Introduction. Robotics & Machine Vision. Robot Applications. Situations to promote the use of robots
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1 Introduction Robotics & Prof. Dr. M. Zahurul Haq Department of Mechanical Engineering Bangladesh University of Engineering & Technology ME 475: Mechatronics A robot is a reprogrammable, multifunctional manipulator designed to move materials, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks. True robots should be distinguished from the manually controlled manipulator or telecheric, which is remotely controlled by human operators and not programmed to operate automatically and unattended. Robotics is the art, knowledgebase, and the know-how of designing, applying, and using robots in human endeavours. Prof. Dr. M. Zahurul Haq (BUET) Robotics ME / 39 Prof. Dr. M. Zahurul Haq (BUET) Robotics ME / 39 Situations to promote the use of robots Hazardous environment for humans Repetitive work cycle Difficult handling for humans Multishift operations Infrequent changeovers Industrial Applications: Material handling Processing operations Assembly and inspection Field Applications: Robots are deployed in areas where human being could not survive or be exposed to unsustainable risks. Service Applications: Robots are used in civil applications such as intelligent transportations, patient rehabilitation system, medical applications, domestic aid, entertainments etc. Prof. Dr. M. Zahurul Haq (BUET) Robotics ME / 39 Prof. Dr. M. Zahurul Haq (BUET) Robotics ME / 39
2 Industrial Applications: Material Handling Industrial Applications: Processing operations 1 Material transfer pick-and-place palletizing 1 depalletizing warehouse loading and unloading insertion 2 Machine loading and unloading die casting plastic moulding machining processes heat-treatment pressworking arc and spot welding glueing and sealing paint and spray coating drilling and other machining operations grinding, wire brushing and similar operations water-jet and laser cutting screwing, wiring and fastening. 1 placing objects on a pallets in ordered way Prof. Dr. M. Zahurul Haq (BUET) Robotics ME / 39 Prof. Dr. M. Zahurul Haq (BUET) Robotics ME / 39 Industrial Applications: Assembly and Inspection Field 1 Assembly involves joining of two or more parts to form a new entity. 2 Inspection to inspect the work that is supposed to be done. making sure that a given process is completed ensuring that parts have been added in the assembly as specified identifying the flaws in raw materials and finished parts. e304.eps Sojourner rover, deployed by Pathfinder in 1997 by NASA. Prof. Dr. M. Zahurul Haq (BUET) Robotics ME / 39 Prof. Dr. M. Zahurul Haq (BUET) Robotics ME / 39
3 Service e305.eps Autonomous car Stanley completed a path of 132 miles in record time of 6 h and 53 min in DARPA Grand Challenge Prof. Dr. M. Zahurul Haq (BUET) Robotics ME / 39 e306.eps The EndoAssistant manipulates a laparoscopic camera at the command of the surgeon. Prof. Dr. M. Zahurul Haq (BUET) Robotics ME / 39 e307.eps The da Vinci robotic surgical system comprising of a surgeon s console and a patient side cart. Prof. Dr. M. Zahurul Haq (BUET) Robotics ME / 39 e308.eps Asimo by Honda e309.eps AIBO by Sony Corp Prof. Dr. M. Zahurul Haq (BUET) Robotics ME / 39
4 Robot Structure & Classifacations Robots can be classified as those with fixed base, robot manipulators, and those with a mobile base, mobile robots. The structure of a robot manipulator consists of a sequence of rigid bodies (links) interconnected by means of articulations (joints); a manipulator is characterized by an arm that ensures mobility, a wrist that confers dexterity, and an end-effector that performs the task required of the robots. The articulation between two consecutive links can be realized by means of a prismatic or a revolute joint. Prismatic joints are linear; there is no rotation involved. Revolute joints are rotary. In most general case of a task consisting of arbitrarily positioning and orienting an object in 3D space 6 DOFs are required. The workspace represents the position of the environment the manipulator s end-effectors can access. The task required of the arm is to position the wrist then it required to orient the end-effector. Robot manipulators are classified as: 1 Cartesian (3P): 20% of industrial robots 2 Cylindrical (R2P): 12% 3 Spherical / Polar (2RP) 4 Articulated / Anthropomorphic (3R): 59% 5 Selective Compliance Assembly Robot Arm (SCARA): 8% Prof. Dr. M. Zahurul Haq (BUET) Robotics ME / 39 Prof. Dr. M. Zahurul Haq (BUET) Robotics ME / 39 6 DOF Industrial Robot Example Carteisan (3P) Robot e035.eps Prof. Dr. M. Zahurul Haq (BUET) Robotics ME / 39 e030.eps Prof. Dr. M. Zahurul Haq (BUET) Robotics ME / 39
5 Gantry Robot Cylindrical (R2P) Robot e337.eps Prof. Dr. M. Zahurul Haq (BUET) Robotics ME / 39 e031.eps Prof. Dr. M. Zahurul Haq (BUET) Robotics ME / 39 Spherical (2RP) Robot SCARA Robot e034.eps e325.eps e032.eps Prof. Dr. M. Zahurul Haq (BUET) Robotics ME / 39 Prof. Dr. M. Zahurul Haq (BUET) Robotics ME / 39
6 Articulated (3R) Robot e033.eps e315.eps e314.eps Prof. Dr. M. Zahurul Haq (BUET) Robotics ME / 39 e313.eps Prof. Dr. M. Zahurul Haq (BUET) Robotics ME / 39 Robot Gripper Keyboard CRT Power supply System computer ROBOT computer Interface card Tape or disk drives Bulk storage Off-line storage Linear position Angular position Strain gages for torque and force exerted and weight lifted Motors Sensors Gears Tools Linkages Hand (EE) Actuators ROBOT Wrist Switches Arm(s) Controls Body Connectors Base Firmware Teach pendant Power supply e036.eps Prof. Dr. M. Zahurul Haq (BUET) Robotics ME / 39 e037.eps Also possible: Velocity and acceleration sensors Vision Sniffer Voice recognition Speech synthesis or other sounds Gripping force Tactile and slip Light beam and photodetector for presence sensing Also possible: Inductance or capacitance proximity sensor Radar or sonar distance ranging sensors Prof. Dr. M. Zahurul Haq (BUET) Robotics ME / 39
7 Mechanical grippers:- consisting of two or more fingers that can be actuated by the robot controller to open and close to grasp the work-piece. Vacuum grippers:- such cups are used to hold flat objects. Magnetized devices:- for holding ferrous work-pieces. Adhesive devices:- where adhesive substances are used to hold flexible materials like fabric. Simple mechanical devices:- such as hooks and scoops. e334.eps Prof. Dr. M. Zahurul Haq (BUET) Robotics ME / 39 Prof. Dr. M. Zahurul Haq (BUET) Robotics ME / 39 Robot Drives 1 Pneumatic drive:- pressurized air is supplied through lines to cylinders, causing air pressure to be transformed into mechanical work. 2 Hydraulic drive: pressurized fluid entering into cylinders causes the cylinder to extend or retract. 3 Electric drive:- electric drive systems either use AC or DC electric motors. Motors are connected to the manipulator s axes through gear reduction mechanisms to develop necessary torque for the robot to lift heavy payloads. e335.eps Prof. Dr. M. Zahurul Haq (BUET) Robotics ME / 39 Prof. Dr. M. Zahurul Haq (BUET) Robotics ME / 39
8 Robot Sensors Robot Programming Modes 1 Physical setup:- an operator sets up switches and hard stops that control the motion. 2 Lead through or teach mode:- the robot s joints are moved with a teach pendant. 3 Continuous walk-through mode:- all robot joints are moved simultaneously, while the motion is continuously sampled and recored by the controller.during playback, the recorded motion is executed. 4 Software mode:- a program is written off-line/on-line and is executed by the controller to control the motion. e336.eps Prof. Dr. M. Zahurul Haq (BUET) Robotics ME / 39 Prof. Dr. M. Zahurul Haq (BUET) Robotics ME / 39 Applications Robot Specifications Applications Payload: the weight a robot can carry and still remain within it other specifications. Reach: the maximum distance a robot can reach within work envelope. Precision: how accurately a specified point can be reached. Repeatability: how accurately the same position can be reached if the motion is repeated many times. e324.eps Prof. Dr. M. Zahurul Haq (BUET) Robotics ME / 39 Prof. Dr. M. Zahurul Haq (BUET) Robotics ME / 39
9 Applications Applications Applications e327.eps e328.eps Prof. Dr. M. Zahurul Haq (BUET) Robotics ME / 39 Prof. Dr. M. Zahurul Haq (BUET) Robotics ME / 39 Components Components : Key Components e329.eps e038.eps Prof. Dr. M. Zahurul Haq (BUET) Robotics ME / 39 Prof. Dr. M. Zahurul Haq (BUET) Robotics ME / 39
10 Components Components : Key Components 1 Front-end optics:- includes the camera, lens and the lighting. 2 Frame grabber:- or video capture card, interfaces the imaging units to the host computer. It takes the image data provided by the camera(s) in either analog or digital form and convert it for use by the host computer. 3 Computer and software:- A computer forms a necessary part of the machine vision system. Softwares processes the incoming image data and makes decisions such as pass or fail. e330.eps Prof. Dr. M. Zahurul Haq (BUET) Robotics ME / 39 Prof. Dr. M. Zahurul Haq (BUET) Robotics ME / 39 Components : Process steps 1 Image acquisition:- system gathers images to be converted into digital format and placed into computer memory. 2 Image processing:- various algorithms are used to enhance elements of the image that are of specific importance to the process. 3 Feature extraction:- processor identifies and quantifies critical features in the image and sends data to control programs. 4 Decision and control:- control program make decision based upon the data. Are the holes within specifications? Is a pin missing? How must a robot move to pick up the component? Prof. Dr. M. Zahurul Haq (BUET) Robotics ME / 39
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