PhD. S.
Rolando Cruz-Ramírez
February 2020
Industrial Robotics
[Link]
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mejora-la-productividad-en-la-industria-automotriz-1
Industrial Robotics
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[Link]
Industrial robot definition
An industrial robot is a re-programmable
multi-functional manipulator designed to
move materials, parts, tools, or specialized
devices, through variable programmed
motions for the performance of a variety of
tasks.
• ISO 8373 Manipulating industrial
• JIS B 0134-1998 robot 4
Basic architecture
Main Parts
Robotic Arm
Controller
Teaching Box
Software
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Basic architecture
Amp unit
Safety
board
Main
Position computer
Motores Monitor
Board
Encoder
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Classification of Robots
By Degrees Of Freedom (DOF)
Ideally, a robot should have 6 DOF for
freely manipulate an object in a 3D space.
It is called general purpose robot if it
possesses 6 DOF,
redundant robot if it has more than 6 DOF
and deficient robot if it has less than 6 DOF.
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Classification of Robots
By Degrees Of Freedom (DOF)
A redundant robot provides more
freedom to move around obstacles
and operate in a restricted work
space.
On the other hand, for some special
applications such as assembling
components in a 2D space, a robot
with 4DOF is enough for that task.
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Classification of Robots
• By Kinematic Structure
Serial Parallel 9
Classification of Robots
By Drive Technology
Pneumatic
Hydraulic
Electric
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Classification of Robots
By Workspace Geometry
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Workspace
Reachable space:
workspace where a
robot can reach at
least with one
orientation
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Cartesian Robot
It has three linear movements (3DOF), which
correspond to the movements to X, Y and Z.
Its workspace is a rectangular box.
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AS / RS (Automatic Storage
and Retrieval System). This
is a robot of Cartesian
configuration, which has 3
DOF (corresponding to the
axes XYZ), and a rotational
DOF in the wrist.
Its main use is for loading
and unloading pallets
between the warehouse
and the conveyor.
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AS-RS in Volkswagen
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Cylindrical robot
It can execute two linear movements and one
rotational (3DOF).
Its workspace is enclosed by two concentric
cylinders.
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Spherical robot
It has two rotational movements and one linear
(3DOF).
Its workspace is enclosed by two concentric
spheres.
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Angular Robot (anthropomorphic robot):
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• It has at least 3 angular movements
• It has similarity to a human arm
• It can perform angular interpolations as well as
linear interpolations
Simulador easy-rob
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[ \TrainLib\AX-V6 ]
In addition to the four classic
configurations already mentioned,
there are other configurations called
non-classical.
The most common no-classical
example is the SCARA robot. The
SCARA acronym stands for: Selective
Compliance Assembly Robot
Arm or Selective Compliance
Articulated Robot Arm.
This robot arm can perform a larger Simulador easy-rob
horizontal movement due to its two [ \LectorLib\scararoboter ]
rotational joints. It can also perform a
linear movement (through its third 20
joint).
From the following Robots, mention the type of
configuration.
Cartesian
Angular
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Angular
SCARA
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Angular
Others
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Some
robot
companies
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PhD. S. Rolando Cruz-Ramírez
February 2020
End-effector or Robot´s Tool
Device attached to the robot´s wrist to
perform an specific task.
There are different types of end-effectors,
it depends of the functions they perform.
The main categories are tools and
grippers. 26
End-effector or Robot´s Tool
• Tool Center Point (TCP)
• Weight
• Center of gravity
• Shape
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At the time of designing an end-
effector, it should take into
account the shape and weight of
the workpiece as well as the
type of motion in order to follow
a desired path.
The end-effector must not
modify or damage the structure
of the piece to be fastened.
A general rule is that the end-
effector must hold the workpiece
from its center of gravity, so the
possible moments generated by
the weight could be canceled.
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In order to reduce the cycle time in loading and unloading
robotic tasks, a multiple points end-effector can be
designed.
There are other types of end-effectors such as magnetic
gripper and adhesive grippers.
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World Industrial Robot Population
(2003)
Japan 350,000
USA 115,000
Germany 110,000
Spain 16,000
Brazil 8,000
Mexico 4,500
(9,200 in 2005)
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World Robot Population (2008)
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[Link]
World Robot Population (2017)
International Federation of
Robotics (IFR)
World Robotics Statistics:
Industrial Robots
Service Robots
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[Link]
Robot configurations
R-2000i
Arc Mate 100i P-200 ARC Mate 120i M-710iT
ARC Mate Series
50iL M-6i M-16i
S-900i
P-120
P-10/P-15
M-6iT/M-16iT Series
S-430i Series
Series
IR-800
P-300
P-145
P-400
F-200
M-410i Series
LR Mate 200i
A-520i
S-500 M-710i Series
LR Mate 100i
SR Mate Series
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Payload 3 5 6 15 16 20 60 70 100 400 (kg)
Robot configurations
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Online programming
• Karel -> Fanuc
• Rapid -> ABB
• Melfa -> Mitsubishi
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Online programming
FANUC Karel programming
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Online programming
Mitsubishi Melfa programming
1. MVS P10
2. MOV P20
3. MVR P20, P30, P40
4. MVC P40, P30, P20
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Online programming
Used 90% of the cases
Advantages:
It takes advantage of the following characteristic of
industrial robots:
Repeatability
Relatively simple
Disadvantages:
It consumes a lot of time
It requires a precise positioning of work pieces
Optimization is difficult
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Offline programming
Simulators
• ROBOT STUDIO
• EASY-ROB
• ROBOGUIDE
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Offline programming
Advantages:
It allows to plan the movements of the robot including
obstacles.
It allows a precise calculation of cycle times.
It offers the possibility of performing sequence
optimization.
View the work cell and its environment graphically.
Disadvantages:
It requires a precise
positioning of work
pieces.
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Offline programming
\ ArcWelding
\ Handling
\ Painting
\ SpotWelding
\ Press
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Teleoperation
Other options as a teaching terminals
PHANTOM-Omni Common Ttrackball by
Device by SensAble Co. mouse. Kensington Co.
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Teleoperation
Other options as a teaching terminals
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