Robots & Automation – MFET MFET 445 Robots & CNC in Integrated Manufacturing Manufacturin g – MFET MFET 685
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Selecting a suitable robot
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Industrial Robot applications
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Selecting a suitable robot
Choosing the best robot for your application, one must consider the following factors needed for the operation:
Work envelope Degrees of Freedom (DOF) Resolution Accuracy Repeatability Operational Speed Load Capacity
Work Envelope
The work envelope is different for each robot configuration and is defined by its type of joints and DOF.
All the fixtures, equipment equipment and other machinery mac hinery that will work with the robot must be located within the work envelope.
In order to choose c hoose a robot for your application, make sure to check chec k the robot’s robot’s maximum reach or rotation in each of the joints. joints.
Degrees of Freedom
The number of DOF determines the robot’s ability to move within the work envelope.
Robots with six DOF can work anywhere within the work envelope.
Not all applications require a versatile unit. It will be determined what type of operation is the robot performing.
Additional DOFs can be added if the robot is mounted on rails or other peripheral devices, this permits the robot move move to move horizontal hor izontally ly or vertically vertically..
Additional DOF
Resolution
Resolution is determined by the robot’s control system and refers to the smallest incremental movement movement the robot can make.
Command resolution: is the closest distance between movements and is calculated by dividing the travel distance of each joint joi nt by the number of control increments. Spatial Resolution: describes the accuracy of the robot’s robot’s tool tip. Spatial resolution takes into account commands resolution and mechanical inaccuracy.
Resolution
200 steps / revolution Native Native resolution 1.8 degrees
At 1 meter extension Spatial resolution is 0.031m (31mm)
1m
At 3 meter extension Spatial resolution is 0.093m (93mm)
3m
Fanuc R2000 robot ser servos vos αi serie ries 32M steps / revolution revolution Native resolution 11.25x10 -6 degrees
At 1 meter extension Spatial resolution is 196 x 10 -9 m
1m
Accuracy
Accuracy expresses how precisely the robot’s hand is programmed to reach reac h a predetermined predeter mined point.
Accuracy
Accuracy
Repeatability
Repeatability expresses how close the robot’s hand will actually come to the designated position while repetitively repetitively perform the task or procedure.
Repeatability vs. Accuracy Repeatability
Accuracy
• “How “How close will the robot be to the same position as the same move made before”
• “How “How close does the robot get to the desired point”
• A measure of the error er ror or variability when repeatedly repeatedly reaching for a single position.
• This measures the distance between the specified position, and the actual position of the robot end effector.
• This is the result of random errors only • Repeatability is often smaller than accuracy.
• Accuracy is more important when performing off-line programming, because absolute coordinates are used.
Repeatability vs. Accuracy
Resolution, Repeatability Repeatability,, Accuracy
*BRU: Basic Resolution Unit
Compliance
Operational Speed
Also known as dynamic performance, represents how fast the robot can accelerate, decelerate, and come to a stop at a given point.
The two two most important impor tant factors that influence operation speed:
Desired accuracy Payload
Load Capacity
The payload payload indicates the maximum mass the robot can lift before either failure failure of the robots, or dramatic loss of accuracy. It is possible to exceed the maximum payload, and still have the robot operate, but this is not advised.
When the robot is accelerating fast, the payload should be less than the maximum mass. This is affected by the ability to firmly grip g rip the part, par t, as well well as the robot structure str ucture,, and the actuators.
The end of arm tooling should be considered part of the payload.
Industrial Robot Applications
Robots find application in a vast number of fields such as
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Manufacturing Undersea operations Farming and Agriculture Military and Space Service Nuclear Power Plant Service Construction and Power Lines Gas Station Electronics Medical Food Fo od Industry Industr y Packaging
Grinding •
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Robot must be well sealed against dust and grit Rigid structure Force Control Injury reduction
https://www.youtube.co m/watch?v=OMAT6sEipg E
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Material Handling
Injury reduction, error reduction https://www.youtube.com/watch?v=quWFjS3Ci7A 32
Part Loading & Unloading https://www.youtube.com /watch?v=pdPJaLzyR2w
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Spot Welding
https://www.youtube.com/watch?v=ArxzMqf3aZg 34
https://www.youtube.com/watch?v=taTL_nozwJs
Palletizing
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https://www.youtube.com/watch?v=cLVCGEmkJs0
ABB IRB660 axis 1 2 3 6 6 3 2 1
distance rate 180 95 60 95 60 95 90 240 180 95 60 95 60 95 90 240
time 1.89 0.63 0.63 0.38 1.89 0.63 0.63 0.38
sec sec sec sec sec sec sec sec
7.07
sec/cycle
509.50
cycles/hr
ABB IRB660
axis
distance
rate
time
1
180
95
1.89
s ec
2
60
95
0.63
sec
3
60
95
0.63
sec
6
90
2 40
0.38
s ec
6
180
95
1.89
s ec
3
60
95
0.63
sec
2
60
95
0.63
sec
1
90
2 40
0.38
s ec
5.05
sec/cycle
71 2 . 5 0
cycles/hr
Moulding Industry
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https://www.youtube. com/watch?v=gNAEF wCreRo
Spray Painting
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https://www.youtube.com/watch?v=jB_ 3awvUTyo
Spray Painting
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Arc Welding https://www.youtube.com /watch?v=NJIgQjKDVUg
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Assembly
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https://www.youtube.com/watch?v=8P9gHmsmZiE
Foundry
https://www.youtube.c om/watch?v=IwhL4K8ZZA
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PC Board Assembly
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https://www.youtube .com/watch?v=S8qka Tsr2_o
Inspection
https://www.youtube.com/watch?v=PINQDJESQnQ
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Inspection
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https://www.youtube.com/watch?v=844UiRBVxlY
Under-Sea Operations
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https://www.youtube.com /watch?v=HOFQd711sas
Farming Farmi ng and Agriculture
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https://www.youtub e.com/watch?v=hjd 5DaxkLhQ
Bio-Agriculture
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https://www.youtube.c om/watch?v=zXplJ3Cb 2pQ
Military https://www.youtu be.com/watch?v=c be.com/w atch?v=c NZPRsrwumQ
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Space
Mars Pathfin Pathfinder der with with SojournerSojourner- landed landed on the planet planet Mars Mars on July 4, 1997.
GalileoGalileo- designed designed to orbit orbit Jupiter Jupiter and send a probe probe into its its atmosphere. Launched on October 18, 1989, from the space shuttle Atlantis https://www.youtube.com/watch?v=FZYnIsLNz3c
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Space
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Nuclear Power Plant
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https://www.youtube.com/wat ch?v=-JfUO50dR90
Power Po wer Line Maintenance Maintenance
https://www.youtube.com/watch?v=2h6UPMcy8-o 57
Gasoline Refilling Station
https://www.youtube.com/watch?v=3y_J7fg03fA
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Aircraft Ref Refueling ueling
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https://www.youtube.co m/watch?v=qGpM4G7A4 4w
Electronics Industry.
The MAKER MAKER 110 110 – Polar olar Configuration.
The MAKER performs a semiconductor waferetching application in the electronics industry
https://www.youtube.c om/watch?v=lHHjKIN wkPg
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https://www.youtube .com/watch?v=Fz24x 3CPo1I
https://www.youtube.com /watch?v=nOVVtog2lH4
Surgery https://www.youtube.com/watch?v=VJ_3GJNz4fg
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Prosthesis Development
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Prosthetics, mechanical contrivances adapted to reproduce reproduce the form, and as far as possible, the function, of a lost or absent member.
The replacement of a missing body part by an artificial substitute is called prosthesis; the branch of surgery surger y dealing with prosthesis is prosthetics.
Microprocessors Microprocessors are used to monitor neurons in the spinal cord making it possible to create cybernetic or robotic arms and legs.
Prosthetic Devices https://www.youtube. com/watch?v=_qUPnn ROxvY&t=7s
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Food Industry https://www.youtube .com/watch?v=QDpr rrEdomM
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Food Industry
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https://www.youtube. com/watch?v=FmXLq ImT1wE
