Professional Documents
Culture Documents
1) What are the dimensions (centre to centre) of the different links of the mechanical structure of the robot? ELBOW
SHOULDER
2) What is the drive mechanism used for each link? Explain the relevancy of the type(s) of mechanism on the Gryphon robot. The driving mechanism used are the belt and gear
Belt drive is best suited when the centre distance is large (i.e in the shoulder and elbow part), and over small distances gears are more practical (that connect the gripper with the elbow). For precise performance and accurate timing over a large distance flat belt are required, which will tend to slip and will not prove satisfactorily. So, as solution to this, the belt is used and fitted to the toothed flywheel (found in the elbow and shoulder).achieve smoother movements. 2
3) What are the types of degree of freedom as used on the Robot, and what is the range of each degree of freedom? The degrees of freedom are linear and rotary. These comprises the 5 axis as describe in the diagram below
Range Angular movement 2700 Axis centre from top of base 185mm Axis 1 axle to column centre 50mm Angular movement 1650 Arm length between axle centers 225mm Angular movement 3000 Arm length between axle canters 225mm
Axis 1
Axis2
4) Plot accurately the minimum and maximum working envelope of the robot. The diagrams below show the working envelope
5) What are the internal sensors used to monitor the displacement and/or velocity of the robot? Explain the importance of these sensors. The internal sensors used are encoders. The encoder is a sensor attached to a rotating object (such as a wheel or motor) to measure rotation. By measuring rotation your robot can do things such as determine displacement, velocity, acceleration, or the angle of a rotating sensor.
Light sensor
Encoder disk
A typical encoder uses optical sensor(s), a moving mechanical component, and a special reflector to provide a series of electrical pulses to your microcontroller. These pulses can be used as part of a PID feedback control system to determine translation distance, rotational velocity, and/or angle of a moving robot or robot part.
7) What drive mechanism is used to actuate the end effector? Explain its advantages and limitations. The drive mechanism to actuate the end effector is pneumatic.
Advantages y Pneumatics components are relatively inexpensive and the medium (air) is free (unlimited quantity). y y Compressed air is a fast working medium. Air can be easily transported in pipelines over long distances. 7
8) What is the maximum payload that can be safely held by the end effector?
Payload = 1kg Applied load (Fx) = ? For Equilibrium (ref to above diag) Moment on left hand side = Moment on right hand side 9.81 x 0.44 Fx = = Fx x 0.26 16.60N
Proximity switch that responds to light signals and delivers an electrical signal. The switching distance can be adjusted by means of a potentiometer. The proximity switch has a PNP output and is designed as a normally-open contact. A yellow LED indicates the status. The switch is protected against polarity reversal, overload and short circuit. Limit switch
The limit switch has two mode of operation, the normally close and the normally open mode. For the normally open mode, a 5V signal is sent when the switch closes while a 5V signal is sent when the switch opens. The limit switch has a spring mounted contact with which a small strip of metal makes contact. These sensors are used to detect the presence of objects, send the signal to the control which will in turn process it and execute the proper requirements such as stopping the conveyor or start. 9
Inserting and activating peripherals can be done through the program. When the data is selected by clicking on it, it may be incremented by the scroll bar. Alternatively new data may be simply typed in as part of the work-cell when a simulator, teach pendant or control panel is being used the data on the screen is updated to the new position. Each device can be control precisely and perform to specific position desired.
12) What are the different modes of programming the robot? Outline the advantages and limitations of each mode of programming. Teach pendant Advantages y y y y Quick and direct interaction with the robot Must monitor the robot closely to avoid from hitting with obstacles in the surrounding Speed can be control It can be used to delicate and hazardous environments 10
Simulator Advantages y y Easy to manipulate No predefine movement (where the user position the simulator, the robot also follows the exact sequence) Limitations y y Cannot use the gripper No repeatability (irreversible)
Computer (WALLI software) Advantages y y Once the sequence is programmed in the software, the robot can perform alone Can add various devices (conveyor, sensors, and indexing table) and can make them to operate in order of preference. y y y High degree of accuracy and repeatability Work can be stopped and saved to continue later Speed can be varied
Limitations y y Careful inputs must be typed to avoid from hitting obstacles To use WALLI software alone to reach a specific spot is a difficult task 11
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