Fundamentals of Robotics

David Ardayfio

• Publisher: CRC Press
• Year: 2020
• ISBN:
  9781000148770
• Edition: 1
• Topic: Tecnología e ingeniería
• Subtopic: Ingeniería eléctrica y telecomunicaciones

Fundamentals of Robotics presents the basic concepts of robots to engineering and technology students and to practicing engineers who want to grasp the fundamentals in the growing field of robotics.

1 Basic Components of Robot Arms

1.1 BASIC ARM TYPES

The identification of the various kinematic arrangements used in industrial robots is useful for manufacturers, users, and researchers. The working volume and dexterity, for example, of a robot are determined by the kinematic arrangements. From the user's point of view, a preliminary determination of the performance of a robot in the work environment based solely on geometry is possible by examination of the linkage type forming the structure of the robot.

Manipulators are typically located relative to ground by either a fixed base or a moving base. The first three links of the manipulator collectively form the manipulator arm. This arm is used for global positioning of the end of the manipulator within the work envelope. The hand is composed of the other links (up to three) and is used to define the orientation of the end of the manipulator. The hand also provides fine local positioning of the end of the manipulator. Detailed treatment of the hands and grippers used in manipulators can be found in Chapter 2. The present chapter discusses various arm types and other components of robot setups.

Two of the three types of connecting elements with one degree of freedom that can be used for connecting links in a robot are the prismatic and revolute pairs. The prismatic or sliding pair allows pure translation of one link with respect to another. The revolute or rotation pair provides pure rotation of one link on another.

The structural arrangement of robot linkage systems (Figure 1.1) includes:

FIGURE 1.1 Types of robotic mechanisms.

1. Robot manipulators with simple serial kinematic chains
2. Robot manipulators with tree structures
3. Robot manipulators containing closed kinematic chains
4. Legged locomotory vehicles
5. Multimanipulator systems and dextrous manipulator grippers
6. Parallel connection arrangements
7. Multisegmented serpentine designs

Serial link robots (Figures 1.2 to 1.9) may be classified according to type and sequence of the kinematic arrangements of links with prismatic (P) and revolute (R) joints in four main categories:

1. Cartesian (P₁P₂P₃)
2. Cylindrical (R₃P₂P₃)
3. Spherical (R₁R₂P₃)
4. Anthropomorphic (R₁R₂R₃)

A cartesian robot, which is also called rectangular or rectilinear, has three translation joints. It generates a rectangular workspace with the three basic motions: base travel (P₁), reach (P₂) and elevation (P₃). Some typical industrial robots of this classification are:

Source	Model	Drive system
Advanced Robotics (USA)	Cyro 750	Electric DC
Anorad (USA)	Anorobot	Electric DC
FATA European Group (Italy)	Junior	Electric
	Senior	Electric
Hitachi (Japan)	Mr: Aros	Hydraulic
Matsushita Ind. (Japan)	RW2000	Electric AC
Mitsubishi Heavy Ind. (Japan)	Robitus RC-RH	Hydraulic
Mouldmation (UK)	Mouldemate 1200	Pneumatic
Oy W Roseniew (Finland)	Rb 17, 19	Hydraulic
Renault (France)	G80	Hydraulic
S.A. Distribel Robotechnic (Belgium)	Phoenix 3512S	Electric stepper
Volkswagenwerke AG (West Germany)	R100	Electric DC
VFW (West Germany)	E440	Electric DC

FIGURE 1.2 Basic configuration of serial robot arms and the associated workspace.

FIGURE 1.3 Orthographic projections of the workspace of tha basic robot configurations. (a) Anthropomorphic robot, (b) Cylindrical robot, (c) Polar robot, (d) Rectangular robot.

FIGURE 1.4 Configuration of a robot with cylindrical coordinate arm motions. (A) Base rotates with a motion range of 180°, which is adjustable in increments of 15°; (B) lift of 3 in.; (C) extends to 12 in.; (D) wrist rotates 90° or 180°; (E) grasp. (Courtesy of Sehrader-Bellows, a Division of Scovil.)

The cylindrical robot (Figure 1.4) has its basic motions in cylindrical coordinates: base rotation (R₁), reach (R₂), and elevation (P₃). Examples of cylindrical robots are:

Source	Model	Drive system
FAB Bilsing (Germany)	High speed	Hydraulic
Fanuc (Japan)	MO, Ml, M2	Electric
Jobs (Italy)	JOBOT 10	Electric
Kayaba Ind. (Japan)	KMR 200	Hydraulic
	KMR 300	Hydraulic
Lamberton Robotics (UK)	AA 150	Electric
	AA 700	Electric
	AA 13...

Table of contents

• Cover
• Half Title
• Series Page
• Title Page
• Copyright Page
• Preface
• Contents
• Introduction
• 1 Basic Components of Robot Arms
• 2 End Effectors
• 3 End-of-Arm Tooling and Workpiece Positioners
• 4 End-of-Arm Sensors
• 5 Robot Controllers
• 6 Nontextual Programming
• 7 Textual Programming
• 8 Robot Vision Systems
• 9 Robot Applications
• 10 Geometry of the Workspace
• 11 Kinematics and Trajectory Generation
• 12 Dynamics and Control
• Index