Question

Write a complete note with a clear explanations giving examples:

- Robot configurations

- Robot classifications

- Robot programming

- Robot applications

- Direct kinematics & Inverse kinematics

- path planning

Answer 1

• Robot configurations.

1. Polar configuration: in this case of configuration the robot arm cn be raised or lowered about the horizontal axis.

Some times it is also called spherical co ordinate robot.reason being the various joints of robot provide the accordance to move the arm within spherical space.

It has one line motion

Two rotary motions.

It is being fixed or pivoted on a rotational base.

Example for such type can be UNIMATE 2000 series.

2) polar configuration robot.

It has one linear and two angular motions.

Linear motions signifies to radial in and out motions.

Angular motions. Rotation of base about vertical axis. And another is elbow rotation.

3) jointed arm

Basically this configuration resembles to that of a himan arm.

It is configured by two joints which ar rotary and in corresponding to shoulder and. Elbow in the similar fashion as that of a human arm.

Example. CINCINAATTI MILACRON T3 robot.

4)SCARA.

It's a special type of jointed arm.

SCARA. Being selective compliance articulated robot arm.

5) Cartesian co ordinate

These are basic type of configuration and usually has all the axis .

XY YZ ans ZX to mad fro along horizontal and vertical axis respectively.

• Robot classification.

1) variable sequence robot. A predetermined way or a method is used had successive stages are performed by robot to execute

2) playback Robot. A human operator perfoms the ask leasing robot robot

3) NC or numerical controlled robot. Name itselfs signifies it's numerical controlled or programmed

4) intelligent Robot. A robot is made to understand environment and changes in environment and react to it.

• Robot programming

1)There are basically two types or methods of programming a robot.

On line and off line. Classification or types as as follows.

On line.: Lead through program

Teach pendant

Off-line:. Robot program languages

Task level program.

Lead through method :

We have to accompany or lead the robot through different sequence of motions or operations.

Results in smooth continuous motion when played back.

Teach pendant. :

Easy to use.it do w not require high programming skills.

Useful for long production run or when production is rapid.

Similar to jaustice a hand hold device is use to manage this robot.

Robot program languages.

AML,VAL,AL Rail,etc.

• Robot applications.

Robots are nowadays used in almost all types of operations.

To name a few.

1) welding

2) spary painting

3)pick up in conveyor mechanism.

4) medical surgeries

5) machine loading and unloading.

6) assembly operations

• Kinematics of robots

Calculate relations between end effector and joints angles of robots.

1)direct kinematics.

Here,the joint angles are the inputs, the outputs would be the coordinates of the end-effectors.

2)t indirect or reverse kinematics, the given inputs are the coordinates of the end-effectors, the outputs to calculate are the joint angles.

• Path planning.

It  is basically the procedure of finding out continuous path or a way that will provide a way the robot rom the start to the end configuration.

A particular path is given or described to robot to provide sequence of operations and so it is programmed.