Robot Configuration - 1

Robot Configuration - 1

• 1.
  OVERVIEW  Classification ofIndustrial Robots  Work Volume  Arm Configuration  Advantages and Disadvantages of Robot Configurations
• 2.
  CLASSIFICATION OF ROBOTS 1.Based on Robot Arm Configuration  Cartesian coordinate  Cylindrical coordinate  Polar coordinate  Jointed arm configuration 2. Based on Power Source  Pneumatic  Hydraulic  Electric 3. Based on path control  Limited Sequence Robot  Point to point control  Path controlled Robot
• 3.
  WORK VOLUME  Workvolume or work envelope refers to the space within which the robot can manipulate its wrist end.  For defining the work volume, the wrist end convention is adopted to avoid the complication of different sizes of end effectors that might be attached to the robot’s wrist.  The work volume is determined by the following physical characteristics: 1. Robot’s physical configuration. 2. Sizes of the body, arm and wrist components. 3. Limits of robot’s joint movements.
• 4.
  ARM CONFIGURATION  CartesianCoordinate System • In this there are three orthogonal directions X,Y and Z. • X-coordinate axis may represent left and right motion. • Y-coordinate axis may represent forward and backward motion. • Z-coordinate axis may represent up and down motions. • Example of Cartesian System is Overhead Crane Movement.
• 6.
  Working Envelope ofCartesian Configuration Robot  The working envelope of the Cartesian configuration is a rectangular prism.  The robot can manipulate its maximum payload throughout the working volume.
• 7.
  Advantages:  Work envelopecan be increased by travelling along the x axis.  Linear movement and hence simpler control.  High degree of accuracy and repeatability due to their structure.  Can carry heavier loads since load carrying capacity does not differ at different position of the work envelope. Disadvantages:  Movement is limited to only one direction at a time. Applications:  Pick and place operation.  Adhesive applications.  Assembly and sub assembly.  Nuclear material handling.  Welding
• 8.
   Cylindrical ConfigurationRobot • It uses a vertical column and a slide that can be moved up or down along the column. • The robot arm is attached to the slide so that it can be moved radially with respect to the column. • By rotating the column, the robot is capable of achieving a work space that approximates a cylinder. • It contains two linear motions and one rotational motion. • Angular Motion, θ along vertical axis; Translation Motion, z along z-direction that corresponds to up and down motion; Radial, r in or out translation.
• 11.
  Working Envelope ofCylindrical Configuration Robot  The working envelope of this configuration is as its name suggests a cylinder.
• 12.
  Advantages  Results inlarger work volume than a rectangular manipulator.  Vertical structure conserves floor space.  Capable of carrying large payloads. Disadvantages  Repeatability and accuracy are lower in the direction of rotary motion.  Requires more sophisticated control system. Applications  Assembly.  Coating application  Die casting.  Foundry and forging application  Machine loading and unloading.