Robot scara

Ch 8 Industrial Robotics
Sections: 1. Robot Anatomy and Related Attributes 2. Robot Control Systems 3. End Effectors 4. Sensors in Robotics 5. Industrial Robot Applications 6. Robot Programming 7. Robot Accuracy and Repeatability

©2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist. No portionof this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

Industrial Robot Defined
A general-purpose, programmable machine possessing certain anthropomorphic characteristics Whyindustrial robots are important: Robots can substitute for humans in hazardous work environments Consistency and accuracy not attainable by humans Can be reprogrammed Most robots are controlled by computers and can therefore be interfaced to other computer systems
©2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as theycurrently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

Robot Anatomy
Manipulator consists of joints and links Joints provide relative motion Links are rigidmembers between joints Various joint types: linear and rotary Each joint provides a “degree-of-freedom” Most robots possess five or six degrees-of-freedom Robot manipulator consists of two sections: Body-and-arm – for positioning of objects in the robot's work volume Wrist assembly – for orientation of objects
©2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. Thismaterial is protected under all copyright laws as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

Robot Anatomy

Robot manipulator - a series ofjoint-link combinations
©2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book Automation, Production Systems, andComputer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

Types of Manipulator Joints
Translational motion Linear joint (type L) Orthogonal joint (type O) Rotary motion Rotational joint (type R) Twisting joint (type T) Revolving joint (type V)

©2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currentlyexist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

Translational Motion Joints
Linear joint (type L)

Orthogonal joint (type O)

©2008 Pearson Education, Inc.,Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P....