Lecture 3 Year 2

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Lecture 3 - Year 2

• Robotic Manipulator

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What we will cover

• Revision - Lecture 2
• Robot Definition
• Some Applications
• Mechanical Configurations
• Technical Description

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Lecture 2 - Revision

• What process was automated.
• Automatic tool pallet exchange.
• Five levels of automation
• level 1
• level 2
• level 3
• level 4
• level 5

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Definition - Robot

• A robot is a machine which can be programmed to
  do a variety of tasks, in the same way that a
  computer is an electronic circuit which can be
  programmed to do a variety of tasks.

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R2D2 C3P0
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Musician
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RB5X Personal Robot
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Robotic Welding
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Robotic Spray Painting
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Applications

• Materials Handling
• Spot Welding
• Spray Painting
• Grinding
• Tending Machine Tools
• Applying Sealant

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Parts of a Manipulator
Arm
Shoulder
Elbow
Wrist
Shoulder
Hand
Fingers
Elbow
Wrist
Hand
Fingers
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Robotic Joints
Revolute Joint Prismatic Joint
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Cartesian Configuration
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Cylindrical Configuration
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Spherical Configuration
Sweep around waist
Vertical swing around shoulder
Horizontal Stroke
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Articulated Configuration
Horizontal reach
Sweep around waist
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Selective ComplianceAutomatic Robot Arm
3 Revolute Joints
Prismatic Joint
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Technical Features

• Working Envelope
• Degrees of Freedom
• Speed
• Payload
• Precision of Movement
• Spatial Resolution
• Accuracy
• Repeatability

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Summary

• Definition of robotics
• Some Applications
• Type of Robotic Joints
• Mechanical Configuration
• Technical Description