Devoir Surveillé : Noms AA-DU 27 Novembre 2020

Promeo - Université de Picardie Jules Verne 2020-2021 LPro Automatisme et Robotique Initiation à la Robotique

Devoir Surveillé : noms AA-DU 27 novembre 2020

Consignes pour le contrôle: • Durée: 2h15 à partir de 8h30. Le barème est donné à titre indicatif. • Cours non autorisé. • Envoyez votre copie (nom du fichier: votre_nom_de_famille.pdf) avant 10h45

à l'adresse email: [email protected]

Exercice 1 : [3 pts]

Définir les caractéristiques suivantes d'un robot industriel:

1. Charge maximale transportable, 2. Répétabilité, 3. Volume de travail.

Exercice 2 : [2 pts]

Soit le manipulateur Stanford tel que montré dans la Figure 1. 1. Déterminer le nombre de DDL et le vecteur q des variables articulaires du robot. 2. Avec quel type de porteur et de poignet est équipé ce manipulateur ?

Figure 1: Manipulateur Stanford.

Exercice 3 : [5 pts]

Pour les quatre robots industriels, a) TX200 de Stäubli, b) IRB 1520ID de ABB, c) IRB 910SC-3/0.65 de ABB et d) M-20iB/25 de FANUC (voir les fiches techniques en annexe), déterminer:

• Le nombre de DDL, • Le type des articulations, • La charge maximale transportable, • La répétabilité (sur la position),

F. Morbidi et J. Ducrocq Page 1/2 Promeo - Université de Picardie Jules Verne 2020-2021 LPro Automatisme et Robotique Initiation à la Robotique • La masse du robot, • Le rayon d'action, • Les bornes des axes 2 et 3, • La vitesse maximale des trois premiers axes, • L'utilisation type.

En sachant que les produits à manipuler sont des para-brises en verre feuilleté de 6 kg, quel est le robot le plus adapté à une tâche de palettisation ?

Exercice 4 : [3 pts] 1. Décrire les fonctionnalités principales qu'on trouve dans le boîtier d'apprentissage d'un robot Stäubli à 6 axes. Illustrer, en particulier, les modes manuels "joint", "frame" et "tool". 2. Expliquer les fonctions de mouvement suivantes pour un robot Stäubli à 6 axes: • movel(point location, tOutil, mDesc), • movec(pIntermédiaire, pCible, tOutil, mDesc). 3. Qu'est-ce que le language VAL3 ? Quelles sont les fonctionnalités de la Stäubli Robotics Suite ?

Exercice 5 : [3 pts] 1. Quels sont les éléments constitutifs du système d'actionnement de l'articulation d'un robot industriel ? 2. Définir les notions d'exactitude et de precision d'un capteur. 3. Pour chacun des capteurs suivants, indiquer s'il s'agit d'un capteur proprioceptif ou extéroceptif et actif ou passif: a) encodeur rotatif optique, b) capteur temps-de-vol, c) caméra industrielle, d) télémètre laser, e) capteur d'effort, f ) accéléromètre.

Exercice 6 : [4 pts] Soit le robot planaire à 3 DDL (RRR) montré dans la Figure 2. 1. Fixer les repères et écrire le tableau des paramètres de Denavit-Hartenberg du robot. 3 T 2. Les coordonnées du point P dans le repère {x3, y3, z3} sont p = [2, 2, 0] (mètres).

Déterminer les coordonnées du même point dans le repère {x0, y0, z0} de la base.

3. Est-ce que le repère {x3, y3, z3} coïncide avec le repère de la pince ?

Figure 2 : Robot planaire à 3 DDL.

F. Morbidi et J. Ducrocq Page 2/2 TX200 series industrial robots

Food

Automotive and equipment manufacturers

Life Sciences and pharma

Plastics

Cleanroom

Machine tending

Photovoltaics

TS TX RX / TX RX / TX TP Scara / 4 axis Low payload / 6 axis Medium payload / 6 axis Heavy paylod / 6 axis Picker / 4 axis MODEL TX200 TX200L Motion range TX200 dimensions TX200L dimensions Wrist

Characteristics

Maximum load (1) 130 kg 80 kg Nominal load 100 kg 60 kg Reach (between axis 1 and 6) 2194 mm 2594 mm Number of degrees of freedom 6 6 Repeatability - ISO 9283 ± 0,06 mm ± 0,1 mm Axis 1 (A) ± 180° ± 180° Axis 2 (B) ± 120° ± 120° Axis 3 (C) +145°/-140° +145°/-140° Axis 4 (D) ± 270° ± 270°

Motion range Axis 5 (E) ±120° ±120° Axis 6 (F) ± 270° (2) ± 270° (2) Maximum reach between axis 1 and 5 (R. M) 2000 mm 2400 mm Maximum reach between axis 2 and 5 (R. M) 1750 mm 2150 mm Minimum reach between axis 1 and 5 (R. m1) 365 mm 528 mm Work Work

envelope Minimum reach between axis 2 and 5 (R. m2) 545 mm 690 mm CS8C HP controller Minimum reach between axis 3 and 5 (R. b) 800 mm 1200 mm Axis 1 160°/s 160°/s Axis 2 160°/s 160°/s Axis 3 160°/s 160°/s Axis 4 260°/s 260°/s Axis 5 260°/s 260°/s Maximum speed Axis 6 400°/s 400°/s Maximum speed 12 m/s 14 m/s Work envelope Mounting (not for vertical cable outlet option) at load gravity center Axis 5 45 kg.m2 40 kg.m2

2 2 inertias Axis 6 20 kg.m 15 kg.m Maximum Weight 1000 kg 1020 kg Brakes All axis 2 solenoid valves in option 5/2-way monostable Pneumatic (compressed air) 3 direct line between the base and the forearm Standard 1 female 19-contact socket (7 twisted pairs including 2 shielded, 3 power contacts)

Electrical Option Ethernet A 19-contact female cylindrical connector

Forearm connections Forearm with 5 twisted pairs and 3 power contacts. + 1 4-contact female cylindrical connector M12 code D for a Cat 5e Ethernet link. (1) Under special conditions, consult us. Cleanroom standard - ISO 14644-1 5 Protection class (*wrist) IP65 (*67) (2) Software configurable up to ±18000°.

Stäubli CS8 series controller CS8C HP (3) Vertical outlet version: designed to offer additional connection protection at robot Installation environment base or for use in clean and/or humid environment. Factory installation only. Working temperature according + 5°C to + 40°C to standard directive NF EN 60 204-1 (4) Pressurization kit: necessary for use in an environment with high dust levels Humidity according to standard directive 30% à 95% max. non-condensing or with substantial liquid splashing. NF EN 60 204-1 This kit generates positive pressure Attachment methods Floor/Shelf/Ceiling (6) in the arm. Factory installation only and required with pressurization kit. Vertical cable outlet version (3) • • (5) Version HE (Humid Environment): designed Pressurized version (4) • • for use in humid and oxidizing environments. The arm components are painted individually, Version HE (Humid Environnement) (5) • (6) • (6) providing additional arm protection against oxidation and corrosion. Factory installation Market specific versions only and required with pressurization kit.

(6) (6) CR Cleanroom - class 4 cleanliness - ISO 14644-1 • • (6) Contact our sales team. Robotics IRB 1520ID The Lean Arc Welder

This high precision robotic arc welder, with integrated process dressing, combines 24/7 production output with 50% lower cost of maintenance to deliver the lowest cost per weld in its class.

Dedicated arc welding robot Easy to use, Easy to program With IRB 1520ID (Integrated Dressing), the hose package is Both robot and arc welding process are easily programmed totally integrated into the upper arm and through the base of and maintained with the ABB FlexPendant. It has a intuitive the robot. This means, all media necessary for arc welding, graphical interface which lets the operators control the robot including power, welding wire, shielding gas and pressurized and selected process equipment in their own language. It is air is routed for maximized performance and energy efficiency. equipped with a touchscreen and the unique ABB joy-stick for The IRB 1520ID delivers stable welding, excellent path ac- quick and easy positioning of the robot. If you appreciate the curacy, short cycle times and extended life expectancy of the benefits of simulating and programming offline, ABB offers the hose package. Thanks to the integrated dressing, welding most popular, reliable and cost-efficient software packages around cylindrical objects can be carried out without any with RobotStudio™ and RobotStudio Arc Welding Power- stops and narrow spaces are more easily accessed. Pac including VirtualArc™. With VirtualArc™ you get built-in welding expertise and the opportunity for virtual trial and error Flexible installation to achieve a perfect welding parameter setup and much less With a payload capacity of 4 kilograms and a reach of 1.5 trimming. The welding robot will produce predictible cycle meters, the highly compact IRB 1520ID can be mounted in times and welding quality after only a few hours. both floor and inverted position. This positioning flexibility offers short cycle times and a wide range of production pos- Global service and support sibilities. For worry-free operation, ABB also offers RemoteService, which gives remote access to equipment for monitoring and Superior accuracy and speed support. Moreover, ABB customers can take advantage of ABB robots are renowned for their superior motion control. the company’s service organization; with more than 35 years With the second generation TrueMove™ technology, IRB of experience in the arc welding sector, ABB provides service 1520ID has an outstanding path accuracy. With the second support in over 100 locations in 53 countries. generation QuickMove™ technology, the robot is able to uti- lize maximum acceleration between welds to increase output with minimum energy consumption. IRB 1520ID www.abb.com/robotics Axis movements Movement Path repeatability (RT) Position repeatability (RP) Performance (according toISO9283) Robot weight Dimensions robot base Physical IRC5 controller variants Mounting Protection Number ofaxes Reach Armload Payload Specification Arc welding Main applications Data anddimensionsmaybechangedwithoutnotice Emission Safety Relative humidity For shortperiods(max24h) During transportationandstorage During operation Ambient temperature formechanicalunit: Environment Power consumption Supply voltage Electrical connections *+288 rev. to-288rev max. Axis 6* Axis 5 Axis 4 Axis 3 Axis 2 Axis 1

Working range IP40 +200° to-200°460°/s +135° to-135° +155° to-155° +80° to-100° +150° to-90° +170° to-170°

0.35 mm 0.05 mm 170 kg 300 xmm Drive module,Singlecabinet Floor, Inverted 6 1.50 m 10 kg 4 kg EMC/EMI shielded tions, 3-position enablingdevice emergency stopsandsafetyfunc- Double circuits withsupervision, Max. 95%atconstanttemperature up to+70°C(158°F) -25°C (13°F)to+55°C(131°F) +5°C (41°F)to+45°C(113°F) ISO cube0.6kW 380 V Maximumspeed 380°/s 320°/s 140°/s 140°/s 130°/s

IRB 1520ID-4/1.5 Working range 2 9 5 Z 1 6 0 1 5 0 0 X

808

2601

The IRB 910SC (SCARA) is fast, cost-effective and, because it‘s from ABB, accurate.

In designing its Selective Compliance Articulated Robot Arm ABB’s SCARA family is ideal for customers requiring rapid (SCARA), or IRB 910SC, ABB has delivered a single arm robot cycle times, high precision and high reliability for their Small capable of operating in a confined footprint. ABB’s SCARA Part Assembly applications and for laboratory automation and is ideal for the Small Parts Assembly, Material Handling and prescription drug dispensing. parts inspection. Features Variants −− A Clean Room ISO-5 option is under development With a maximum payload of 6 kg, the IRB 910SC is −− IP54 protection available in three configurations (IRB 910SC –3/0.45, −− Table top mountable IRB 910SC – 3/0.55m, and IRB 910SC – 3/0.65.) All are −− Ease of integration modular by design, with different linking arm lengths and have −− Custom interfaces individual reaches of 450 mm, 550 mm and 650 mm, respectively. −− Modular design

Tabletop mountable, each member of our SCARA family is Customer benefits IP54-rated for optimum protection against dust and liquids. −− Short cycle times which achieved by high speed A Clean Room ISO-5 option is under development. −− High precision which is achieved by superior motion control −− Superb reliability due to reuse and standard proven Applications components ABB’s SCARA family is designed for a variety of general-purpose applications such as tray kitting, component placement, machine loading/unloading and assembly. These applications require fast, repeatable and articulate point-to-point movements such as palletizing, depalletizing, machine loading/unloading and assembly. Specification Features Robot version Reach Payload Armload Integrated signal supply 10 signals on wrist IRB 910SC-3/0.45 450 mm Rated: 3 kg; Max: 6 kg Included in Integrated air supply 4 air on wrist (5 bar) the max payload Robot mounting Table IRB 910SC-3/0.55 550 mm Rated: 3 kg; Max: 6 kg Included in the max Degree of protection IP30 payload Controller IRC5 Compact IRB 910SC-3/0.65 650 mm Rated: 3 kg; Max: 6 kg Included in Arm length 450mm; 550mm; 650mm the max payload Shaft Diameter ø (mm) 20mm

Movement IRB 910SC-3/0.45 IRB 910SC-3/0.55 IRB 910SC-3/0.65 Axis movement Working range Max speed Working range Max speed Working range Max speed Axis 1 Rotation ±140 deg 415 deg/s ±140 deg 415 deg/s ±140 deg 415 deg/s Axis 2 Rotation ±150 deg 659 deg/s ±150 deg 659 deg/s ±150 deg 659 deg/s Axis 3 Up/Down 180mm 1.02 m/s 180 mm 1.02 m/s 180 mm 1.02 m/s Axis 4 Rotation ±400 deg 2400 deg/s ±400 deg 2400 deg/s ±400 deg 2400 deg/s

Performance Electrical connections IRB 910SC IRB 910SC IRB 910SC IRB 910SC IRB 910SC IRB 910SC -3/0.45 -3/0.55 -3/0.65 -3/0.45 -3/0.55 -3/0.65 1 kg picking cycle 0.380 s 0.370 s 0.385 s Supply voltage 200-600 V, 200-600 V, 200-600 V, Max TCP Velocity 6.2 m/s 6.9 m/s 7.6 m/s 50/60Hz 50/60Hz 50/60Hz Max TCP Acceleration 65 m/s^2 60 m/s^2 55 m/s^2 Transformer rating 3.0 kVA 3.0 kVA 3.0 kVA Acceleration time 0.04 s 0.05 s 0.06 s Power consumption 220 W 220 W 220 W 0-1m/s Axis 3 (Z stroke) 250 N 250 N 250 N Physical down force IRB 910SC IRB 910SC IRB 910SC Maximum Speed -3/0.45 -3/0.55 -3/0.65 Axis 1+ Axis 2 6.13 m/s 6.86 m/s 7.58 m/s Footprint 160mmx160mm 160mmx160mm 160mmx160mm Axis 3 1.02 m/s 1.02 m/s 1.02 m/s Weight 24.5 kg 25 kg 25.5 kg Axis 4 2400 deg/s 2400 deg/s 2400 deg/s Position Repeatability Axis 1 + Axis 2 ±0.015 mm ±0.015 mm ±0.015 mm Axis 3 ±0.01 mm ±0.01 mm ±0.01 mm Axis 4 ±0.005 deg ±0.005 deg ±0.005 deg

2 IRB 910SC | ABB data sheet 1 1 3 4 3 5 4 6 5 6

1 3 4 5 6

Load Diagram IRB 910SC - 3 / 0.45 Load Diagram IRB 910SC - 3 / 0.65 L [m] L [m] 0,00 0,10 0,20 0,00 0,10 0,20 0,00 0,00

a a

a a a a

c a c B a a B a a B B

h h c ca a c c

B c ac a c c B h 0,10 c c 0,10

g g g g

h c c h d d e e d d

] ] d f d f g m m [ g [

h d e e

Z d d Z e d f f 136.5

d f 136.5

136.5 136.5 136.5 136.5 e j d j

f 136.5 136.5 k k 136.5 C C j j C C b b 0b, 2 0 k b k 0,20 j j j b b k b b C j C k k b b k 160 160 j b b 160 160 k b 160 b 160 160

p p p p IRB 910SC-3/0.45 IRB 910SC-3/0.45IRB 910SC-3/0.55 160 IRB 910SC-3/0.55 IRB 910SC-3/0.65 p IRB 910SC-3/0.65 p b 160

m IRB 910SC-3/0.45 0,30 IRB 910SC-3/0.55 0,30 m p m m m m 6,0 kg (Za= 0,049 , Zb= 0,037 , Lb= 0,053 , Lc= 0,061 ) 6,0 kg (Za= 0,046 , Zb=IRB 0,03 910SC-3/0.654 , Lb= 0,056 , Lc= 0,061 ) 5,0 kg (Za= 0,056 , Zb= 0,042 , Lb= 0,057 , Lc= 0,067 ) 5,0 kg (Za= 0,052 , Zb= 0,039 , Lb= 0,061 , Lc= 0,067 )

n n n m n

m m

4,0 kg (Za= 0,068 ,q Zb= 0,051 , Lb= 0,066 , Lc= 0,075 4,0 kg (Za= 0,065 , Zb= 0,048 , Lb= 0,070 , Lc= 0,075

q 3,0 kg (Za= 0,078 , Zb= 0,059 , Lb= 0,072 , Lc= 0,087 ) 3,0 kg (Za= 0,074 , Zb= 0,056 , Lb= 0,076 , Lc= 0,087 ) n n 2,0 kg (Za= 0,116 , Zb= 0,087 , Lb= 0,106 , Lc= 0,106 ) 2,0 kg (Za= 0,111 , Zb= 0,083 , Lb= 0,106 , Lc= 0,106 )

q 1,0 kg (Za= 0,207 , Zb= 0,155 , Lb= 0,150 , Lc= 0,150 ) 1,0 kg (Za= 0,199 , Zb= 0,149 , Lb= 0,150 , Lc= 0,150 )

Load Diagram IRB 910SCL -o 3a d/ 0D.i4a5g ram IRB L9o1a0dS DCi a- g3r a/ m0. 4IR5B L 9o1a0dS DCia -g 3ra m/ 0 I.R5B5 910SCL -o 3a d/ 0D.i6a5g ram IRB 910SC - 3 / 0.65 IRB 910SC-3/0.45 IRB 910SC-3/0.55 IRB 910SC-3/0.65 IRB 910SC-3/0.45 IRB 910SC-3/0.55L [m]IRB 910SC-3/0.65 140 140 L [m] 140 L [m] L [m] L [m] 0,00140 140 0,10 140 0,20 0,1.500 1.5 0,10 1.5 0,00 0,20 0,00,10 1.5 1.5 0,200,00 1.5 0,10 0,00 0,20 0,10 0,20 0,00 150 IRB 910SC-3/0.45150 IRB 910SC-3/0.551500,00 IRB 910SC-3/0.65 150 1500,00 150 0,00 140 140 140 1.5150 1.5 1.5 150 119 150145 150 150 119 145 300 400 300 400 450 550 650 450 550 650 150 150 150150 150 150 150 119 145 300 400 450 550 650 150 150 150 5 5 5 5 5 5

0,10 0,10 0,10 0,10 0,10 5 5 5 ] ] ] ] ] m [ m m m m

1 [ [

[ 1 [

Z Z Z Z Z 1 1 1 1 1 1 3 4 3 5 4 6 5 6 0,20 0,20 0,20 0,20 0,20 1 3 4 5 6

0,30 0,30 0,30 0,30 0,30 6,0 kg (Za= 0,049 , Zb= 0,037 , Lb= 0,053 , Lc=6 ,0, 0kg6 1(Z )a= 0,049 , Zb= 0,037 , 6L,b0= k 0g, 0(Z5a3= , 0Lc,0=4 09, 0, 6Z1b =) 0,037 , L6b,=0 0k,g0 5(Z3a =, L0c,0=4 06, 0, 6Z1b =) 0,034 , Lb= 0,056 , Lc=6 ,0, 0kg6 1(Z )a= 0,046 , Zb= 0,034 , Lb= 0,056 , Lc= 0,061 ) 5,0 kg (Za= 0,056 , Zb= 0,042 , Lb= 0,057 , Lc=5 ,0, 0kg6 7(Z )a= 0,056 , Zb= 0,042 , 5L,b0= k 0g, 0(Z5a7= , 0Lc,0=5 06, 0, 6Z7b =) 0,042 , L5b,=0 0k,g0 5(Z7a =, L0c,0=5 02, 0, 6Z7b =) 0,039 , Lb= 0,061 , Lc=5 ,0, 0kg6 7(Z )a= 0,052 , Zb= 0,039 , Lb= 0,061 , Lc= 0,067 ) 4,0 kg (Za= 0,068 , Zb= 0,051 , Lb= 0,066 , Lc=4 ,0, 0kg7 5(Za= 0,068 , Zb= 0,051 , 4L,b0= k 0g, 0(Z6a6= , 0Lc,0=6 08, 0, 7Z5b= 0,051 , L4b,=0 0k,g0 6(Z6a =, L0c,0=6 05, 0, 7Z5b= 0,048 , Lb= 0,070 , Lc=4 ,0, 0kg7 5(Za= 0,065 , Zb= 0,048 , Lb= 0,070 , Lc= 0,075 3,0 kg (Za= 0,078 , Zb= 0,059 , Lb= 0,072 , Lc=3 ,0, 0kg8 7(Z )a= 0,078 , Zb= 0,059 , 3L,b0= k 0g, 0(Z7a2= , 0Lc,0=7 08, 0, 8Z7b =) 0,059 , L3b,=0 0k,g0 7(Z2a =, L0c,0=7 04, 0, 8Z7b =) 0,056 , Lb= 0,076 , Lc=3 ,0, 0kg8 7(Z )a= 0,074 , Zb= 0,056 , Lb= 0,076 , Lc= 0,087 ) 2,0 kg (Za= 0,116 , Zb= 0,087 , Lb= 0,106 , Lc=2 ,0, 1kg0 6(Z )a= 0,116 , Zb= 0,087 , 2L,b0= k 0g, 1(Z0a6= , 0Lc,1=1 06, 1, 0Z6b =) 0,087 , L2b,=0 0k,g1 0(Z6a =, L0c,1=1 01, 1, 0Z6b =) 0,083 , Lb= 0,106 , Lc=2 ,0, 1kg0 6(Z )a= 0,111 , Zb= 0,083 , Lb= 0,106 , Lc= 0,106 ) 1,0 kg (Za= 0,207 , Zb= 0,155 , Lb= 0,150 , Lc=1 ,0, 1kg5 0(Z )a= 0,207 , Zb= 0,155 , 1L,b0= k 0g, 1(Z5a0= , 0Lc,2=0 07, 1, 5Z0b =) 0,155 , L1b,=0 0k,g1 5(Z0a =, L0c,1=9 09, 1, 5Z0b =) 0,149 , Lb= 0,150 , Lc=1 ,0, 1kg5 0(Z )a= 0,199 , Zb= 0,149 , Lb= 0,150 , Lc= 0,150 )

Load Diagram IRB 910SCL -o 3a d/ 0D.i5a5g ram IRB 910SC - 3 / 0.55 L [m] L [m] 0,00 0,10 0,00 0,20 0,10 0,20 0,00 0,00

ABB data sheet | IRB 910SC 3

0,10 0,10 ] ] m m [ [

Z Z

0,20 0,20

0,30 0,30 6,0 kg (Za= 0,049 , Zb= 0,037 , Lb= 0,053 , Lc6=, 00 ,k0g6 1(Z )a= 0,049 , Zb= 0,037 , Lb= 0,053 , Lc= 0,061 ) 5,0 kg (Za= 0,056 , Zb= 0,042 , Lb= 0,057 , Lc5=, 00 ,k0g6 7(Z )a= 0,056 , Zb= 0,042 , Lb= 0,057 , Lc= 0,067 ) 4,0 kg (Za= 0,068 , Zb= 0,051 , Lb= 0,066 , Lc4=, 00 ,k0g7 5(Za= 0,068 , Zb= 0,051 , Lb= 0,066 , Lc= 0,075 3,0 kg (Za= 0,078 , Zb= 0,059 , Lb= 0,072 , Lc3=, 00 ,k0g8 7(Z )a= 0,078 , Zb= 0,059 , Lb= 0,072 , Lc= 0,087 ) 2,0 kg (Za= 0,116 , Zb= 0,087 , Lb= 0,106 , Lc2=, 00 ,k1g0 6(Z )a= 0,116 , Zb= 0,087 , Lb= 0,106 , Lc= 0,106 ) 1,0 kg (Za= 0,207 , Zb= 0,155 , Lb= 0,150 , Lc1=, 00 ,k1g5 0(Z )a= 0,207 , Zb= 0,155 , Lb= 0,150 , Lc= 0,150 )