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CIS009-2, Mechatronics Robotic Arms & Hands CIS009-2, Mechatronics Robotic Arms & Hands David Goodwin Department of Computer Science and Technology University of Bedfordshire 06th December 2012 Outline Mechatronics David Goodwin Robot Arms Axes of motion Degrees of freedom Types Design Industrial 1 Robot Arms Industrial Applications Applications End effectors Axes of motion 2 End effectors Mechanical types Degrees of freedom Mechanical types Suction type Types Suction type Magnetic grippers Design Magnetic grippers Department of Computer Science and Technology University of Bedfordshire 47 Mechatronics David Goodwin Robot Arms 3 Axes of motion Degrees of freedom Types Design Robot Arms Industrial Applications End effectors Mechanical types Suction type Magnetic grippers Department of Computer Science and Technology University of Bedfordshire 47 Robot Arms Considering design specifications Mechatronics David Goodwin Robot Arms 4 Axes of motion Degrees of freedom Types Design Robots are designed for specific purposes. For this reason Industrial there are many configurations of robotic systems available. Applications End effectors Key points for robot arm design Mechanical types Manoeuvrability Suction type Intricate movements Magnetic grippers Ability to carry heave loads Speed Department of Computer Science and Technology University of Bedfordshire 47 Axes of Motion & Degrees of Freedom Mechatronics David Goodwin Robot Arms 5 Axes of motion Degrees of freedom Types Design Industrial Applications Terms used when discussing robot geometry and End effectors specifications of robots. Mechanical types Both terms mean differently and should not be confused with Suction type Magnetic grippers each other. Department of Computer Science and Technology University of Bedfordshire 47 Axes of motion Mechatronics David Goodwin Defines manoeuvrability. Robot Arms Axes of motion 6 Defines complexity of robot program. Degrees of freedom Types Includes rotations and straight line movements. Design Industrial Applications End effectors Mechanical types Suction type Magnetic grippers Department of Computer Science and Technology University of Bedfordshire 47 Degrees of freedom Mechatronics David Goodwin The number of independent movements in which the end Robot Arms effector (tool or gripper) of the robot can move Axes of motion Degrees of freedom 7 Types Design Industrial Applications End effectors Mechanical types Suction type Magnetic grippers Department of Computer Science and Technology University of Bedfordshire 47 Degrees of freedom Example Mechatronics David Goodwin A robot with four axes of motion but three degrees of Robot Arms Axes of motion freedom. Degrees of freedom 8 Note that 3 degrees of freedom can allow a robot to place its Types Design end effector in any position but not at an angle. Industrial Applications End effectors Mechanical types Suction type Magnetic grippers Department of Computer Science and Technology University of Bedfordshire 47 Degrees of freedom Adding more degrees of freedom Mechatronics David Goodwin Robot Arms To increase the number of degrees of freedom in a robot we Axes of motion fit an end-effector on to the robotic arm. The end-effector is Degrees of freedom 9 Types a mechanical wrist that allows for extra degrees of freedom. Design Industrial Applications End effectors Mechanical types Suction type Magnetic grippers Department of Computer Science and Technology University of Bedfordshire 47 Joint Types Mechatronics Prismatic joints in which the link is supported on a linear slider David Goodwin bearing, and linearly actuated by ball screws and Robot Arms motors or cylinders. One degree of translational Axes of motion Degrees of freedom 10 freedom along a prismatic axis. Types Revolute joints often driven by electric motors and Design Industrial chain/belt/gear transmissions, or by hydraulic Applications cylinders and levers. One degree of rotational End effectors freedom about a revolute axis. Mechanical types Suction type Spherical joints these are the third most utilized joint and just Magnetic grippers slide causing a revolving movement. Three degrees of rotational freedom about a pivot point. Department of Computer Science and Technology University of Bedfordshire 47 Robot Arms The different types of robot arms Mechatronics David Goodwin Cartesian pick and place work, assembly operations, handling machine Robot Arms Axes of motion tools, arc welding. Degrees of freedom Cylindrical assembly operations, handling Types 11 Design machine tools, spot welding, Industrial diecasting. Applications End effectors Polar handling machine tools, spot Mechanical types welding, diecasting, fettling Suction type machines, gas welding, arc Magnetic grippers welding. SCARA pick and place work, assembly operations, handling machine tools. Articulated assembly operations, diecasting, fettling machines, Department of Computer Science and gas welding, arc welding, spray Technology University of painting. Bedfordshire 47 Cartesian Robot Arm Mechatronics David Goodwin Robot Arms \Cartesian" because the arm's Axes of motion axes can be described by using Degrees of freedom Types 12 the X, Y, and Z coordinate Design system. It is claimed that the Industrial cartesian design will produce Applications End effectors the most accurate movements. Mechanical types Because of the highly rigidity, Suction type Magnetic grippers the Cartesian Robots are very accurate and repeatable but they lacks flexibility as they cannot reach around objects. Due to their mechanical structure, these robots are very easy to program and visualise Department of Computer Science and Technology University of Bedfordshire 47 Cylindrical Robot Arm Mechatronics David Goodwin Robot Arms Axes of motion Degrees of freedom Types 13 Design A cylindrical arm also has Industrial Applications three degrees of freedom, but End effectors it moves linearly only along Mechanical types the Y and Z axes. Its third Suction type degree of freedom is the Magnetic grippers rotation at its base around the two axes. The work envelope is in the shape of a cylinder. Department of Computer Science and Technology University of Bedfordshire 47 Polar Robot Arm Mechatronics David Goodwin Robot Arms Axes of motion Degrees of freedom Types 14 Design The sperical arm, also known Industrial Applications as polar coordinate robot arm, End effectors has one sliding motion and Mechanical types two rotational, around the Suction type vertical post and around a Magnetic grippers shoulder joint. The spherical arm's work envelope is a partial sphere which has Polar robot is able to rotate in various length radii. two different directions along his main axes and the third joint moves in translation Department of forming a hemisphere or polar Computer Science and Technology coordinate system. University of Bedfordshire 47 SCARA Robot Arm Selection Compliance Assembly Robot Arm Mechatronics David Goodwin Robot Arms Axes of motion Rotates about two axes, and Degrees of freedom some have sliding motion Types 15 along another. Design Industrial By virtue of the SCARA's Applications parallel-axis joint layout, the End effectors Mechanical types arm is slightly compliant in the Suction type X-Y direction but rigid in the Magnetic grippers 'Z' direction, hence the term: One disadvantage is that it Selective Compliant. can be more expensive because Due to their \elbow" motions, the controlling software SCARA robots are also used requires inverse kinematics for for applications requiring linear interpolated moves. The constant acceleration through work envelope of the SCARA Department of circular motions. robot tends to be difficult to Computer Science and Technology control, and restricted in University of volume coverage. Bedfordshire 47 Articulated Robot Arm Mechatronics David Goodwin The arm has a trunk, shoulder, upper arm, forearm, and wrist. Robot Arms Axes of motion All joints in the arm can Degrees of freedom rotate, creating six degrees of Types 16 freedom. Three are the X, Y, Design Industrial and Z axes, and pitch, yaw, Applications and roll. Pitch is when you End effectors move your wrist up and down. Mechanical types Yaw is when you move your Suction type Magnetic grippers hand left and right. Roll is rotating your entire forearm. Very flexible with the ability to reach over obstructions. Achieve any position and Motion from one point to orientation within the another can be difficult to envelope. visualise as the robot will Department of Computer Science and move each joint through the Technology Disadvantage: Difficult to University of control. minimum angle required. Bedfordshire 47 Accuracy & Repeatability Mechatronics David Goodwin Accuracy How close does the robot get to the desired point? Robot Arms When the robot's program instructs the robot to Axes of motion Degrees of freedom move to a specified point, it does not actaully Types perform as per specified. The accuracy measure Design 17 Industrial such variance. That is, the distance between the Applications specified position that a robot is trying to achieve End effectors (programming point), and the actual X, Y and Z Mechanical types Suction type resultant position of the robot end effector. Magnetic grippers Repeatability The ability of a robot to return repeatedly to a given position. It is the ability of a robotic system or mechanism to repeat the same motion or achieve the same position. Repeatablity is is a measure of the error or variability when repeatedly reaching for a single position. Repeatability is often smaller than Department of Computer Science and accuracy.
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