robotics Association of America): "A
reprogrammable, multifunctional manipulator
designed to move material, parts, tools, or
specialized devices through various programmed
motions for the performance of a variety of tasks."
 Complicated definition!
- A simpler version: “An automatic device that

performs functions normally ascribed to humans or a
machine in the form of a human.”
Another point of view….

- What are Robots? Ans: Machines with sensing, intelligence and mobility
- Why use Robots? Ans: Perform 4A tasks in 4D environments
Automation Dangerous,
Augmentation Dirty,
Dull,
Assistance
Difficult
Autonomous
Industrial robots Mobile robots

Kinematics Kinematics/Control
Dynamics Sensing and Sensors
Control Motion planning
Mapping/Localization
Who’s to say?
- Many devices with varying degrees of
autonomy are called robots.
- Many different definitions for robots exist.
- Some consider machines wholly controlled
by an operator to be robots.
- Others require a machine be easily
reprogrammable.
What is a industrial robot?

- A manipulator (or an industrial robot) is
composed of a series of links connected to each
other via joints. Each joint usually has an
actuator (a motor for e.g.) connected to it.
- These actuators are used to cause relative
motion between successive links. One end of
the manipulator is usually connected to a stable
base and the other end is used to deploy a tool.
Robots in Early History

- Ancient Greek poet Homer described
maidens of gold, mechanical helpers built by
Hephaistos, the Greek god of metalsmiths.
- In 1495, Leonardo da Vinci drew plans for a
mechanical man.
- Real robots were only possible in the 1950s
and 1960s with the introduction of
transistors and integrated circuits.
Robots in Early History

- 1948, A teleoperator-equipped articulated arm is
designed by Raymond Goertz for the Atomic Energy
Commission.
- 1961, The first industrial robot was online in a General
Motors automobile factory in New Jersey. It was Devol and
Engelberger's UNIMATE. It performed spot welding and
extracted die castings..
- 1980, The robot industry starts its rapid growth, with a
new robot or company entering the market every month.
First Commercial Robot

- After the 1950’s the first
commercial robot nicknamed
the “Unimate”, was created.
- The first Unimate was installed
at a General Motors plant to
work with heated die-casting
machines.
- Following the early

instances of robots in plays
and science fiction stories ,
robots then started to
appear on television shows,
like Lost in Space (1965) and
then in Hollywood movies.
- Scientists today are still a
long way off from
programming robots which
can think and act like
humans.
Industrial Robot Defined

A general-purpose, programmable machine possessing
certain anthropomorphic characteristics
- Hazardous work environments
- Repetitive work cycle
- Consistency and accuracy
- Difficult handling task for humans
- Multishift operations
- Reprogrammable, flexible
- Interfaced to other computer systems
What will we focus on?  Robots in industries

Robots are used in a vast range of industries.
Traditional Industrial Robots

• Traditional industrial robot control uses robot arms and
largely pre-computed motions
 Programming using “teach box”
 Repetitive tasks
 High speed
 Few sensing operations
 High precision movements
 Pre-planned trajectories and
task policies
 No interaction with humans
Problems
• Traditional programming techniques for industrial robots
lack key capabilities necessary in intelligent environments
 Only limited on-line sensing
 No incorporation of uncertainty
 No interaction with humans
 Reliance on perfect task information
 Complete re-programming for new tasks
The generations of industrial robot
Robot components
Structures of Robot
• Manipulator consists of joints and links
– Joints provide relative motion
– Links are rigid members between joints
– Various joint types: linear and rotary
– Each joint provides a “degree-of-
freedom”
– Most robots possess five or six
degrees-of-freedom
• Robot manipulator consists of two
sections:
– Body-and-arm – for positioning of
objects in the robot's work volume
– Wrist assembly – for orientation of
objects
Manipulator Joints
• Translational motion
– Linear joint (type L)
– Orthogonal joint (type O)
• Rotary motion
– Rotational joint (type R)
– Twisting joint (type T)
– Revolving joint (type V)
Joint Notation Scheme

- Uses the joint symbols (L, O, R, T, V) to designate
joint types used to construct robot manipulator
Separates body-and-arm assembly from wrist
assembly using a colon (:)
- Example: TLR: TR
- Common body-and-arm configurations …
Polar Coordinate Body-and-Arm Assembly

- Notation TRL:
- Consists of a sliding arm (L joint) actuated

relative to the body, which can rotate about both
a vertical axis (T joint) and horizontal axis (R joint)
Cylindrical Body-and-Arm Assembly

- Notation TLO:
- Consists of a vertical column,

relative to which an arm
assembly is moved up or down
- The arm can be moved in or
out relative to the column
Cartesian Coordinate Body-and-Arm Assembly
- Notation LOO:
- Consists of three sliding joints,

two of which are orthogonal
Other names include rectilinear
robot and x-y-z robot
Jointed-Arm Robot
Notation TRR
SCARA Robot
- Notation VRO
- SCARA stands for Selectively -
Compliant Assembly Robot Arm
- Similar to jointed-arm robot
except that vertical axes are used
for shoulder and elbow joints to be
compliant in horizontal direction for
vertical insertion tasks
Parallel Robot
Benefits
- Very high speeds
- Low installation profile
- Very accurate
Drawback
- Smaller payloads
- Less flexibility
- Long term reliability
- Restricted workspace
- Complex algorithms
Robot Classification
There are four main aspects to classify

robots:
- Types of workspace
- Robot generation
- Types of control
- Drive system
Classification based on type of workspace

Cartesian Configuration

• Cylindrical Configuration
• Spherical Configuration
• Revolute/Jointed Configuration
Classification based on robot generations
1.Variable sequence robot: This type of robot is similar to class 2, except that
the sequence of actions can be reprogrammed easily allowing it to be quickly
adapted to perform new tasks.
2.Playback robot: This type of robot is first guided through a sequence of

actions by an operator, then repeats the same actions automatically.
3.Numerical control robot: This type of robot moves through a sequence of

actions, which it receives in the form of numerical data.
5.Intelligent robot: A robot that senses its environment and responds to

changes in it in order to continue performing its function.
Classification based on types of control
Pick-and-Place Robot Continuous Path Robot
Classification based on drive system

Common drive systems used in robotics are electric drive,
hydraulic drive, and pneumatic drive.
• Electric Drives
Electric drive robots are relatively

accurate compared to hydraulically
powered robots.
Types: AC/DC servomotors, stepper

motors.
Advantages: quiet, less floor space,

electric power readily available, clean-
air environments, precision.
• Pneumatic Drives
Pneumatic drives: air-driven actuators.
Advantages: economical, easy installation, less

costly than hydraulic drives, good speed and
accuracy.
Disadvantages: precision is less than electric

drives (air is compressible), air needs
conditioning, noisy, vibration.
• Hydraulic Drives
Hydraulic drives are electric

pump connected to a
reservoir tank and a hydraulic
actuator.
Advantages: precise motion control over a wide range of speeds and loads, robust,
and greater strength.
Disadvantages: expensive, high maintenance, not energy efficient, noisy, not suited for
clean-air environments.
Robot Programming
• Leadthrough programming
– Work cycle is taught to robot by moving the
manipulator through the required motion cycle and
simultaneously entering the program into controller
memory for later playback
• Robot programming languages
– Textual programming language to enter commands
into robot controller
• Simulation and off-line programming
– Program is prepared at a remote computer terminal
and downloaded to robot controller for execution
without need for leadthrough methods
Leadthrough Programming
1. Powered leadthrough
– Common for point-to-
point robots
– Uses teach pendant
2. Manual leadthrough
– Convenient for
continuous path control
robots
– Human programmer
physical moves
manipulator
Leadthrough Programming Advantages

• Advantages:
– Easily learned by shop personnel
– Logical way to teach a robot
– No computer programming
• Disadvantages:
– Downtime during programming
– Limited programming logic capability
– Not compatible with supervisory control
Robot Programming
• Textural programming languages
• Enhanced sensor capabilities
• Improved output capabilities to control external equipment
• Program logic
• Computations and data processing
• Communications with supervisory computers
Simulation and Off-Line Programming
Robot Application
Machine loading
Pick and place operations
Welding
Painting
Sampling
Assembly operation
Manufacturing
Surveillance
Medical applications
Assisting disabled individuals
Hazardous environments
Underwater, space, and remote locations
..\..\..\..\..\Industrial jobs\Kuka\KUKA materials\KUKA food\Start.exe

Industrial Robot Applications

1. Material handling applications
– Material transfer – pick-and-place, palletizing
– Machine loading and/or unloading
2. Processing operations
– Welding
– Spray coating
– Cutting and grinding
3. Assembly and inspection
Discussion: Group 3-4 students

- Point out an applications of robot to
industries and normal life
- The results must answers 3 questions:
• How does the application makes the
industry/life to more
effective/comfortable?
• How does the feasibility of the
application (in technical point) can
be concluded?
• Does the proposal is enable the
green industry/life and
sustainability?
• If possible, provide the economical
justification

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Industrial Robot, Lecture 2-Overview of industrial robots

The word “robot” comes from the play

What are robots?

- A simpler version: “An automatic device that

Another point of view….

Industrial robots Mobile robots

What is a industrial robot?

Robots in Early History

Robots in Early History

First Commercial Robot

- Following the early

Industrial Robot Defined

What will we focus on?  Robots in industries

Traditional Industrial Robots

The generations of industrial robot

Joint Notation Scheme

- Common body-and-arm configurations …

Polar Coordinate Body-and-Arm Assembly

- Consists of a sliding arm (L joint) actuated

Cylindrical Body-and-Arm Assembly

- Consists of a vertical column,

Cartesian Coordinate Body-and-Arm Assembly

- Consists of three sliding joints,

There are four main aspects to classify

Classification based on type of workspace

Classification based on type of workspace

2.Playback robot: This type of robot is first guided through a sequence of

3.Numerical control robot: This type of robot moves through a sequence of

5.Intelligent robot: A robot that senses its environment and responds to

Classification based on types of control

Pick-and-Place Robot Continuous Path Robot

Classification based on drive system

Electric drive robots are relatively

Types: AC/DC servomotors, stepper

Advantages: quiet, less floor space,

Advantages: economical, easy installation, less

Disadvantages: precision is less than electric

Hydraulic drives are electric

Leadthrough Programming Advantages

Simulation and Off-Line Programming

..\..\..\..\..\Industrial jobs\Kuka\KUKA materials\KUKA food\Start.exe

Industrial Robot Applications

Discussion: Group 3-4 students

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