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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 Main applications Working range Arc welding IRB 1520ID-4/1.5 Specification Payload 4 kg Armload 10 kg Reach 1.50 m Number of axes 6 Protection IP40 Mounting Floor, Inverted Z IRC5 controller variants Drive module, Single cabinet . Physical Dimensions robot base 300 x 300 mm Robot weight 170 kg 1 Performance (according to ISO 9283) 0 6 2 Position repeatability (RP) 0.05 mm Path repeatability (RT) 0.35 mm Movement X Axis movements Working range Maximum speed Axis 1 +170° to -170° 130°/s 8 0 Axis 2 +150° to -90° 140°/s 8 Axis 3 +80° to -100° 140°/s © Copyright ABB. ROB0214EN_G March 2014 © Copyright ABB.
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