RA T62 ROBOT KINEMATICS AND DYNAMICS

ROBOT SPECIFICATION

• Robot specifications are used to define certain characteristics of

an robotic manipulator.
• First 3 axis are used to establish
position of the wrist
• Remaining are used to establish the
orientation of the tool or gripper
• Industries have majorly 4 to 6 axis
• It is possible to have more than 6
axis.

7-axis robots are also called

'redundant robots' because they
have one extra axis.
 CAPACITY AND SPEED
• It vary greatly between robots
• Eg 5 microbot, an educational table top robot has load carrying
capacity of 2.2 kg.
• The GCA-XR6 has load carrying capacity of 4928 kg.
• The speed of the robots will get vary between robots
• The westing house series robot has a tool tip of 92mm/sec
• SCARA has tool tip of 9000mm/sec
 REACH AND STROKE
The reach and stroke of a robotic manipulator are rough measures of
the size of the work envelope.

Robot's reach is a measure of how far the robotic arm can

reach when it's completely outstretched.

Stroke is defined as total radial distance the wrist can travel

 TOOL ORIENTATION
• YAW-PITCH-ROLL system

• The terms roll, pitch, and yaw are traditionally used to describe the
rotational motion of a ship or an aircraft
• where the roll is considered to be in the forward motion direction, the
pitch is in the direction of the wing, and the yaw is towards the ground
(or up):
• Rotation around the front-to-back axis is called roll.
• Rotation around the side-to-side axis is called pitch.
• Rotation around the vertical axis is called yaw.
 REPEATABILITY, PRECISION, ACCURACY
REPEATABILITY:
It is the ability of the robot to position the tool tip in the same place
repeatedly.
ACCURACY:
Accuracy is how close a value is to its true value.
PRECISION:
It measures how close results are to one another
 OPERATING ENVIRONMENT

• DEPENDS ON THE NATURE OF THE TASK PERFORMED

• EXTREME TEMPERATURE, CONTAMINATED AIR
• HUMIDITY
• RADIOACTIVE MATERIAL, LOADING , UNLOADING THE FURNACES,
SPRAY, PAINTING
TEXT BOOK
• FUNDAMENTALS OF ROBOTICS BY ROBERT J.SCHILLING
 ROBOT CLASSIFICATION
• DRIVE TECHNOLOGIES
• WORK ENVELOPE GEOMETRIES
• MOTION CONTROL METHODS
DRIVE TECHNOLOGIES
• Power used to drive the joints of the robots
• Electric and hydraulic
• For High speed manipulation – Hydraulic drive is used
Work envelope Geometries
• The gross work envelope of a robot is defined as the locus of points
in three dimensional space that can be reached by the wrist.
MOTION CONTROL METHODS
• POINT TO POINT
• CONTINUOUS PATH
POINT TO POINT
• DISCRETE IN NATURE
• The path between the points is not controlled by the user

CONTINUOUS PATH
• also called controlled path motion
• end effector must follow the prescribed path in three dimensional
space and speed of motion
 AUTOMATION VS ROBOTIC TECHNOLOGY
✔ Mass Production Assembly Lines Were First Introduced By The Ford
Motor Company
✔ Specialized Machines Have Been Designed For Mechanical And
Electrical Parts
✔ These Machines Have To Be Shutdown And The Hardware Retooled
For The Next Generation
✔ Hard Automation – limited flexibility
✔ Soft Automation
ROBOT APPLICATIONS
END OF UNIT 1