Microsoft PowerPoint - Lesson Industrial_Robots1 - .ppt [Kompatibilit ...

2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]

Industrial Robots –Basics, structure and

programming

BERUFLICHE SCHULEN DES UNSTRUT- HAINICH KREISES Elektrotechnik/ Mechatronik

Sondershäuser Landstraße 39, 99974 Mühlhausen, Germany

participant of: Leonardo da Vinci PARTNERSHIPS

CNC and Robotics Partnerships, CaRPs

11 Partners from Germany, Lithuania, Norway, Slovenia, Sweden

This presentation and related documents are prepared to use in the

context of our Partnership to give an example for teaching robotics in

a basic level.

Any reproduction, copying, changes or dissemination of any kind,

including extracts, is prohibited and requires the explicit and written

authorization of the author.

Robotics as an applied science and part of an

interlinked education

2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]

Find an example in robotics for each topic!?

2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]

Translate into your native language and find a

synonym for each fact or explain in written

form.

?

Online search is recommended !

2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]

Industrial robot

continuous pathManually

controlled

Welding 6 axes

arm

Scara

Automatically

controlled

Master-slave

device

Teleoperator

Crane

Pick and place

device

PLC with pneum.

cylinders

Industrial robot

point to point

? Make connections from the right side to the left !

Online search is recommended !

2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]

Nr. Argument ����

1 Increasing product variety is difficult for robots!

2 Shorter flow-through times in the production process by automation?

3 The robot should only do dirty jobs. We have qualified employees!

4 We need a high and constant quality level. Handmade is much better!

5 We need an automation system to reduce our total costs!

6 Unemployment is mainly caused by automation and robotics!

7 We have lower set-up times since we started using robots!

8 We have unadjusted parts to handle. No problem for robots!

9 Application of robots is also worth it for limited quantities.

10 Robots allows fast adaptation to market requirements.

?

2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]

Kinematic describes the kinds of movement, the number and arrangement of the

axes with length and limits and as a result the 3D working envelope.

The shapes of the bodies of the workspaces are simplified

!

2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]

Combine exactly three axes, rotational (R) and/ or translatoric (T) axes to generate

a cylindrical, spherical and cuboidal workspace. Sketch your results in a carthesian

coordinate system with 3 axes. Use the symbols below.

x

y

z

Symbols for rotational axes

Symbols for translatoric axes

?

2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]

Most industrial robots will be divided into three major categories. They are

characterized by the kinematic of the three main axes.

ScaraJointed arm robots

Gantry robots

RRT

RRR

TTT

!

Foto: Stäubli TS 80 Scara

www.staubli.com

International AG, Pfäffikon, CHFoto: Kuka KR 30-3

www.kuka.com

KUKA Roboter GmbH, Augsburg, D

Foto: Skilled ant 101

www.franpack.biz

FRANPACK Intralogistik GmbH, Lützelbach, D

2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]

Technical term Explanation Native language

Scara

DOF

Repeatability

Rated payload

Jointed arm

TCP

Inertia

Jog mode

Gantry

External axis

?

2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]

2 degrees of freedom:

Each point in a plain is reachable ,

but no feed movement is possible

x

y

z

x

y

3 degrees of freedom:

Each point in a space is reachable ,

but not under a specific angle

!

2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]

4 degrees of freedom:

Each point in a space is reachable,

and a rotation in only one plain.

Example: Scara robots

x

yz

x

y

6 degrees of freedom:

Each point in a space is reachable

with every orientation of a body but

each point under any angle is also

reachable.

!

z z

Most industrial

robots, jointed

robot arms, have

got five or six

axes.

2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]

1. What is the interrelation

between number of axes and

degrees of freedom?

2. How many degrees of

freedom do robots with seven

axes have?

3. Why is it in reality that the

reachability of positions is

limited?

4. You read on a data sheet from

an external axis. What does it

mean?

?

Online search is recommended !

Bild: KUKA Roboter GmbH, Augsburg, D, www.kuka.com

2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]

Thank you for your attention!

Any Questions?

2011-01-03 by Dipl.-Ing. (FH) Sandro Sterz [email protected]

Dipl.-Ing.(FH) Sandro Sterz

Elektrotechnik / Automatisierungstechnik

Berufliche Schulen des Unstrut Hainich Kreises

Sondershäuser Landstraße 39

99974 Mühlhausen

Germany

Phone: 03601/ 450-103

Fax: 03601/ 450-112

mail: [email protected]

I am always open for questions and ideas –

don't hesitate to contact me