SERVICEROBOTICS130311

Service Robot Industrial Robot

SERVICEROBOTICS130311

Robot Components

Manipulator Main body of robot (Links, Joints, etc) End Effector Part connected to the last joint(hand) of a manipulator Actuators Sensors Controller Processor Software Muscles of the manipulators (servomotor, stepper motor, pneumatic and hydraulic cylinder) To collect information about the internal state of the robot or to communicate with the outside environment Similar to cerebellum. It controls and coordinates the motion of the actuators. The brain of the robot. It calculates the motions & the velocity of the robots joints. Operating sys, robotic S/W and the collection of routines

SERVICEROBOTICS130311

A ROBOT SYSTEM
ROBOT (Manipulator) Endeffector

Laser Vision Sensor

Actuator

Controller (Processor+S/W) Monitoring System

SERVICEROBOTICS130311

Classification of Robot
Industrial Robot Service Robot
Personal Service Robot Professional Service Robot

SERVICEROBOTICS130311

Classification of Robot
Industrial Robot
Manufacturing

Personal Service Robot

Personal assistant

Professional Service Robot

Public assistant

SERVICEROBOTICS130311

Industrial Robot
An automatically controlled, reprogrammable, multipurpose manipulator programmable in three or more axes, which may be either fixed in place or mobile for use in industrial automation applications
Reprogrammable : whose programmed motions or auxiliary functions may be changed without physical alterations Multipurpose : capable of being adapted to a different application with physical alterations Physical alterations : alteration of the mechanical structure or control System except for changes of programming cassettes, ROMs, etc Axis : direction used to specify the robot motion in a linear or rotary mode

SERVICEROBOTICS130311

Classification of Industrial Robots : Kinematics

Form Main axis Kinematics Workspace

Hand axis

SERVICEROBOTICS130311

Classification of Industrial Robots : Application

for various machining processes for measurement, inspection, testing Handling/Machine tending for palletizing for packaging, picking & placing Arc welding Spot welding Welding & Soldering Laser welding Soldering Painting & enameling Application of adhesive, sealing Dispensing Dispensing & spraying Laser cutting Water jet cutting Processing Mechanical cutting/grinding/deburring/milling/polishing Fixing, press-fitting Assembling & Assembling/mounting/inserting Disassembling Disassembling

Others

Cleanroom applications

SERVICEROBOTICS130311

Industrial Robots : Mechanical structure Linear robots SCARA robots Articulated robot Parallel robot Cylindrical robot