TAREA 12

Sistemas integrados de manufactura Sara Duran Guerrero

Description
Solve the exercises on the physical structure of industrial robots and answer a quiz with re-
view questions.
Instructions
Individually
1. First, answer the 16 questions of the review question from chapter 8. Industrial Ro-
botics from the textbook, click here.
2. Then, answer the problems from 8.1 to 8.5 in the section Robot Anatomy, from chap-
ter 8 of the textbook, click here.
3. Next, conduct some research on offline programming systems and draw up a sum -
mary with the main open-source tools that are currently available to realize this pur-
pose.
4. In addition, solve the following problem.

A company is considering installing an industrial robot in an electronic component

recycling plant. Currently, the company has two work shifts, with six workers each
(the salary that the workers receive is 12 dollars a day and the plant works 240 days a
year). With the implementation of the robot, there would be only two workers, who
would receive a salary of 20 dollars, working the same number of days).

The cost of the specialized robot is 40,000 dollars (the price includes the grippers
and tools necessary for the task), in addition, another 80,000 dollars are considered
for the conditioning of the premises and the training of the workers.

The total depreciation of the system is estimated to be 20% per year due to operat-
ing conditions; it is also considered that monthly maintenance costs will reach 350
dollars. The average savings after installing the robot is estimated at $1,500 per
month in terms of increasing working capacity and decreasing the costs associated
with human personnel.
· Calculate the following:
a. The time in years to recover the investment of the robot
b. The annual return on investment
Deliverable(s)
A written report of the four activities, the problem must include the procedure and solution.

Report
8.1. What is an industrial robot?
An automated, programmable machine that can perform tasks on 3 or more axes typically used in manu-
facturing.
8.2. What was the first application of an industrial robot?
The first application was for material handling and die castings
8.3. What are the five types of joints used in robotic arms and wrists?
Revolute
Prismatic
Spherical
Cylindrical
U meur
8.4. Name the five common configurations of a robotic arm identified in the text.
Articulated
SCARA
Delta
Cartesian
Articulated
8.5. What is the working volume of a manipulator robot?
The 3-dimensional space that the robots and effector can reach
8.6. What is a robot with point-to-point playback control?
It memorizes specific points in its workspace and moves between them
precisely without following a continuous path
8.7. What is an end effector?
Tool attached to the robots arm that interacts with the environment like
a gripper
8.8. In a loading and unloading machine application, what is the advantage of a double clamp to a
single clamp?
It allows the robot to pick up one object while placing another, improving efficiency in loading and un-
loading tasks
8.9. Robotic sensors are classified as internal and external. What's the difference?
Internal sensors: Their monitor the robots internal state, such as joint positions, motor currents and tem-
perature
External sensor: They gather information about the robots environment
8.10. What are four of the six general characteristics of industrial work situations that tend to promote
robot substitution for human workers?
Dangerous environments
Repetitive tasks
Los-cost materials handling
High precision and accuracy
8.11. What are the three categories of industrial robot applications, as identified in the text?
Material Handling
Machine Loading and Unloading
Process Applications
8.12. What is the palletizing operation?
Process of arranging objects onto pallets for storage or transportation
8.13. What is a robot program?
A set of instructions that tells the robot how to perform a specific task which can include
movements, sensor data and decision-making
8.14. What is the difference between powered lead-through and manual lead-through in robot pro-
gramming?
The difference is that while Powered lead, the operator physically moves the robot arm while with the
manual lead, the operator uses a programming interface
8.15. What is the control resolution in a robot positioning system?
The smallest increment of movement that the robots control system can detect and com-
mand.
8.16. What is the difference between repeatability and accuracy in a robotic manipulator?
The difference between each is that repeatability refers to the ability to consistently per-
form the same motion over multiple cycles while accuracy refers in how closely the ro-
bot’s actual movement matches the programmed.
 A company is considering installing an industrial robot in an electronic component
recycling plant. Currently, the company has two work shifts, with six workers each
(the salary that the workers receive is 12 dollars a day and the plant works 240 days a
year). With the implementation of the robot, there would be only two workers, who
would receive a salary of 20 dollars, working the same number of days).

The cost of the specialized robot is 40,000 dollars (the price includes the grippers
and tools necessary for the task), in addition, another 80,000 dollars are considered
for the conditioning of the premises and the training of the workers.

The total depreciation of the system is estimated to be 20% per year due to operat-
ing conditions; it is also considered that monthly maintenance costs will reach 350
dollars. The average savings after installing the robot is estimated at $1,500 per
month in terms of increasing working capacity and decreasing the costs associated
with human personnel.
· Calculate the following:
c. The time in years to recover the investment of the robot = 3.6 years

d. The annual return on investment = 24.3%