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THE BASICS OF ROBOTICS

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1. Production amp Window File Mod T ROBI T ROBI T ROBI MainMod MainMod MainMod Picture 23 robot studio screenshot i Auto Motors On ABB IRB1600_5kg_1 LSTA10E2 Stopped Speed 100 Program Editor Tasks and Meee A I ROBI Don t save the program because It is already saved Fe 555 i Production T ROBI Window f MainMod Picture 24 robot studio screenshot We click on File and choose New routine z a din 519 a 1 tmn 53 IRB4400 60kg 1 BECKHOFF9 Stopped Speed 100 o oi a m E nro on nize i Events RAPID Inputsj N Control Panel Editor Outputs Routines Synchronize Virtual Controller Type 1t030f3 1 60kg 1 96m Procedure z OKOLI a O Configuration a Procedure Event Log amp 1 0 System Procedure fh RAPID 3 YT ROBI Program 1RB4400 OPF Program Modules IRB4400 E Haku E main E Siito ap System Modules SOLUROBOTTI G Configuration Event L O Event Log Show Routine Back G 1 0 System BY DeviceNet Production Ya 18081 Na 1 808 Y Local E Window 1RB4400_ 1RB4400_ y Virtuall mien i ss 207 hh a Picture 25 robot studio screenshot Notice If New Routine is not possible to select and the color is gray then check if the motor is on or off and click also on enable button to activate and should be in green CONST robtarget E PROC main a ENDPRO
2. Change Selected Motors On IRB4600 60kg 2 LSTA10E Stopped Speed 100 x Current argument Zone Select argument value Active filter Moved pistel v500 gg tool0 7 to 16 of 16 i oe Expression Production p T ROBI e Window MainMod Picture 35 robot studio screenshot Now we can change tool name by clicking new so new window open to rename your tool name or select tool from tool list Assa W Change Selected Manual Motors On IRB4600_60kg_2 LSTA10E Stopped Speed 100 Current argument Tool Select argument value Active filter Moved pistel v500 z40 tool Click here n o t 123 Expression Edit OK Production T ROB1 Window MainMod Picture 36 robot studio screenshot We repeat the same step many times by using the same previous procedure CONST robtarget piste110 77 7 CONST robtarget pistel120 793 CONST robtarget pistel30 1 773 78 25 7 PROC main MoveJ pistel vl000 z50 tool0 h MoveJ pistel20 v1000 z50 tool0 MoveL pistel30 v1000 z50 tool0 Add I nstruction z T_ROB1 Y T ROB1 MainMod MainMod Picture 37 robot studio screenshot Now we need to give command pick up and pick off the object we click first on command up then 1 0 Manual Guard Stop IRB1600 5kg 1 LSTA10E2 Stopped Speed 100 k Fareed in T ROB1 MainModule main Tasks and P
3. 1 0 cos O 205 cos 02 eguation 4 This is speed matrix Xp H lsin 0 Ea sin id E Y t cos t cos 02 le 901 f sin 01 sin 02 Cicos 01 cos 02 Notice that the system decides the speed and the acceleration as well when we just define the value of 0 0 c 1 x eguation 6 Notice In case there is no inverse it means the task is not achievable They are the Joint space for trajectory planning 01 02 03 Craig 2005 201 203 9 3 Constraints In order to make smooth motion we need to put some constraints between via points e a max acceleration e Torque Robot should Move from initial points to final points through via points because of intermediate point obstacles within specified duration of time 9 4 Subject to constraints e joint space trajectory planning e single joint revolute O t e move position initial 1 to final position j I i 0 0 j 6 07 0 J final point limitis e cin t Tim Figure 9 2 9 5 Cubic polynomials T Local time frame Tj the duration time Fromi gt J gt o Ti A T Co Ci T CoT CG3T Cn T equation 7 C velocity Specified 6 07 0 0 Specified 0 0 0 0 07 8 we have 6 coefficients Co Cs Case O Co Ci T C T C3 T 0 0 6 0 0 0r O T 0 O T O 0 Co gt O T Co CiT C T C3T 0 Ci gt O T C1 20 T 303 T eguation 8 0 Co C Tj C Tj
4. Picture 1 3 Assembly robot examples in car factory DIRECT INDUSTRY www directindustry com Consistent quality at high standards can be achieved by a robot A robot can easily be re programmed many times to reach the highest possible quality which a human cannot often achieve Safety is especially important when a robot handles chemicals bio chemicals toxic and nuclear products They can be handled very safely and smoothly saving humans from carrying out high risk stress inducing work Robots can carefully handle fragile and tiny parts such as glass small chips and wires Inspection and maintenance tasks in dangerous areas for example handling explosives exploring the deep sea space and other planets One example is the shipwrecked Titanic A robot was used to discover the ships content as it lay so deep under the ocean it was beyond human reach Space missions to gather samples from other planets and to analyze them from remote distances 2 4 Types of robot 1 Industrial robots painting and welding robots Advantages of a painting robot Robot painting is equal uniform with high quality and precision It can reach very difficult places due to their high degree of flexibility which can be difficult for humans but can be achieved easily by robots A human needs to carry heavy painting gun and wear a mask for protection against toxic chemicals A robot s repetition rate is high as it does not suffer from fatigue
5. not be saved together with the program The module view can be reached from the e NP Program Editor hh E Modules Hold To Run File la Production a T ROBi trosi Na TROBI E window MainMod MainMod F MainMod Picture 20 robot studio screenshot Give the file name or select certain file in your hard disk then press ok E sw i 4 20127 Tool data has changed xX Save As C Users shakfare Documents RobotStudio Systems IRB1600_7kg_1 2m_ty s E Program Files pgf v Automatic file creation by Browse certain file the system on your disk Click ok m N rlename NewProgramName L Production T ROBI T ROBI T ROBI Se Window MainMod MainMod MainMod Picture 21 robot studio screenshot Then you give a name to your file which has pgf format E If Error Not Acknowledged a EN 20127 Tool data has changed Open C Users shakfare Documents RobotStudio Systems IRB1600 7kg 1 2m type Program Files pgf v Type Automatic renaming by the system sisi E F fa Production If fa Tros Ifa TROBI p Window MainMad MainMod J MainMod Picture 22 robot studio screenshot Lz Program Editor Click on load program Tasks and Programs Task Name Program Name Type 1to10f1 I ROBI NewProgramName Normal New Program Click load Save Program As program Rename Program Delete Program
6. Safety levels which can be achieved by using a robot are high by saving humans from the smell chemical toxics 2 Medical robot to make surgery Picture2 4 One example of a medical robot LAGADIC www irisa fr Advantages of a medical robot Patient gets fast recovery The operation is more precise with fewer mistakes Robot can open small incisions in the body and carry out major operations with minimal damage to the patient Therefore recovery time is decreased The equipment is more hygienic and safe 3 Mobile robot with legs or wheel for chemical power plant under see or remote areas and bombs fields The advantage in leg robot is that it can avoid step over obstacles which can be dangerous like bomb or even to protect objects from being destroyed due to robot moving over them Picture2 5 Leg robot picture http whollysblog com wordpress tag robot Picture 2 6 Example of mobile robot http www globalsecurity org 4 Robotics aircrafts and boats without pilot which are guided from a station on the ground which are used by army or rescue mission Figure 2 7 example of a robot aircraft http www wired com dangerroom 2008 03 pilots yanked o 5 Robotic toys for entertainment Picture 2 8 Toy robot example http www guestionanswers info 2010 08 introduction robots types robots working process robots 6 Robot for cleaning at home and industry Picture 2 9 Vacuum cleaner robot http
7. Storage type variabe H 7 Task men vi WW 7 Module MainModule y Va Noes 8 y Hold To Run Dimension lt None gt v 13 OK Cancel a Production T ROB1 ROB 1 Maintod e Picture 41 robot studio screenshot Notice When you select number then you choose to pick up the object but when you select 0 the you choose to leave the object Guard Stop Stopped Speed 100 Manual IRB1600 5kg 1 LSTA10E2 Current argument Signal Select argument value select O or 1 E 123 Expression Edit OK Production T ROB1 Window MainMod Picture 42 robot studio screenshot Manual Guard Stop IRB1600 Skg 1 LSTA10E2 Stopped Speed 100 Fareed in T_ROB1 MainModule main Tasks and Programs w Modules 4 CONST robtarget p3Q 5 VAR signaldo ae N 6 PROC main 7 MoveJ p10 v1000 fe MoveJ p20 v100 MoveJ p30 v1000 ENDPRC 12 ENDMODULE pad Left up 1 a Takka cant Picture 43 rebot studio screenshot Notice We can also use the command set 1 and reset 0 for tool to pick up object and to leave it The command set and reset is more simple to use for example set is to pick up and reset to leave object The command wait time we click on next until we get the various list of option for wait command list Motors On 1RB4600 60kg 2 LSTA10E Stopped Speed 100 et pistel 133
8. we notice from the following picture 6 17 that if B rotates then work space will be as we see in the picture but if we assume that LI L2 then Cl will touch the base A and we notice that we have a bigger workspace Craig 2005 102 103 WORKSPACE R R R fj Atk B L1 L2 Picture 6 17 Example to show a work space Direct kinematics in the picture 6 18and inverse kinematics in picture 6 19 To define the position is easy if we know the value of joint angles 0 and for 2 axis 2R manipulator robot and this is considered to be an easy task 2R a LI th lt POSITION PX Picture 6 18 Direct kinematics 2R Picture 6 19 Inverse kinematics 2R There are 3 axis or 3R manipulator robot in picture 5 6 and 5 7 There is The Inverse kinematics in picture 5 7 and direct kinematics in 5 6 Craig 2005 103 104 Notice Y is the orientation angle th Pf x Picture 6 20 Direct kinematics 3R Picture 6 21 Inverse kinematics 3R Notice The given joint angles will define the position of an end effector 6 9 How to define the inverse kinematics in 2R manipulator When the base position end effector position and the linkage length are given then we have unique solution by drawing two circles The center of these circles is the position of the base A and the position of the end effector Then we take the 2 cross point which represents direct kinematics and inverse kinematics solutions
9. 4 3 0 Velocity Deg sec PENNWUWL OWOLMIOINOMNOLMWIOWMO MOMO 11 BWWNNEE Seconds 6 1 1 8 2 4 3 0 Acceleration Figure 9 6 Craig 2005 206 User specify n 2 Final position Position velocity User has to give Cartesian data and large data which is kinematically consistent Another constraints gt user interface must be simple Task space lt gt Joint space Initial position Final position 0 0 0 0 n via point e n 2 position velocity data User should specify the following for creating trajectory e Initial position e Final position e Viapoints Notice Position specifies velocity to be chosen by the system Example 3 points specified 1 j k 1 k gt position velocity J position Figure 9 6 this picture specifies time with respect of speed Two cubic curves segment AD Cot Ci T TH G T A T bot bi T tb T bs T 00 Dal 0 tij O 0 ti 0k atj Continuity of velocity and acceleration AD Co Ci T OT CGT gt ij 8 T Ci 2C T 3C3 T O T 2C2 6C3T at jk O T bot bi T tb T b T gt jk 0 D b 2b T 3b T 0 T 2b gt 6b3T Velocity continues at j C 200 tj 3Czti b Craig 2005 208 210 20 6C3 tij 2b We have 8 equations with 8 coefficients In general we can say Initial position n final position Velocity via points velocity n 1 cubic segment to be fit each segment has 4 coeffi
10. 6 10 How to define the inverse kinematics in 3R manipulator When end effector position and the linkage length are given then we have unique solution by drawing two circles and the center of these circles is The position of the base A and the position of C Notice that the position of C stays the same Craig 2005 102 105 7 TRAJECTORY DEFINITION This example is how to move the box from position p to final position p4 during t to t4 t1 t2 3 t4 Figure 7 1 Moving object from position 1 to position 4 Solution First we need to calculate 0 s at ti tz tz t4 Then we need to calculate the position of the links This kind of problem can be called inverse kinematics We should be careful that during motion no accident happens Given 0 s at each moment determines the position and orientation of all links 7 1 Forward position problem Fixed parameters of the mechanisms values of joint variables will determine position and orientations of all links 7 2 Inverse position problem Fixed bars of the mechanisms position and orientations of end effector will determine the values of joint variables 7 3 Simple example with planar 2R e 1 2 lengths and p coordinate is given e We need to calculate 6 s and x s orientations Y Xp and Yp are coordinates of B Xp and Yp are coordinates of P Yp L sin 0 1 Xp Licos 01 Xp Licos 0 1 Locos 01 02 Yp Lisin 0 1 Losin 01 02 Figure 7 2 2R Manipulator We
11. Add Ins Modify LA J eahorecpe E in ae W A 7 1 Instruction Workohied Show Hide Ma a nowi ABB Import Robot Import aget Path Other re ee N Library Library System gt Geometry i MultiMove ogl TURUN i eh J View Build Station Path Programming Settings Freehand 3D View Layout Paths amp Target gt X View 70X sf IRB1600ID 4 150 03 igi Links mv OB Base ABB Link eep current position Picture3 robot studio screenshot Example to explain how to connect end effector to the robot Now you need to select geometry or table you need to click on import library then_Equipment follow the arrow and choose any table by clicking the object then it will appear on red on the robot environment watch picture 4 e 740 Browse for Library Ctri J Torch Cleaner Torch q Binzel BRS Wire Feeder AW_Gun_PSF_25 Binzel WH455D ECCO 70AS 03 GWT 510 PKI 500 di M2001 PKI 500 si M2001 ee o EZ amp Curve Thing my cl Pen propeller Time 28 11 2011 9 20 12 28 11 2011 9 20 12 Picture 4 robot studio screenshot How to select table or some other geometry from ABB library We need to change the position of the table by clicking from home section move order from freehand group button the will appear x and y cross line and we can move by dragging the arrow head right or left and up and down but this way is not precise and I don t recommen
12. E Attach Detach Graphic M Paste dp Set Local Origin B Apply Orientation to Appearance if Unsaved Station H A 1RB1600 5 120 01 bg Binzel WH455D g table and fodure 140 Name s Date modified Type No items match your search Picture 7 robot studio screenshot Giving a name the station and to choose location on the computer to save it 1 3 Moving robot joint space Firstly we make right click on the robot tree on the left side on layout section then we have several options and from these options we have jump home which return robot to default position but you need to focus also on using mechanism joint log and mechanism linear jog beside the free hand option Robotstudio 5 13 01 Jai Unsaved Station sf FI cis a A lt MD Save As Library 44 Disconnect Library Right lok on robo NN VOL COHN Ctri X You can move robot joint space from here also Copy Orientation E Apply Orientation M Visible S Damine oF a Unexamine ii TN v ae Ses Joint space manipulator Modify Mechanism i rm is ASM Fei WiL EAM to it Mechanism Joint Jog Mechanism Linear Jog amp JumpHome w Set Position 6 Rotate o gt Place Picture 8 robot studio screenshot Right click on IRB robot so we get the option we need When you click on maechanism joint jog then it will open new window which look like pict
13. First then click here A n 123 Expression Edit OK T ROB1 an 19081 MainMod MainMod Picture 31 robot studio screenshot F 4 Manual Guard Stop ABB IRB1600 5Skg 1 LSTA10E2 Stopped Speed 100 New Data Declaration Data type robtarget Current Task T ROBI Global v Constant v A T s T_ROB1 v ka n M TV MainModule v AN Lyf Routine lt None gt w Hold To Run Dimension lt None gt v Initial Value OK Cancel T ROBI MainMod m T ROBI MainMod Picture 32 robot studio screenshot 3 Manual Guard Stop 1RB1600 Skg 1 LSTA10E2 Stopped Speed 100 Current argument ToPoint Select argument value Active filter E ji lt AA Hold To Run h 123 Expression Edit OK Cancel TROBI ffyn TROBI l MainMod I MainMod J tk Picture 33 robot studio screenshot Now we need to change the speed by clicking v1000 to choose for example to v500 from the list of speed 2 ia Change Selected Manual Motors On y IRB4600_60kg_2 LSTA10E Stopped Speed 100 Current argument Speed Select argument value Active filter 5 gt 4 hh VA Hold To Run Expression Production T ROBI Window MainMod Picture 34 robot studio screenshot Now we need to change the curve radius motion by clicking z50 to choose for example to z40 from the list of curve list TOR o
14. T ROBI Sl Window IRB4 400_ 1R8B4400 Picture 28 robot studio screenshot From add instruction icon we will get the entire command menu on the right side but if we need more command we need to click next Manual Guard Stop E X IRB4400 60kg 1 BECKHOFF9 Stopped Speed 100 ka IRB4400_OPPILAS in T_ROB1 IRB4400_ main Tasks and Programs v Modules v Routines v 47 PROC main r ee b uno JM gt 50 Stop 51 52 ENDPROC 53 ENDMODULE Bia 18 Add Instruction n 1884400 F IRB4 muuta V7 pom a ms Picture 29 robot studio screenshot We first move the robot coordinate of one joint then we stop to save the movement by clicking move jointJ click Then we paint just the star and double click the star the 1t open new window like in picture 3 then we give name for the movement for example pist1 g Manual Guard Stop X Je IRB1600_5kg_1 LSTA10E2 Stopped Speed 100 x Te NewProgramName in T_ROB1 MainModule main Tasks and Programs w MODULE MainModule PROC main MoveJ vl000 z END PROC ENDMODULE ji X Add Y Instruction T_ROB1 T_ROB1 MainMod MainMod Picture 30 robot studio screenshot Manual Guard Stop IRB1600 Skg 1 LSTA10E2 Stopped Speed 100 W Change Selected Current argument ToPoint Select argument value Active filter Jak Click here
15. W jew M Build Station Path Programming settings Freehand 3D View Linear jog 1RB1600_5_120_01 Binzel 7 X ABB Views MN Linear joint space manipulator Layout Paths iTargets W Unsaved Station J IRB1600_5_120_01 tg Binzel WH4550 a table and fodure 140 I VP Picture 10 robot studio screenshot This picture shows how to change the linear coordinate of each joint 1 4 Target teach method There are two different ways the first one by using Target teach Icon and the second one is by using Virtual flex pendant by choosing teach Target you can create path easier than virtual flex pendant but will try to give small introduction on both ways and the user has the choice to choose the suitable way for creating the path First we right click the robot from home layout then we jump home like we mentioned in the previous tutorial then we clicks on mechanism joint jog and we move the robot joint space watch picture11 p ta v Mechanism To Home Modeling Simulation Offline Online Add Ins Modify way p 5 U e K on KI TeachTarget 74 Task w _ kQ_1 2m_typeA World P 5 Bj Teach Instruction Workobject wobjo ABB Import Robot Import Frame Target Path Other MultiMove RR l Library Library System Geometry v Tool AW_Gun v md Build Station Path Programming a Settings Freehan Layout Paths amp Targets x ABB Viewl ja Unsaved Station aN E f Cut N Ctri X gP tabli A j
16. select the suitable motor according to the following drawing Tpeax the maximum value of magnitude T1 T2 T3 and T4 SPEED dh en Ney Op 7 Ray Ov Co W 2 W amp On lt TORQUE Terms Trus Figure 4 11 Diagram for selecting suitable motor drive Teijo Lahtinen Lecture on Lahti University of Applied sciences 2011 4 9 A Base servo motor example in a robot In the picture 4 12 an arm operation mechanism for an industrial robot includes a support a first arm a second arm a link base a parallel link and a conversion mechanism The first arm has a base end pivotally connected to the support for rotation relative to the support The second arm has a base end pivotally connected to a tip end of the first arm for rotation relative to the first arm The link base is pivotally connected to the first arm for rotation relative to the first arm The parallel link keeps a constant posture of the link base upon the rotation of the first arm The conversion mechanism converts the rotation of the link base relative to the first arm into the rotation of the second arm relative to the link base Free patents online http www freepatentsonline com Picture 4 12 This example shows some servo motor linkages through gears and cables http www freepatentsonline com 6675069 html 4 10 Resolution The resolution of a stepper motor Assume that we connect stepper motor on a screw with nut on the screw then we run the m
17. two rotary joints and one prismatic joint Articulated arm robot it looks like human arms base rotational like a shoulder an elbow and a rest which give us more motion with certain angels which is not possible by Cartesian robot This model is more complicated to control because you need to calculate angles velocity and acceleration to get a desired motion and requires solving plenty of equation Gantry robot is a linear motion robot and has another industrial name as a linear robot Scara robot is created by Japanese 1979 for assembly tasks because it moves in two planes It is simple to use in assembly operation when you need to tight a screw and to hold it vertically then to rotate the screw and push down you don t require very big sophisticated robot so Scara robot is the best choice for a similar operation or like pushing object down like gear box and so on Picture 5 3 Scara robot http news thomasnet com fullstory SCARA Robot performs high speed operations 466161 All these models are used by engineers and every model has positive and negative sides Depended on the job reguirement we try to choose the right model to suite our reguirement 5 5 Scararobot vs articulated robot Articulated robot Scara robot Pay load 125 kg 10 to 50 kg 360 degrees 120 degrees Rotational Speed 100 to 200 degrees sec tip speed 2 met sec Repeatability 0 03 to 0 05 mm There is even more features to compare but these
18. will increase fast by combining theoretical knowledge with the practice In my thesis I concentrated on the beginning in the robot types and applications and tried to give the reader an idea why we need robots in our lives Then about robot technology and the structure of a robot were also introduced by writing about the mechanical parts and electrical parts that we use in building a robot and what is the purpose of each part besides providing pictures of robot parts because pictures can give the reader a better idea on the subject without to begin to imagine something which is completely wrong In the end I would say that robotics study is challenging and complicated and I recommend anyone to begin with simple stuff by playing with some sensors and actuators and try to create logic system and gradually the knowledge will grow with more practice Appendices Books place robotics Stanford Matrix and Linear algebra vectors Robot Bruno Siciliano 2008 Springer Handbook USA Oussama Khatib of robotics Stanford The Robot Robot Mechanisms McGraw Hill continents Paul E Sandin 2003 and Mechanical Companies Devices USA Robert H Bishop 2006 Mechatronics An University of Mechatronics Introduction Texas USA Lectures Automation Teijo lahtinen Lectures Basic of Lahti Servo automation Finland motor drive Servo motor Pneumatic Arto kettunen 2010 Lectures Pneumatic Lahti 2011 logic system Finland perusteet Fin
19. 0 Orientation deg 0 00 0 00 0 00 Points Point 1 Layout Paths amp lTargets Ja Unsaved Station H A IRB1600 7 120 A 01 g table and fodure 140 Hj g AW Gun PSF 25 Picture 12 robot studio screenshot How to create path by choosing Target We go back to first step to repeat the same process again by right click the robot from home layout then we click on mechanism joint jog or linear joint jog like we mentioned in the previous tutorial oP au amp G of A Siem KM K mme won GJ Teach Instruction Workobject wobjo ta ta Robotst gt 5 13 01 Mechanism To Home Modeling Simulation Offline Online Add Ins Modify ABB Import Robot Import Frame Target Path Other MultiMove FA Library Library System Geometry Tool AW Gun e Sa S Ga b Linear jog IRB1600 7 120 A 01 AW Gun x ABB View 1 x Y RX RY RZ Cfg World w Step 1 00 mm deg Linear joint jog be Unsaved Station 3 IRB1600 7 120 A 01 ge table and foxdure 140 Ha gt AW Gun PSF 25 Picture 13 robot studio screenshot Moving linear joint Repeat step3 by clicking create target then add new point after that go down and choose create then the previous move you have done is saved by the system We repeat the same again and again until the path point is completely created When we open the tree of IRB on the lift in paths amp targets section we will see that we have target 10 target 20 target 30 ta
20. 0 10 91 ldata tooll TRUE 0 4 j Le N Hold To Run Add Instruction Production Window Picture 44 robot studio screenshot When we click on any wait command it will open this window asking where you want to put the command line above or below the shadow line i Manual Motooson 0M Ce Sa IRB4600 60kg 2 LSTA10E Stopped Speed 100 NewProgramName in T ROB1 MainModule main Tasks IR ijt ene Do you want to insert the instruction above or below the currently selected one Production T ROBI Window MainMod Picture 45 robot studio screenshot Waiting time is chose from this window There are several methods for defining waiting time whether by giving seconds number of value or by waiting until input or output status is changed from 0 to 1 or vice versa i Manual Motors On ia IRB4600_60kg_2 LSTA10E Stopped Speed 100 k Change Selected Current argument Signal Select argument value Active filter WaitDIKT ET K PAN a 143 Expression Edit OK Production T ROBI Window MainMod ee Picture 46 robot studio screenshot Manual Motors On X IRB4600_60kg_2 LSTAI0E Stopped Speed 100 x ai New Data Declaration Data type signaldi rrent Task ROB Name wait1 Scope Global v Storage type vaioble B Give it new name Tammodule v Routine lt
21. 0 Cy Sy 0 0 1156 0 Ch O Sy Cy Notice 1 that Ca and Sa is a shorthand for cosa and sina 2 It is important to pay attention to the order of rotation since we begin with Ry then R and finallyR When we take the product we begin with the last rotation toward the previous one CaCB CaSBSy SaCy CaSpCy SaSy ARxyz y B a SaCB SaSBSy CaCy SaSBCy CaSy SB CBSyY CECY Important Notice How we can make the calculation for B rotating around A It sounds like a difficult question but actually it is easy to answer we just need to get the transpose of the matrix 4R ER 8R CaCB Sacp SB ER XYZ y B a 4 CaSBSy SaCy SaSBSy CaCy CBSy CaSBCy SaSy SaSpCy CaSy CBCy Craig 2005 42 8 2 Transformation We use matrices to transform vectors Example In the following picture frame B rotates around frame A about z axis by 30 Here Z axis is pointing out of the page P 0 2 0 Craig 2004 26 27 Ca Sa O0 R Sa Ca O 0 0 1 C30 530 O AR S30 C30 0 0 0 1 0 866 05 O R 05 0 866 0 0 0 1 We calculate P P 4R PP 0 866 0 5 0 1 0 P 0 5 0 866 o I 2 0 0 V O 1 Figure 8 5 0 8 3 Mapping involving general frames We need to know how we can get the parameters of P which parameters are given in frame B and the parameters of Pporg are given Craig 2005 27 28 We use the following formula Craig 2005 27 P BR P Paorc Pr Figure 8 6 Cra
22. 8 Xc Xp L3Cosx 3 8 2 co0s41 19 6 49 Now we need to define 0 Y L X2 Y2 13 01 atan acos 211 XZ Y 52 6 492 5 682 57 2 5 6 492 5 682 01 atan acos 01 10 79 Now we can extend line from the end of first link to the position of Yp Xpthen the second link should give us the same length as 5 to prove that our calculation is right Now we can measure the value of 0 which is 60 70 tan x1 G 558 41 19 x 61 02 x 10 79 60 70 71 49 We got the values of 01 02 1 gt x3 03 x3 01 02 03 41 19 10 79 60 70 03 30 3 We can see the result of our calculation in the figure 10 7 on the following page Figure 7 7 Sketching the position in SolidWorks 7 5 Prismatic joints calculation 3p manipulator We assume according to the following drawing that we have three prismatic joints which move in 3D space so we just need to find values of Sj S2 and S3 S1 Xp So Yp S3 Zp PA Mp sa x S Figure 7 8 Prismatic joints manipulator 8 POSITION ORIENTATION FRAMES 8 1 Introduction In this section will try to summarize how to define position coordinate on the space with respect to the origin frame and to calculate the transformation when this frame rotates with respect to the base frame There is frame A and frame B Frame B rotates with respect to frame A 1 Find rotation B in A 2 Find the coordinateP Za T
23. Angular velocity Load torque 4 8 Controlling inertia We have to find two inertias e Ia motor inertia e load inertia Torque to be provided by a motor to drive I is equal to T motor Ix 1 G By knowing that w Angular speed x Angular acceleration Then we satisfy the following formula by G ILe p G I G Xm G G I Xm Net Toque I mx mt G Inx m Effective Inertia Lm G I C D lt Time Figure 4 8 Angular velocity with respect of time Time Figure 4 9 Load torgue with respect of time In figure 4 9 the sum of torque from 0 to A to sum of torque A to B B to C i O gt O 3 O E lt A B JA k D he H N IC gt Time O Ln ae i gt K 13 gt L t4 l lt gt KL gt One cycle Figure 4 10 Angular velocity with respect of several period of time From 0 to A during time tl according to figure 4 10 i wma O0 The motor angular acceleration m 5x 1 Torque Ty Im G L 1 Tr Tr torque friction n Efficiency wa angular speed in A From A to B during time t2 the angular motor acceleration 0 constant velocity Torque T Tr From B to C during time t3 wb 0 the motor angular acceleration 3 G G Torque T3 Im IL x 3 Try It is minus friction because friction aids deceleration TZ ty TZ xt T xt3 Zzero ta Ies hats Now we can
24. C 12 ENDPROC 13 ENDMODULE Add v Instruction m Production T_ROB1 Window MainMod Picture 26 robot studio screenshot Then we need to save the new routine to a new name iaaa 0x Home 9 fe Offline IRB4400_60kg_1 BECKHOFF9 Stopped Speed 100 A A Virtual FlexPendant i 4 7 a ah OW D S i knew Routine IRB4400 OPPILAS in T ROB1 IRB4400 vi pena Routine Declaration CO ILAUN O VE w Synchronize Virtual Controller Name 3 O 1R84400 60kg 1 96m Type OB Configuration G Event Log G 1 0 System Select name 3 fh RAPID 3 KT ROBI Program IRB4400 OPPILAS a co Program Modules Module IRB4400 3 184400 s lt Haku ES Local declaration Undo Handler main E Siirto s N System Modules D Error Handle i Backward Handler W 3 N sOLUROBOTTI EON Click here 2 OB Configuration 7 tL OR Event Log b Result OK Cancel 170 System a Y DeviceNet Production Wa TROBI T ROBI T ROBI ROB 1 i KU 2 Local J window F 184400 E 1884400 1RB4400 amp 2 Y Vitual In a gt 707 h a mimin Picture 27 robot studio screenshot Then it will look like this select any routine and click Show Routine ARP n Auto Motors On FA IRB4400_60kg_1 BECKHOFF9 Stopped Speed 100 YT ROB1 IRB4400 Routines Module Type IRB4400 _ Procedure main Procedure Procedure 5 Way Production Te T ROBI
25. E E 46 6 3 Degree of freedom cccccccccsecceccseeceeceeeceeeseeceeceeeceeeeeeceeeaeeseesaeesaes 50 6 4 Types of robotic chains oooosouusouu oonan aan a naan a an aaan 51 6 5 Degree of freedom in opened chains ccccecceeeceeeeeceeeeeeeeeeaeeeees 51 6 6 Degree of freedom in closed CHAINS ccccccecceecceeeeeeceeeeeeseeeaeeeees 51 O Stewart DIATOII mmm mm R Esssist 54 6 8 Defining work space area cc ccccecceecceccecceeeseeceeeeeeceeeeeeceeeeeeseeeaeesaes 55 6 9 How to define the inverse kinematics in 2R manipulator 58 6 10 How to define the inverse kinematics in 3R manipulator 58 7 TRAJECTORY DEFINITION emmmtesisu tiukan aa ee eee einen 59 7 1 Forward position problem s rirerire aa aiai 60 7 2 INVErSE position PFrODIOM ccec ccc ecceeceeceeceeeeeeceeseeceeceeseceeeeeseeseeees 60 1 3 Simple example with planar 2R ccccccceeceeceeeseeeeceeceeeseeceeseeeeeeees 60 La ORIEN al MAND UALON aere ai dates a T ds aiseasdaccan jisit 62 7 5 Prismatic joints calculation cccccecceccecceeceeee eee eeeeeeeeseeseeseeseeeeeeees 64 8 POSITION ORIENTATION FRAMES i sscccsesereercadeverwenteearntatedecuen tedauutandes 65 8 1 TO AUC ITON ieil lme s litt t s mm 65 02 PAN STON MANIC I anmssn maama E etua ema Suva 69 8 3 Mapping involving general fraAMES cccccceecceceseeceeeeeeceeeeeeeee
26. GREE OF FREEDOM anarnotieiant FI Picture 6 6 Example of a robot with 2RP2R In this example we calculate from the base first revolute joint as R then second revolute joint as R After that comes one prismatic joint so we have so far 2RP then we end up with 2 revolute joint then the total will be 2RP2R 6 3 Degree of freedom First I need to explain the term degree of freedom DOF When I fix a joint and prevent any movement then I can say that this joint has zero degree of freedom but when I mount a joint with a motor drive then it loses two degrees of freedom and it will have just one degree of freedom because it moves in one plane Notice in the space there is six degrees of freedom Spherical joints have three degrees of freedom and it moves in three planes Www shut torstock com 23155555 Picture 6 7 Spherical joint http www shutterstock com pic 23189869 stock photo car detail spherical joint html Hooke joint has two degrees of freedom and it move in two planes a n art ER Picture 6 8 Hooke joint http ti mb fh osnabrueck de adamshelp mergedProjects solver f hlp statements fstate joint htm 6 4 Types of robotic chains 6 5 Degree of freedom in opened chains OPEN CHAIN 4 RF Picture 6 9 Example of four degrees of freedom in open chain In open chains it is easy to calculate how many degrees of freedom For a robot just by calculating the rotations axes and prismatic axes In the exam
27. None gt v Dimension lt None gt y OK Production T ROBI Window MainMod Picture 47 robot studio screenshot Motors On Stopped Speed 100 Change Selected IRB4600_60kg_ LSTA10E Current argument Signal Select argument value Active filter New fo signaldil m Production T ROBI Window MainMod Picture 48 robot studio screenshot Edit command we can use to copy and paste and some other command instruction in the following Icon Tasks and Programs w CONST robtarget N CONST robtarget PROC main GOTO lt ID gt ENDPROC PROC routine one E b MoveJ Positionl MoveJ Position v Hold Toun ENDPROC 1 A amp Modify Position Production Window MainMod Picture 49 robot studio screenshot Finally debug command for simulation and running the program vw Routines v coms robtereet PROC main a ENDPROC PROC routine one Moved Positionl v MoveJ Position ENDPROC 13 J ENDMOPULE y Modify san Position gl fe wets n mti Picture 50 robot studio screenshot CONCLUSION The basics of robotics are quite an extensive field and wide study which requires both theoretical study and work experience to apply with a theoretical study Anyone reading my thesis will find it like an introduction for robotics and the first step for beginning to understand a robot During work experience the knowledge
28. aa CT i equation 9 O C1 2C Tj 3C3 Ti equation 10 0 0i equation 11 7 8 0i equation 12 Cubic curve fit Ti 2 Ti Tim Figure 9 3 Figure 9 4 ED Ti 2 Figure 9 5 Craig 2005 204 Example 1 A single link robot with a rotary joint is motionless at 0 15 degrees It is desired to move the joint in a smooth manner to 6 75 degrees in three seconds Find the coefficients of a cubic that accomplishes this motion and brings the manipulator to rest at the goal Plot the position velocity and acceleration of the joint as a function of time Plugging into equation 10 we find that AT Cot Ci T C T C3 T 3 0 j 0 equation 10 f 3 3 0 0 equation 11 f CO 15 0 Cl 0 0 C2 20 0 By applying equation 11 0 00 applying equation C3 6 66 By apply ion 12 Using 7 3 and 7 4 we obtain O t 15 0 20 0t 6 66t By applying equation 7 0 t 40 0t 201 By applying equation 8 0 t 40 0 40t By applying eguation 9 Figure 9 6 shows the position velocity and acceleration functions for this motion sampled at 40 Hz Note that the velocity profile for any cubic function is a parabola and that the acceleration profile is linear Craig 2005 205 Trajectory generation 75 70 65 60 55 50 45 40 35 30 25 20 15 Degrees Seconds 6 1 2 1 8 2 4 3 0 Position S Deg sec 25 20 15 10 Seconds 6 1 2 1 8 2
29. aeeees 70 6 4 Translation Operators mumessssssssaa a da k ua ase Tavara k aIe NA 12 8 5 Compound transformation cccccceceeceeceeceeceeeeeeeeeseceeeeeeeseseeeeeees 73 9 TRAJECTORY PLANNING IN ROBOTICS cc cccccceccececeeeeeeseeeeeeeeees 74 9 1 MUOU UOT tecerenrsde E E A E 14 9 2 Required data for trajectory planning cccccecceecceeeeeeceeeaeeeeeeeeeees 14 93 CONSTANS eserci T meagan taraaieasianteseeanaiean 76 94 SUDJECETOKONSITAIMIS eae a T TEE 76 99 CUDICPOYNOMIA S s die Sante ares te jest ml i est umaet 76 9 6 Why to use cubic segment cece cece eecceeceeeceeeeeeceeeeeeceeeaeeseeeseeses 83 9 7 Common strategy 4 3 4 trajectory cc ccccccceecceeceeeceeeeeeseeeaeeeeeeeeeees 84 9 65 GCoordinate Moton vusaatssaam tt e a a 85 10 ANICA SE Ree aE E E E 88 1 TRAJECTORY PLANNING BY USING ROBOT STUDIO 0 88 1 1 WACO ACTIONS ein E E TE EN 88 1 2 Creating new station and saving it ccc ecccecceeeceeeeeeceeeeeeseeeeeesees 88 1 3 Moving robot joint space cccccccecceecceeceeceeceeceeceecaeeceeceeseesenseesaes 94 k4 TargetiteachmMmeNod aesae MOS EA otan 97 1 5 Create program using virtual flex pendant ccccccseeeeeeeeeeeeeees 102 1 INTRODUCTION Many of us are wondering how a robot functions what types of technologies are used in a robot and why we need a robot in our life The aim is to provide the reader with a clear simple e
30. are the main features that can make the difference between an articulated robot and a Scara robot 5 6 End effectors Is a robot hand that grabs an object and moves it from one place to another In the end effectors usually there are three rotational motions with three different motors and it equal human rest for lifting objects End effector are different model with different task option Picture 5 4 Robot end effector http en wikipedia org wiki File Endeffector png End effectors motions are three Rotating motion up and down motion with angle holding object motion Picture 5 5 Robot end effector http jloga edublogs org 2009 02 1 0 what are the 5 different parts of a robot Notice since the motor drive is heavy it would be better if we put all the motors on the base and try to move them through linkages cables and pulleys so we do not need to carry heavy load 6 INDUSTRIAL MANIPULATORS AND ITS KINEMATICS 6 1 Introduction In this section I will try to give an idea about types of links and joints and the serial chains combination also to focus on explaining the term degree of freedom in an open chain and a closed chain and how to calculate it Beside that I give several drawing examples about different types of links and chains to make the idea easy and clear to understand In the end of this section I will define the work space area for a robot and what type of work space we have I explain 2R and 3R ma
31. cients Li n 1 coefficients to be determined 4 n 1 equations required Initial position velocity 2 equations Final position velocity 2 equations At each via points Position condition 2 equations Velocity continuity 1 equations Acceleration continuity 1 equation n via points gt 4 equations Notice total number of equations 4n 1 All the coefficients can be determined or found Craig 2005 201 214 9 6 Why to use cubic segment e Lowest degree polynomial that ensure velocity and acceleration continuity is guaranteed e Easy to work with e We can use lower or higher polynomial also Move from position i to j posn vel acc Oi 0i 0i 0j Oj 0j We notice that we have six coefficients Example pick and place application pect to be mored Figure 9 7 There are three points initial position gt i left up position gt L set down position s Figure 9 8 final position gt j For individual joint 9 7 Common strategy 4 3 4 trajectory e il gt 4 polynomial degree e s gt 3 polynomial degree cubic e sf gt 4 polynomial degree Local time frames e il theperiodoft e s the period of tis e sf gt the period of tyy First Oi 2 3 4 O5 aot a taz aT tal Second 6 0i bo a biT b T b T Third Osp Osf cot ci 0T GT caT 4 eguations is reguired At i initial point 0 1 0 0 eguation 1 01 0 0 e
32. d to use it To get precise position to your geometry look up on the program you will see highlighted button name part tools and under it there is modify button click modify button so new tool bar will open then search the button set position and after that you can choose any coordinate you need for your table position after that you need to click apply to activate changes watch Picture 5 n An J Aat REMOVE ueomeny Linked Geometry 8 G a Visible W Selectable in 3DV Save As pc Export Examine Unexamine library Library Geometry iy Set as UCS Cony Orientation Apply Orientation aly Set Local Origin J 00HG lt a i Ae ELSA Sk a Unsaved Station aA 1881600 5 120 01 F qM Binze WH4550 g table and fodure 140 Picture 5 robot studio screenshot How to change the coordinate of the table position through set position icon Now you need to save the station by clicking up in the left side corner by selecting save as then new window will open to rename your station and to select where to save your station Q Remove Geometry amp Q v Visible J Selectable in 3D View Graphic 5 Examine Unexamine SA Appearance v i E Set as UCS Picture 6 robot studio screenshot How to save new station X Cut x Set Position Q Rotate N N Remove Geometry Linked Geometry v Copy Place v Copy Orientation G Delete
33. ecame the most usable system because it gives more reliable operation but they are slightly more costly Paul 2003 58 68 Performance characteristic of motor drive based on figure 4 2 According to the figure 4 2 there 1s a stall torque point no load speed point there is also specific voltage which drives the motor to no load speed and stall torque We notice that if we heavily load the motor then the speed is zero SPEED STALL LOAD TORQUE e Picture 4 2 Behavior of a servo motor with different speed and torque We notice from the following figure 4 3 There is no load current Kt is the motor constant value T Kt CURRENT LOAD TORQUE Picture 4 3 Load torque and current Power control of the motor this 1s how the system behaves during operation 3 5 gt o Z O lt o MN W Stall torg N Stall torque 0 5 a Yv Load torque 0135 Load torque Picture 4 4 Load torques and power output diagram Picture 4 5 Load torque and efficiency How to select a motor in a given task We need to check if the motor can supply a particular torque and speed from the manufacturer user manual catalog if electronic amplifier is able to carry the required current if we have enough voltage to carry the load we need to be sure that a motor does not heat up during operation time It is easy to predict how a motor behaves beforehand because there are several formulas and curves provided by motor manufacture
34. edback signal that are obtained from sensors programmer need to plan trajectory of each individual actuator motions and to plan trajectories of end effectors To get in the end harmonic motion with suitable speed based on logic system and task requirement Robert 2006 49 50 4 SERVO MOTOR DESIGN 4 1 Introduction Servo motor is the main prime mover of the robot This section will cover the most important of servo motor types which concerns mainly robot servo motor behavior in respect to torque speed current and voltage and how to control the speed type of application and how to choose the right servo motor with a suitable gearbox 4 2 Servo motor main types Dc servo motors are compact and light They are two main modules permanent magnet motor PM motors and permanent rare earth magnets Picture 4 1 Servo motor http electronic machine parts blogspot com The principle is similar if we talk about DC or AC motor A conventional motor has stator magnets rotor wound commutator and brushes The negative side of these models is the brushes that cause electrical sparks that creates noise and electric disturbance for other surrounding electrical devices Then by the arrival of brushless servo motor which 1s faster up to 50 000 rpm In these modules magnets are in the rotor coil in the stator or around it electronic circuits features the magnetic fields and the rotor motion is sensed by hall effect sensor These models b
35. eed If the speed is not continued at the same level but it 1s variable during variable time we need to figure out how to solve this problem 4 6 Servo motor gearbox Every motor drive has a certain load and the motor speed is quite high for example 3000 rpm or more We need to make reduction for the speed through choosing suitable size for the gear box since the gear box has contributed for the carried load speed If the speed is not continues in the same level but it is variable during variable time we need to figure out how to solve this problem 4 7 Choosing a suitable gearbox Reduction most of the cases we face are reductions but there are little cases of increases We need to know the maximum speed of load rpm of motor drive from the guide manual which has been provided by a motor drive manufacturer For example maximum allowable speed for a motor is 3000 rpm and transmission ratio is 0 1 How to calculate maximum speed of load Max speed of load 2 3000 0 1 Maximum speed of load 150 Conclusion If we know the maximum speed of load we can base our choosing the motor drive and gear box size or vice versa on it ol al O G wm am us G 1s transmission ratio N Angular acceleration 1 PA Angular speed L Load 0 5 ON STALL 0 5 1 LOAD TOROUE Figure 8 7 Speed and load torgue diagram Notice The more speed the more available torgue drops the more voltage the more speed
36. guation 2 0 0 0 eguation 3 At f final point Os f ts f 0 equation 4 O sp tsp 0 f eguation 5 O sp tspf 0 f eguation 6 5 coefficients to be found 4 coefficients to be found 5 coefficients to be found Figure 9 9 J At left up point Oi tj 0 equation 7 0 5 0 0 eguation 8 Oi t 0 15 0 eguation 9 velocity Oi t1 0 15 0 eguation 10 acceleration At s set down point Ois tis Os equation 11 Oss 0 0 eguation 12 O s tis 0 0 equation 13 velocity 01 t1s 0 r 0 equation 14 acceleration Notice all the coefficients of 4 3 4 trajectory can be found End effector motion in figure 9 9 XB 0 Fa 2 a Xp and Yp are end effector coordinates 21 Kinematic chain 2 All joints start and stop at the same time 9 8 Coordinate motion Flgure 9 10 A given joint 6 T Initial position via point final position On Co caT 02T caT Another simple strategy Figure 9 11 Trapezoidal velocity profile Figure 9 12 Figure 9 13 V u tat 1 S so tut at AtA 0 ACCELERATION ta Duration Notice 0 0 tta 0 0 ut 0 t At B 0 0 O t Op O Baty O 50 t2 0 ta tu At C from B to C acceleration 0 I 1 Vl 6 Og 0 gta t l 0 0 t2 O tatu HO tatu 0 t2 Let tuta T total time Given 0i T 0 ti O taT 0 0 0 9 lt 5 J time Figu
37. he coordinate of p 0 3 1 2 The coordinate of pg 0 1 1 XpXa YsXa ZpXa AR XpY YsYA ZpY Xpla Lela Zpla Ya 1 1 1 0 1 0 5R 1 0 1 0 1 1 1 0 1 gt 1 1 0 Figure 8 1 Frame B rotate with respect to frame A Xa 1 0 0 4AR 0 0 1 0 1 0 Now we need to find the translation We add extra row which represents rotation axis 0 0 0 1 then we make dot product between rotation matrix and the coordinate of pg 0 1 1 and then we get the coordinate of P Tapani Kuusi lecture on Lahti University of Applied Sciences 2010 pA pl BR Pp 1 0 0 0 0 0 a 0 0 4 3 j1 2 sl 10 4 0 1 0 0 0 1 P 0221 Then we drop the last coordinate which represents rotation axis so we get 0 2 2 Figure 8 2 Example 2 There is rotation from P to P around X axis 1 0 0 R 0 40 cos sin 0 sind cos P gt R 0 P 1 0 0 fo fo Px 0 0 8 0 6 2 51 o 0 6 0 8 1 2 Figure 8 3 Rotation around X axis Tapani Kuusi lecture on Lahti University of Applied Sciences 2010 Example In the following example frame B rotates with respect to frame A We have 3 different rotations 1 Rotation around X axis which rotates with angle y 2 Rotation around y axis which rotates with angle a 3 Rotation around z axis which rotates with angle fp M Za Figure 8 4 Rotation axes Craig 2005 42 BRxy2 V P a Rz a Ry B Rx Ca Sa 0 CBF 0 Spi 1 0 0 gRxyz y a Sa Ca O 0 1 O
38. hines The problem with hydraulic system is leakage on the other hand is not a big problem in pneumatic system since it uses air Robert H 2006 128 134 Permanent magnet motors and stepper motors are the joint space in a robot that creates rotational motion Picture 3 3Servo motor http salecnc com catalog product info php products id 48 amp osCsid 8e3292ae10e4b2f68b41591b83 e471a4 Design consideration for servo motor When we design a robot we take into consideration the torgue speed and the gearbox size which should not be so heavy to the motor drive capacity We should pay attention to the weight of motor drives and gearboxes because the base motor drive needs to carry all the motor drives and gearboxes which reguire guite big torgue and stronger motor in the base The selection should be harmonic and motor should match the load When motor rotates in a certain degree it should send feedback to the controller and to take feedback from the controller when it needs to stop rotating this happens through an encoder which can read the degree of rotation Nowadays these controllers are mounted in the back of the motor drive Controller manipulates voltage and ampere to control the motor drive speed Teijo Lahtinen Lecture on Lahti university of Applied Sciences 2011 Linear motors actuators Are used in positioning applications where high speed and accuracy are required Main job is to produce a linear force along its length
39. ies to change plan like humans or plan new things unless the programmer programs them to change the plan Because of high development of machines sensors actuator digital electronics and microprocessor technology it became possible to create a robot which is autonomous Teijo Lahtinen Lecture at Lahti University of Applied Sciences 2009 2 3 Robot applications in our lives Welding Considered as a dangerous task for a human because of toxic gases emissions aa k Picture2 1 Welding robot examples in car factory www robot welding com The welding job is guite difficult for a person who is reguired to weld two pipes from different sides and angles and to sit in a difficult position for a long time It can be hard on ones physic and can cause health problems for the worker The difficulty for a human is to see all the sides of welded devices when he needs to weld around a pipe as he can only see one side of the pipe Painting has similar problems to welding due to the use of toxic chemical products Below is an example picture 2 2 of a factory robot painting a car as it moves slowly along a conveyer Picture 2 2 Painting robot examples in car factory YASKAWA MOTOMAN www yaskawamotoman co uk Assembly operation When we assemble a chip we need to be very precise because of very fine wires which require very precise and accurate tasks which a human cannot handle but on the other hand is easy for a robot
40. ig 2005 27 We notice 1 That we add just for rotation matrix one row of zeros 0 0 0 2 For vector s coordinates we add number 1 below all of them 3 This kind of matrix is called homogeneous transform 4x4 Example Frame B has rotated with relative to frame A bout Z axis by 30 degrees and translated 10 units in Xa and 5 units in Y4 Find P where P 3 7 0 Craig 2005 29 The definition of frame B is 0 866 0 500 0 000 10 0 0 500 0 866 0 000 5 0 0 000 0 000 1 000 0 0 0 0 0 Figure 8 7 Craig 2005 29 8 4 Translation operators Operator is the same like rotation and translation but the interpretation is different Example of operator According to the following picture the vector P is rotated around Z axis by 30 degrees and translate it 10 units in X and 5 units in Y4 Find P when the coordinate of P 3 7 0 Craig 2005 33 Solution The operator T which performs the rotation and translation is 0 866 0 500 0 000 10 0 0 500 0 866 0 000 5 0 T 19000 0 000 1 000 00 0 0 0 1 Then Ap T Ap 0 866 0 500 0 000 0 500 0 866 0 000 0 000 9 000 1 000 Q 0 0 Figure 8 8 Craig 2005 33 8 5 Compound transformation In this picture we have P and we want to find P Notice Frame C is relative to frame B and frame B is relative to frame A We transform P into PP Craig 2005 34 35 Bp BT CP Then we transform P into P Ap AT Bp Then we combi
41. inn kyseiseen alueeseen P tt ty ss ni olen yritt nyt poimia t rkeimm n aiheen joka k sittelee robottisuunnittelua ja keskitty l hinn siihen suuntaan Samaan aikaan olen yritt nyt olla lyhyt ja ytimek s aiheessa ja yritt nyt kiteytt t m n alan t rkeimm n n k kohdan mik oli melko suuri haaste p tt ty ss ni k sitelt vien eri tekniikoiden suuren m r n vuoksi Ymm rt ksemme robotin mekaanista suunnittelua meid n t ytyy opiskella matriiseja vektoreita derivaattoja integraaleja ja fysiikan perusteita meid n t ytyy opiskella melko hyvin servomoottorien valikoimaa ja suunnittelua sen lis ksi valita vaihteet ja yhdist mismetodit Hydrauliikka ja pneumatiikkatietous ovat melko t rkeit t ll alalla ja kuinka voimme luoda viestint anturien ja toimilaitteiden v lill ohjelmoitavan logiikkaj rjestelm n kautta lopulta ohjelmointi on tapa viesti Kuka tahansa opiskelija joka lukee p tt ty ni se olisi h nelle kuin orientaatio robottisuunnittelun ymm rt miseen ja se osoittaa t rkeimm t vinkit t ll alalla koska se on lyhyt se menee suoraan asiaan Avainsanat Vapausasteita Robot Kiertyv niveliset robotit Kehityskaari suunnittelu Mapping I INTRODUCTION ansan msn issa Kemi ee ae a aseesta a Haas Ra 1 2 INTRODUCTION FOR ROBOTICS BASICS muouasvusavvtasssavosaestuva tasa eds anasa 2 2 1 TRIO dt Omasana sissa t vim e o us uskv v O a v v visasasmsatv e m
42. isessa 2 22 NUOMAI OM iscias cents ies atk sS Toukka Naa Suma h i HETsAES etes I EL ot NTON kat ssghksimalmsusauuts 2 2 33 Robot applications in our lives ccccceecc a an an annan ana ana EEN 3 ZA PES OL TOD OL samson mamu mata see Havokin E A E KTS UTs E A 6 25 Required Studies im obotlosSmsseisi stamulk uam siesolkms sianaikuivait keisna uten 8 20 BExtrapolatmae Monna Cxacucosdeateensen a E E deve obdentveneeaanueoods 9 2T Comparing robot to MaS senine Avia senw ed meshes Hand adiviads 9 2 8 Programming a robot by teaching method cccccecceeceeeeeeeeeeeeeeeeseeeeeaes 9 2 9 Typical programming of an industrial robot ccccceeceeceeeeeeeeeeeeeeeeeeeees 10 2 10 Accuracy and repeatability of addressable points osilmidi 11 3 LECHNOLOGIES OFA ROBO FE muunveaasusuvnsamitou taakasta a Daa Satonen an eaa 12 3 1 TTO O UC OM fee s06 assa ee oad Gorda deat ac be ee assa E ER Sade Rajaa an a aTEjNeEN 12 22 SUOSII nsa ss sanan OSKE Ea N ae KaKa Ke SESTA ONEN Rost 12 3 3 Transmission system Mechanics um ruvessasmsmamvess m t asin o ne a aa 17 3 4 Power generation and storage SYSteM ccccccseceeceeeeeceeeeeneeseeseeseeseeeees 20 3 5 DCMSOLS padatan a a TAS katie 20 XO ElCCITOMiCS messa tat ocentatenien e a omata nia mammat ron 25 3 7 Algorithms and software mumasassusaasasmaan asa masa Kasa sTa kasa TaUA EAN a aaT a 3 ANK KTN AATUN KHT kal 21 4 SERVO MOTOR DESIGN o
43. land vectors and vectors Finland websites http en wikipedia org wiki Industrial_ robot
44. le 8 byte or vice versa Robert 2006 46 tt WORD SYNC sear 4 S Y A y ay Y YRS U o SOR RE NONIDET I DEDNE INO AIT I Picture 3 25 DA CONVERTER http esoteric teac com dacs d 01 Opto Koniar Picture 3 26 Basic circle for converters http www fhi berlin mpg de elab pub Standardgeraete DA_e html Microcontrollers are very small computer devices used for robot control it contains processor core memory and programmable input output peripherals Robert 2006 46 Ek a t dr iLEISITIEI aL E m B Picture 3 27 Microcontroller http www elec intro com microcontroller board Programmable logic controller or PLC has input and output that are used to create communication between sensors and actuators Timers are included inside PLC which can be programmed Outputs are the actuators and inputs are the sensors Robert 2006 46 Power Electronics are used for running motor drive and controlling the motor speed by converting electrical power voltage and ampere to a suitable amount to produce suitable speed in the motor drive Picture 3 28 Power electronics http www instructables com id BLDC Motor Control with Arduino salvaged HD motor step8 The Power Electronics 3 7 Algorithms and software Mean step by step procedure and logic programming language through logical event sequence by planning the whole task at the beginning then controlling the motors and actuators through using fe
45. nd these teeth go around with some kind of pulley that drives this belt around it to transfer motion It is used nowadays with robot walking machine Paul 2003 113 Picture 3 9 Timing belt with a pulley http www lubemobile com au car repairs engine components timing belt or chain html Picture 3 10 Timing belt connected to a pulley http www gatesmectrol com mectrol brochure cfm brochure 5196 amp location id 5333 4 Metal belts cables and pulleys Picture 3 11 Cables anda pulley http wapedia mobi en Pulley 5 Linkages fine posiboning dive for the second arm E H second arm SAN Gouble sided irkagea with springs kor ihat lr posmtianisa FR drwa tor the first I TE Air main wn main cent for the fret arm reed We ty et as Yan int J anal Picture 3 12 Robot examp pulleys http www tu ilmenau de fakmb Design and Applicati 4081 0 html le of linkages between a servo motor and Ball screws are very important to create linear motion backward and forward with low speed We can use some kind of nuts by tightening the nut we control the speed of motion Picture 3 13 Ball screw http ballscrewservice blogspot com 3 4 Power generation and storage system Solar cells are working on the moon or in space since we need renewable energy for example sun light Fuel cells are used in a big heavy robot so a diesel engine is required and fuel to run it these e
46. ndently as taught The quality of recording results in the work carried out This work is carried out by a skilled worker When the work arrives on a conveyer to the robot the robot replays the stored recording then robot performs the required task Other ways to teach a robot to undertake certain tasks is by use of a program that creates a virtual world Then we stimulate the work to be carried out by the robot s joint motion parameters stored in the memory The robot is then capable of replaying the recording Craig 2005 340 2 9 Typical programming of an industrial robot Industrial robot is programmed by moving objects from position 1 to position 5 by moving joints vertically or horizontally to pick up and place an object through the following steps Define points from PI to P5 1 Safely move above work piece defined as P1 2 10 cm above work piece defined as P2 3 At position to take work piece from conveyer defined as P3 4 10 cm above conveyer with low speed defined as P4 5 At position to leave work piece defined as P5 Define program 1 Move to P1 2 Move to P2 3 Move to P3 4 Close gripper 5 Move to P2 6 Move to P4 7 Move to P5 8 Open gripper 9 Move to P4 10 Move to P1 and finish Wikipedia http en wikipedia org wiki Industrial robot 2 10 Accuracy and repeatability of addressable points Repeatability is the playback of the recording of the position of joint space when we try to p
47. ne button then click virtual flexes pendant then ABB on the corner of the new window D em f Auto Motors On Home Modeling Simulation Online N gi 1R84400 60kg 1 BECKHOFF9 Stopped Speed 100 a y TE i va E ae Ja k HotEdit o Backup and Restore Contypl Panel Virtual Controller z Inputs and Outputs G Calibration Pi Control Panel 8 Event Log ay FlexPendant Explorer 1 Auto Motors On lt IRB1600 Skg 1 LSTA10E2 Stopped Speed 100 lt No named program gt in T ROB1 Tasks ay beet No program exists Create new program want to create a new program or We click on save program as and we save new program and we name as well E Error Not Acknowledged ADD SA 20127 Tool data has changed X ia Program Editor asks and Progra Task Name Program Name Type 1to1of1 T_RUD1L NewProgramName Normal click here first New Program Lot ee We save the program Save Program As with new name Rename Program Delete Program v Show File Wei Open i Production T_ROB1 T_ROB1 T ROBI Window MainMod MainMod I F MainMod Picture 19 robot studio screenshot Error Not Acknowledged 20127 Tool data has changed Program Editor Tasks and Madu SSS A T ROBI One or many system modules have been changed but not saved System modules have to be saved separately in the module view they will
48. ne them together to get P AT8T lt p ADB Bt Poors Prone k oi li lk i iki i i ii i ii in nn n n nD 80 CN in 3 il Figure 8 9 Craig 2005 34 35 9 TRAJECTORY PLANNING IN ROBOTICS 9 1 Introduction In this section I will try to cover how to make a path around trajectory the base of creating path what is the required data for creating path and how we can make the system to choose the speed also time and acceleration when we just define the basic required data for trajectory planning 9 2 Required data for trajectory planning When we think about trajectory we mainly focus in moving object from position A to position B In trajectory planning we try to define first the following data e Initial point e Final point e Via point intermediate point between initial and final points Point to point planning is a continuous path motion like in welding for example How we plan point to point First we define task specification Mapping e World coordinate e Joint space 0 Figure 9 1 Xg GO YB 0 Xp fjcos0 l gt cos 0 eguation 1 Yp l sin b b sin 0 eguation 2 Given 0 0 gt Xg Yg linear algebra So we need to define the value of 0 2 to achieve certain position in B are given Given XB YB gt tofind0 90 nonlinear algebra To find the speed of motion we need to derivate the 1 and 2 eguation Xp 01 0 sinO 0205 sind equation 3 Yy
49. need to be controlled to achieve specific task and sometimes we do not need to use all of them so we eliminate some motor joint depending on the task reguirements http en wikipedia org wiki Industrial robot 5 3 Main types of an industrial robot There are two main types of industrial robot the first one is called an Industrial manipulated and the second one is automated guide vehicles robot Arm sweep Picture 5 1 Industrial robot http www ise ncsu edu kay mhetax PosEq index htm For example if you think of your hand when you use it to pick up a pencil there is rolling motion on the rest but you don t use this motion while writing so you eliminate this motion because the axis is symmetrical These six motor motions we called six axis which are driven independently 5 4 Main robot motions ba ar Cylindrical Coordinate Robot Gantry Robot SCARA Robot Picture 5 2 Robot types according to their motion Rectangular coordinate motion Cartesian there are three different motions which are X Y Z or in other word this robot can move up and down left and right backward and forward but it has no rotation or degrees In this kind of model it is easy to control motion just by giving the coordinates then a robot moves according to x y z values Cylindrical coordinate Robot it has rotational movement on the base and Cartesian motion in the upper part Spherical coordinate robot is a robot with
50. need to find the orientation angle for Xp and Yg x1 v Xp and Yp x2 xo 01 02 Figure 7 3 Sketching the position To find 01 we use the following formula 2 2 2 2 211 x2 y 04 atan acos P Example1 This is a numerical example for 2 planar L1 4 5 Lo 4 5 Yp 4 Xp 6 Javi p 01 atan acos r e z P 2L1 X5 Yp AG AG 44 45 4 01 atan acos e 2x4 5 6 4 04 3 First we extend line from the end of first link to the position of Yp Xp then the second link should give us the same length as 4 5 to prove that our calculation is right Now we can measure the value of 0 which is 73 34 tan 1 G 5 33 69 Ko 01 02 x 3 73 34 70 34 We got the values of 01 02 1 x2 Figure 7 4 The solution drawn in SolidWorks 7 4 3R planar manipulator e 1 l2 3 Xp Yp and 3 are given y e weneed to calculate 01 02 03 e first we need to define Y Xe Yo Yp Lasinx 3 X Xp L3cosx 3 his Figure 7 5 3R Manipulator 03 xs 01 02 First we define Y X then we calculate Ol and 02 thesame way like 2 planar manipulator MT i os N S Figure 7 6 Sketching the position for 3R manipulator Example 2 For 3 planar manipulator 1 2 L3 Xp Yp and amp 3 are given 5 02 5 03 2 Xp 8 and Yp 7 First we calculate 3 to define X and Yc tan 03 7 41 19 Yo Yy Lgsinx 3 7 2 sin41 19 5 6
51. ngines power is based on hydrogen and oxygen burning Rechargeable cells are more in use nowadays due to the technology advancements means that rechargeable cells can contain quite a lot of energy for example batteries that are in use in mobile phones they can last long time 3 5 Sensors Simple switch sensors are used to turn on and off the whole cycle or some part of the cycle Picture Picture 3 14 Simple switch http atmac org simple switch scanning and voice output in ms word 2004 for os x Picture 3 15 Simple circle with simple switch http www rcgroups com forums showthread php t 1214239 Force sensor is to measure and control the force power applied These are mostly in use in the robot end effectors to measure how strong the grip should be so it does not smash work pieces They are different models with different applications for example variable force control load and compression sensing pumps contact sensing weighing and household appliances Picture 3 16Force sensor http www meas spec com product t product aspx id 2442 Gyroscopes Is a device for measuring and maintaining orientation based on the principles of momentum In essence a mechanical gyroscope is a spinning wheel or disc whose axle is free to take any orientation Although this orientation does not remain fixed it changes in response to an external torque much less and in a different direction than it would without the large angular momen
52. nipulator work space beside the direct and inverse kinematics work space First we need to define the following Serial chain is a combination of links and joints in the space Notice we need to understand the word degree of freedom and to know how to define how many degrees of freedom a robot has 6 2 Links and joints Joints Two different types of joints 1 Revolute joints R this joint is powered by a servo motor Picture 6 1 Revolute joint http www mathworks se help toolbox physmod mechfref revolute htm Example figure 6 2 a robot has three revolute joints so we call it RRR or 3R which mean three degree of freedom with so called planar manipulator Notice we begin to calculate R beginning from base to end effector EY J2 http ingenieur kahosl be labos digitaal robots htm 2 Prismatic joints P is powered by a cylindrical piston like pneumatic system or hydraulic example 6 3 HOTINT revolute joint rigid driving prismatic join flexible beam y l E sliding mass driving torque Picture 6 3 Example of prismatic joints http www soton ac uk rmc1 robotics argeometry htm Example 6 5 of one prismatic and two revolute joints we call it RPR with three degrees of freedom and this model can be called redundant Picture 6 4 Planar RPR More examples 6 6 SR degree of re e d gt rmi i Picture 6 5 Example of a robot with five degrees of freedom 2RP2R DE
53. ommunication The aim of my thesis is to pick out the most important subjects that handle robot design I tried to be brief and direct to the subject and tried to summarize the most important aspect in this field that was quite a big challenge in my thesis because of huge amount of different technologies that are handled Any student who will read my thesis will find it an orientation towards understanding robot design and pointing out the most important tips on this field since it is brief and short and goes straight to the point Keywords Degree of freedom Robot Articulated robot Trajectory planning Mapping Lahden ammattikorkeakoulu Kone ja tuotantotekniikka SHAKHATREH FAREED Robotics perusteet Mekatroniikan opinn ytety 122 sivua Syksy 2011 TIIVISTELM Robotiikan perusteet yksi harvinaisista aiheista jota k sitell n p tt ty ss kokonaisena sen takia ett siin sovelletaan suuri m r eri tieteen tekniikoita Siin k ytet n melko monia tekniikan aloja kuten koneenrakennus s hk tekniikka tietojenk sittely elektroniikka anturit toimilaitteet ja keinotekoinen ly Voimme n hd ett se on moniulotteinen ala joka hy dynt kaikkia insin riopintoja joita el m ss mme on lis ksi vaikean matemaattisen moduulin soveltamista vaaditaan Yksi suurimmista haasteista t m n p tt ty n teossa oli l yt tarpeeksi materiaalia mik kattaa vain robottisuunnittelun ja keskitty l h
54. ory of arobot It began in 1954 when Devol and Egelberger created the first robot and a computer was just about coming so they built not sophisticated controller robot but they created programmable system that can do a variety of tasks Then they established the Unimation company that manufactured these programmable systems Wikipedia http en wikipedia org wiki Industrial robot In 1970 in the University of Stanford they created an arm which is actuated through electrical servo motor and controlled by a computer to do variety of tasks Wikipedia http en wikipedia org wiki Industrial robot In 1981 Japanese created Scara arm which is especially designed for product assembly The idea of this robot is to do what human does and sony walk man was the first robot assembly Wikipedia http en wikipedia org wiki SCARA robot The typical industrial robot which looks like a human arm has six different joints like an elbow joint a shoulder joint and a rest joint These joints are powered by a servo motor or a hydraulic motor or whatever type of motor These powered motor joints enable robot to reach objects in several ways The amount of joint space motor drive is depending on the nature of a robot task One motions less on motor drive less There are several types of robot with less motor drive for example 4 different joint space The more sophisticated the job the more motions we reguire so extra motor drive is need All these six motor drives
55. otor drive forward and backward then nut begin to move with the movement of stepper motor and there is minimum distance that nut can t go below which is the limit this some kind of example of motor drive resolution Picture 4 13 Servo motor with screw ball http www servo drive com stepper motors linear actuators linear stepper motor php Servo motor drive gets feedback from an encoder or a potential meter Resolution depends on the number of lines inside encoder the more resolution you want the more expensive encoder and the more lines it has For example encoder that has 360 lines means that it has one degree of resolution but it cannot go below one degree Picture 4 14 Optical incremental rotary encoder http www directindustry com prod gsi microe systems optical incremental rotary encoders 39494 523542 html Potential meter uses different method which is analogue signal which is converted to digital through electronics Example let us assume potential meter signal is 10 volt which egual 8 bit then 2 256 digit 360 256 1 4 Resolution per step Robert H 2006 43 5 INDUSTRIAL ROBOT 5 1 Introduction I will try to give a brief history about an industrial robot covering different types of industrial robots and their differences especially articulated robot and scara robot and their differences besides giving small introductory idea about the end effector and its rotational movement types 5 2 Hist
56. ple up we have four revolute joints that means we have four degrees of freedom 6 6 Degree of freedom in closed chains How to calculate degree of freedom for closed chains We need to define how many links revolute joints and prismatic joints degree of freedom 3 n 1 2Jp 2J Jp Number of revolute joints Jp Number of prismatic joints n Number of links Example 1 CLOSED CHAIN Picture 6 10 Closed chain In the example up we calculate degree of freedom this way 3 5 1 2 5 2 0 2 dof Example 2 Picture 6 11 Closed chain by a prismatic joint degree of freedom 3 n 1 2Jp 2J degree of freedom 3 5 1 2 4 2 1 2dof Example3 degree of freedom 3 n 1 2Jp 2Jy degree of freedom 3 5 1 2 5 2 0 2dof Picture 6 12 Closed chain Parallel chains 6 7 Stewart platform p j 10 or mobile plute a N 4 F PA ee Upper legs 4 j j dl q i N i k i lower universu joints i i 5 a L PU I aa J PT m FS Ah a Eau 5 i J j fi base plute W a k N amp a gt SU Picture 6 13 Stewart platform Source http www mathworks se help toolbox physmod mechl ug f15 35077 html How to calculate Stewart platform degree of freedom 6 n 1 3Js 4Jn SJr 5Jp Jn number of hookes joints Js number of spherical joints n number of linkages 6 8 Defining work space area There are two types of work space area parallel work space and perpendicular work space I
57. r controlling and adjusting Sometimes tachometer information is obtained from an encoder Paul 2003 88 Picture 3 21 Tachometer Picture 3 22 Digital tachometer http www freeclipartnow com transportat http www auberins com index php main pa ion cars parts tachometer jpg html ge index amp cPath 16 Cameras are used to locate object in the robot environment They are equal for vision system in human Picture 3 23 Vision system in robot http www robotshop com blog robot kits page 2 Proximity sensors A sensor is able to detect or recognize the presence of close objects without any physical contact with them there are different types of these sensors which are mechanical or infrared by using light A proximity sensor often emits an electromagnetic force or a beam of electromagnetic radiation for instance infrared and looks for changes in the field by reading the return signal The object being sensed is often referred to as the proximity sensor s target Different proximity sensor targets demand different sensors For example a capacitive or photoelectric sensor might be suitable for a plastic target an inductive proximity sensor requires a metal target Robert H 2006 126 Picture 3 24 Proximity sensor from Omron http www omron ap com product info E2FM index asp 3 6 Electronics A to D converter and D to A converter these converters convert analogue signal to digital signal by converting 0 12V into sing
58. re 9 14 Craig 2005 210 215 10 Attachment 1 1 TRAJECTORY PLANNING BY USING ROBOT STUDIO 1 1 Introduction In this section I will try to give brief introduction about how we can create path using robot studio through using simulation and virtual flex pendant since they are two different ways so I will try to explain each way separately beside give introduction about how we can choose from ABB Library geometry and tools and how we can set their position in robot environment 1 2 Creating new station and saving it First we need to choose any robot type by clicking ABB library watch picture 1 N Ham s Robotstudio 5 13 01 Modeling Simulation Offline Online Add Ins Je e 1 2 253 K Teach Target X Task 400 60kg 1 96m World 3D Settings wa 0 kot 7 Robot Import Frame Target Path Other Bil Teach en MultiMove j ca R amp ch 2 oe System Geometry v v v Tool imukuppi v 2 view N Aa F _ Settings Freehand J 30 View IRB 1600 IRB 160010 IRB 2600 IRB 4400 4450 IRB 4600 IRB 6400RF IRB 6600 6650 IRB 6620 IRB 6640 IRB 66505 IRB 6660 le IRB 7600 IRB 260 660 IRB 340 360 Paint Robots amp 7 dan abas hien v IRB 52 IRB 5400 IRB 5500 IRB 540 IRB 580 r Positioners IRBP A IRBP B IRBP C IRBP Index IRBP D v Picture 1 robot studio screenshot How to open new station and to choose robot from ABB library Select the Icon import library then select equipment then
59. rget n Now we create an empty path then we drag targets to the new path watch picture 15 44 For pien a a path from a curve complete with targets ard iy Creating new empty path ad est Ge lt Layout Paths amp lTargets J Unsaved Station Station Elements 1RB1600 7kg 1 2m typeA 35 1 ROB1 8 18 Tooldata 1 Workobjects amp Targets gt wobjo 5 wobjo of 4 Target 10 4 Target 20 E Target 30 Dam Pas Picture 14 robot studio screenshot Creating empty path SEI 1RB1600 7K g 1 2m type T RO81 Cel Tooldata GA Woscobjects amp Targets J We drag these Targets to the path 10 Picture 15 robot studio screenshot Dragging Targets to the path Up we will see path tools and modify button under it Select modify button and new list up will open search the icon move along path and the robot will debug for few second and robot should move according to the trajectory which is planned or created W Visible IP Show W KON Win Copy to Task ga Examine Unexamine J ji 2 E Set as active h i Unsaved Station JD 1R81600 7kg 1 2m type 3f T ROBI A Tooldata 5 M vobjo BH wobjd of 6 Tavat 10 8 Target 20 Target 30 5 Paths Sy Path 10 Picture 16 robot studio screenshot Robot simulation 1 5 Create program using virtual flex pendant First click on offli
60. rogram a robot through teaching method and it describes how precise the robot to return to the stored position Accuracy is connected to repeatability The precision with which a computed point can be attained is called the accuracy of the manipulator Craig 2005 127 ADDRESSABLE POINTS B K Eb A ASEN REPEATABILITY GOOD REPEATABILITY BOTH POOR BUT BAD ACCURACY BOTH GOOD Picture 1 10 Example of good and bad accuracy 3 TECHNOLOGIES OF A ROBOT 3 1 Introduction In this chapter I will introduce robot sub systems and some parts that are used in robot structure This section will give a brief introduction to actuators sensors motor drive electronics power supplies algorithms and software mechanical parts and combining methods between these parts 3 2 Sub systems Actuators and transmission systems they are solenoid motor drive pneumatic and hydraulic system which allows the robot to move Mechanics parts are motors usually rotate and a mechanism to transfer motion to all the necessary parts of a robot to create the motion that is reguired Usually robots reguire a power supply this kind of supply depends on what a robot is reguired to do and if it is a mobile robot then you need to decide the size of battery beside the efficiency since power supply will be in the board of robot but if it is not mobile robot then electricity can be fed through a supply cable Power storage
61. rograms w L Tto 70 oF 20 EM Poo rion Various ettinc Ge Next os ommunicate Interrup Error Rec System amp Time Mathematics MotionSetAdv Co ee oE PG A RN Motion Adv Ext Computer n ENDPROC MultiTasking amp RAPIDsupport Calib amp Service M C i 10 ENDMODULE M C 2 M C 3 Add Y a 4 Modify Hide sis n Position Declarations 8 Production T ROBI Window MainMod U Picture 38 robot studio screenshot How to select motion and progress Manual Guard Stop IRB1600 Skg 1 LSTA10E2 Stopped Speed 100 Fareed in T ROB1 MainModule main Tasks and Programs w Modules CONST robtarget pl CONST robtarget 7 N CONST robtarget p30 PROC main MoveJ p10 v100 MoveJ p20 vl00P MoveJ p30 v100 f ENDPROC Hold Torn 10 ENDMODULI Click here Add v cm I Picture 39 robot studio screenshot How to reach setDo Manual IRB1600_5kg_ 1 LSTA10E72 Guard Stop Stopped Speed 100 W Change Selected Current argument Signal Select argument value Active filter lto lof 1 New 123 Expression Edit x OK Cancel Production Ha TROBI Window MainMod Picture 40 robot studio screenshot How to rename new We rename 1t here i Manual Guard Stop J el IRB1600_5kg_1 LSTA10E2 Stopped Speed 100 x amp New Data Declaration Data type signaldo Current Task T ROBI Global
62. rs helping us to choose a suitable motor drive Angular Velocity 4 3 Application types in servo motor A Application continues duty operation When we drive a certain load in a particular speed or variable speed during a period of time we need to take into consideration the load torgue speed and if electronic circuit is able to supply the reguired current and voltage B Application Intermittent operation Intermittent motion that has variable speed and variable periods of time this drawing describes the motion A B 2 X Time Kt ad K g he 13 t4 One cycle Picture 4 6 Angular velocity with relative of time We notice from the curve 4 6 up that we have several different periods of time From 0 to A which lasts during tl is acceleration From A to B which lasts during t2 is a uniform speed with 0 acceleration From B to C which lasts during t3 is deceleration From C to D which lasts during t4 1s dwell where acceleration and velocity speed is 0 4 4 How to define a suitable servo motor speed We need first to calculate the speed of load reduction ratio value by gearbox and the horse power or KW of the motor drive capacity 4 5 Servo motor gearbox Every motor drive has a certain load and the motor speed is quite high for example 3000 rpm or more We need to make reduction for the speed through choosing suitable size for the gear box since the gear box has contributed for the carried load sp
63. rua a lskvamvutue ai 28 4 1 PROG UCTLO mmauvas asema a ama sov aki v nsi v rein mvapvu E E 28 AD SEVO Or mat LYDoS sstsussmtstavms a kaisna i S1 s st yhume Saale sel t e Slus omia dess ae 28 4 3 Application types in servo motor usousuus nan nananana naan nanna naan 31 4 4 How to define a suitable servo motor speed ccecceeeeeeeeeeeeeeeeeeeeeeeeeees 32 AS SEVO MOLL PearDOX vmmssimuvariv vsmssaa vet E 32 4 60 SENO Mor ged DO sonenn enan eena a 32 47 CMOOSING lt 4 SUILADIC gearbox cercar a E A 33 48 GCOntrOllnG inertia sane seenorsveerensde care dareceteeatueavyseemesteuadecarwoareeaeeatueeen teenies 34 4 9 A Base servo motor example in a robot ccc ccccecc eee eeeeeeeeeeeeeseeaees 36 210 FROSOIUMON aesa n O eesu kaan ena Samaa at ame Ven 38 S INDUS TRIAL ROBO i societies a tis nets Mott ssien 40 SA MITTOGUIGUOM neriesi tasa oN aieksi a eukon ao tak susiea toma oe 40 OZ MISONO A TODO ote cases top cu E ica geome ened Litt anetum am e kSsaaaenaataaaes 40 5 3 Main types of an industrial robot ccc ccecceecc sees eeceeeeeeceeeseeseeeaeeees 41 SA INIAINFODOUIMOUONS ivan ahece dace a E 42 95 Scakrarobotvs articulated TOBOL sriubos eiren kes vsa e istuessa 44 960 ENAGSIISCIOFS ksummmanutav tn m tee tehn vd ain a Ram E E Eos 45 6 INDUSTRIAL MANIPULATORS AND ITS KINEMATICS 00 ee 46 6 1 MO GU CHO eA 46 OZ ENKS and JONS ie ccet oe se aeasietinacaae eee E
64. s LAHDEN AMMATTIKORKEAKOULU i NA Lahti University of Applied Sciences gt v THE BASICS OF ROBOTICS LAHDEN AMMATTIKORKEAKOULU Tekniikan ala Kone ja tuotantotekniikka Mekatroniikka Opinn ytety Syksy 2011 Fareed Shakhatreh Lahti University of Applied Sciences Machine and production technology SHAKHATREH FAREED The basics of robotics Mechatronics thesis 122 pages Autumn 2011 ABSTRACT The basics of robotics are one of the rare subjects to be handled as a whole in a due to the extreme diversity of scientific technologies it incorporates It uses quite many fields of technology for example mechanical engineering electrical engineering computer sciences electronics sensors actuators and artificial intelligent It is a multidimensional area which takes advantage of all engineering studies that exist in our life besides a hard mathematical module application which is required to be applied One of the biggest challenges of writing this thesis was to uncover enough material that involves robotic design To understand the mechanical design of a robot we need to study matrix vectors derivate integral and basic physics servo motor selection and design in addition to choose the gears and linking methods Hydraulics and pneumatics are guite Important in this field and to know how we can create communication between sensors and actuators through a programmable logic system finally programming Is the method of c
65. ssible but it can only handle specific tasks with no possibility of changing its own task These machines can be seen in our homes washing machines dish washers etc Programmable Automation This form of automation began with the arrival of the computer People began programming machines to do a variety of tasks It is flexible because of a computer control can handle variations batch product and product design Autonomous Independent Endowed with a decision making capability through the use of sensors A robot belongs to this kind of automation and it is a combination of microprocessor and conventional automation systems which can provide a very powerful system Its high level machinery capabilities combined with fault recognition and correction abilities provided by highly evolved computer systems This means it can carry out work traditionally carried out by humans Examples of existing autonomous systems are animals and human beings Animals when they see food they move toward it using sense of smell or they escape when they react against danger due to senses of fear Sensors Human beings are the highest level of autonomous systems because they think and they can change plan at any moment due to their high intelligence Robots cannot reach the same high level as humans because they are programmed to do certain tasks according to certain factors which are completely programmed by human beings but they have no possibilit
66. system is battery or some other electronic devices Sensors are two types Internal and external there are many sensors in a robot which considered as the senses in a robot Micro controller and processors are the brain that controls the whole system Algorithms and software are two models higher level and low level programmer need to create software and algorithms to run the robot in a desired way Actuators Actuators are essentially the prime movers providing linear force and motion Conventional Pneumatics hydraulics Picture 3 2 Pneumatic Cylinder Picture 3 1 Pneumatic valve system http www industrialmuscle co uk pneumatics htm http www stcvalve com Pneumatic and hydraulic design consideration With this kind of system there is input and output in the cylinder through these input and output we pump air for pneumatic system and clean filtered oil for hydraulic system to make the piston move outside and inside to provide us with linear force and motion You need to know in robot system how far the piston should go outside or go inside in pneumatic system we cannot control how far the piston can go outside or inside unless you put ring in the piston rod but in hydraulic system we can control the extension of piston by controlling the oil flow through flow control valves Pneumatic system is used when we do not need a large force to push but hydraulics is used when a system demands a large force especially with big mac
67. t g AWI Disconnect Library Copy Orientation G J X Visible Examine Show Work Envelope amp Set as UCS f 0 Modify Mechanism G gt Mechanism T the joints Jump Home Set Position amp Rotate w Place P 4 Picture 11 robot studio screenshot Robot movement options Move the robot joint the first desired motion the go up on the icon target in home section then we choose create target icon then it will open new window like in picturel 2 For creating a target by spet the positions ofthe robot axes Step3 For creating targetsalong edges o 981 19 4164947462 N i oem Na Step 1 move the robot ee 0 Ior hm Unsaved Station 8 g AW Gun PSF 25 Picture 11 robot studio screenshot How to create path by choosing Target 5 1 vobotstuadio 5 13 01 Mechanism Ta Home Modeling simulation Offline Online Add Ins Modify ir J T sa T y i g The Tm T i bn i t oy ae leach Target s Task dkg 1 21 type World a vi z a aloo bag Teach Instruction a s Workobjecdt wobjO j mpo tobot Import rame Target a r vlultikkove a Library Library System Geometry x N Tool AW Gun 7 Eee amp T G Build Station Path Programming Settings Freehand 4 x j gt E Create Target Reference World v Align Target with closest Part Position mm J 0 00 0 0
68. t is very important to determine work space area and to know the planes of work space In the picture 6 14 the robot of five degrees of freedom as we can see there are several rotations with two work spaces First Base and wrest they rotate in parallel work space Then waist shoulder and elbow they are rotating in parallel work space to each other Then base and wrest they rotate in perpendicular work space against waist shoulder and elbow Spatial manipulator that has more planes to move through with more perpendicular and parallel axes to each other like industrial robot as an example Er Souide in figure 6 14 Gripper er vein r dl n is eo Picture 6 14 Example with spatial robot Notice This example is called SRP manipulator all these axes are moved with series of cables and pulleys which are connected to the drive motor Manipulator task is to position an object and to define how many orientations are possible for a specific position This issue is required for mechanical engineers to answer By adding more degree of freedom you can add more orientations and ranges of orientation but control problem gets bigger Notice number of possible orientations directions depends on the position of the object ia ed Picture 6 15 Example of positioning an object In the following picture 6 16 we have just one orientation Picture 6 16 one orientation example Work space
69. tum associated with the disk s high rate of spin and moment Wikipedia Gyroscope Spin axis frame Gimbal N W Rotor Picture 3 17 Gyroscope http www ifixit com Teardown iPhone 4 Gyroscope Teardown 3156 1 Potentiometer has the same task like encoder but uses different method for measuring degree of rotation it convert the analogue voltage value from 0 10 volt to digital signal bit which give how many degree of rotation in the motor drive In picture 3 18 a potentiometer is mounted at the gear motor which enables the DC motor controller to measure the position of the axle Picture 3 18 Servo motor with Potentiometer http www wahlberg dk Products Motion Motors tabid 166 CategorylD Digital rotary Encoder is for measuring rotating degree of a shaft by using lines which define the degrees of rotation and to give the position of a shaft On other way we can say the same work like potentiometer but they are using different method for measuring degree of rotation Paul 2003 80 3 30 To Microprocessor Drawn by Alan Macek swew alanmacek com gt Picture 3 19 Wheel encoder circle http www alanmacek com robot Picture 3 20 Wheel encoder http www alanmacek com robot Tachometer Essentially is a generator Depending on the velocity of the shaft you get certain amount of voltage output and this amount is measured by tachometer to give us visual feedback about the motor state It is used fo
70. ure 9 We have 6 joints with six coordinaate to manipulate so we can choose the degree by moving the slide button left and right on the tree section First joint move robot left and right second joint move robot up and down third joint up and down as well the last three joint move end effector up and down beside left and right Medan Ta 2 HON VOLROS L ana Sea i ae ja 105 i cal lie BE son at gt e E Unsaved Station N E A 1RB1600 5 120 01 gt aA Binzel WH455D g table and foture 140 Picture 9 robot studio screenshot This picture shows how to change the rotation of each joint in the robot When you choose mechanism linear jog then it will appear new window like in picturelO the same way like previous step by moving the slide button left and right we change the coordinate of each joint until we get the desired position First joint move forward and backward second joint move right and left with linear motion third joint move up and down with linear motion the last three joint move the same like first three but by steps T RobotStudio 5 13 01 Mechanism To a Home Modeling Simulation Offline Online Add Ins Modify ap y M U k Gi ott gt Teach Target s Task B1600_5kg 1 2m Word 3D Settings Workobject wobj0 Q Show Hide ABE Import Robot Import Frame Target Path Other MultiMove 3 Libr ary Library System a Geometry a 7 k F Tool Binzel 7 amp ja ch amp
71. whether up and down or left and right It has almost the same idea like hydraulics and pneumatics cylinder but the only difference that these does not use oil or air to generate force but it uses electricity Paul 2003 78 Picture 3 4 Linear motor drive actuator http www designworldonline com articles 4087 317 Schneebergers P3 Linear Motor Artiiatar acny Power supplies PWM amplifiers is a device for increasing or decreasing the electrical power voltage and ampere To be able to increase the velocity of the motor drive you need to increase the voltage and ampere through chart meter power supply amplifiers It 1s very important to notice that the motor does not heat up because of high voltage or ampere mra onmonomrib 16606 UF to I DX 1 DX 2 DX 3 DX 4 DX 5 DX 6 Picture 3 5 Power supply circuit http www eleccircuit com bench power supply by pic16f870 N i Ee tal k Picture 3 6 Power supply circuit http www cadaudio dk paindex_en htm 3 3 Transmission system Mechanics 1 Gears the lighter the gear the better motion less torque and higher speed Some of this model is spur helical bevel worm rack and pinion and many others Paul 2003 108 Picture 3 7 Gear picture http soheelali blogspot com 2 Chains Picture 2 8 Chain http robomatter com Shop By Product Type Hardware VEX Mechanics page 1 amp sort 3a 3 Timing belts have some kind of teeth a
72. www alansanchezmedia com robot vacuum cleaners html 2 5 Required studies in robotics It is multidimensional area which uses almost all of the engineering studies These studies are mechanical engineering electronic sensors actuators computer sciences and artificial intelligence 2 6 Extrapolating from nature As an example humans and animals have arms and fingers to manipulate objects Legs for locomotion muscles as actuators eyes provide vision nose for smelling ears for hearing tongue for tasting skin for feeling and nerves for communication between the brain and actuators 2 7 Comparing robots to humans Manipulation is equal to Arms and fingers driven by motors and other forms of actuation Vision is equal to camera Hearing is equal to microphone Feeling is equal to tactile sensors Communication is equal to wires fiber optics and radio Brain is equal to computers and microprocessors Smell and taste are still under development Matti Pitkala Lecture on Lahti University of Applied sciences 2011 2 8 Programming a robot by teaching method The same technique we use to teach children to write the alphabet by holding the child s hand and going through the writing process step by step When we are teaching the robot to do a certain job we control the movement of the robot hand or end effector at the same time we record the motion of each individual joints Then we play back the recording and the robot begins to move indepe
73. xplanation of robotics The information is directed towards engineering students and engineers who are interested in a robotics In the beginning you will find a general idea and the development of robot technologies some applications of an industrial robot and a non industrial robot How robotics has developed in the last few decades and how it begins to play a vital role in our industrial life The topic of the thesis is to summarize and cover the most important areas of a robot structure and design My target was to provide the reader with an easy simple way by using a lot of different pictures drawings and mathematic examples to make the subject of robotics simple to understand and easy to follow step by step from the basics until the most complicated forms Robotics study becomes an extremely large field because it contains a huge amount of different technologies but I have covered the most important areas 2 INTRODUCTION FOR ROBOTICS BASICS 2 1 Introduction This chapter explains automation system and different types of automation Why we need robots in our life What kind of advantages we can receive from robots by viewing robot applications and the quality that can be provided by comparison to human work 2 2 Automation Hard automation This kind of automation cannot handle product design variations mass production for example conventional machinery packaging sewing and manufacturing small parts Adjustability is po
74. you go down and select any tool by clicking any tool for example I will choose any end effector tool from the library watch picture 2 RobotStudio 5 13 01 Task 400 60kg 1 96m World E 30 Settings 7 Workobject wobj0 Q Show Hide Tool mukuppi RR BABA ven S lt 6 Browse for Library Ctrl J i ooldata amp B Workobjects amp Targets Paths He main v lavaus y haku E a Laatikon otto 8 Laatikko Haku Ey Laatikko Vienti v LavaTilaus IRB4400 60kg 1 96m FT ROBI 8 Tooldata 43 toold ME Octopus iytsinkone4 E tOctopus 43 imukuppi Workobjects amp Targets wobj0 a wobi kul10 HH wobi kuli1 wobja H wob PKI 500 si M2001 HH wefic 7 wobjPOYTA raining object Ze El DMO i v Picture 2 robot studio screenshot How to select from ABB library end effector tool and some other geometry IRCS Process IRCS Singel Then on the left tree you will see the tool name but it 1s not connected to robot s end effector on the right window so by dragging the tool name PKI 500 di M2001 and drop it to your IRB1600ID 4 5 150 03 robot then new window will open to ask you do you want to keep the current position of the tool then you should choose no then the tool will be connected to the end effector of the robot watch picture 3 0 si s ie ot H lant a aeae TAO in Mechanism Tools 7 e x File Home Modeling Simulation Offline Online

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