Documenti di Didattica
Documenti di Professioni
Documenti di Cultura
Main Components
Wrist
Elbow
Shoulder
Waist
Mechanical
structure
Robot Unit
Outer appearance
5 Degrees of freedom (DOF) waist, shoulder, elbow, pitch, roll
Base, body, upper arm, forearm, hand attachment
Wrist
The robot is in articulated geometry
Every joint is rotational
As opposed to cylindrical or spherical
Hand 2 jaw gripper which uses a DC motor to control close and open
Spherical
Cylindrical
Interior of arm
3 parts to each joint generally: motor (DC permanent magnet), timing
belt, appropriate gearing to reduce speed and increase torque, limit
switch
Limit switch limit the travel of a joint (small micro-switch), also used
to provide a nest position
Two motors for wrist
Drive Unit
Programs + positions may be entered into the system and stored in a
ROM used in subsequent playback
Serial port (RS232C) for connection to an external computer (like
the usual terminal port)
Centronics connection (standard connector for most printers)
External I/O terminals it is usually necessary to synchronize the
operation of robot with convey, solenoids for part pick-up
Teach Box
Slide switch on for teaching and off for computer mode
12 keys on right for manually operating the joints
B body movement
S shoulder movement
E elbow movement
R rotation of wrist
P pitch of wrist
O open hand
C close hand
Specifications
Robot Unit
Range of joints
Waist: 300
Shoulder: 130
Elbow: 90
Pitch:
90
Roll:
180
Specifications - continued
Driver Unit
Control system: point to point
Point position identification: optical encoder
Control Unit
Z-80 microprocessor
2 types of interface to PC
Teach box, ROM, I/O
Operating system/control program memory/data memory