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Robotics 1 Introduction
Research · October 2015
DOI: 10.13140/RG.2.1.2938.9529
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Robotics
10/13/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 1
Course objective
To provide a broad
understanding of the
use of industrial robots
And an experience in
specifying, designing
and presenting a new
robot application in oral
and written formats.
10/13/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 2
Introduction to Robotics
TIME: 5:00 – 6:16 PM, Tuesday and Thursday;
Room: 860D Baldwin
INSTRUCTOR: Professor Ernest L. Hall, P.E. Geier
Professor of Robotics
Email:
[email protected] TEXT: C. Ray Asfahl, Robots and Manufacturing
Automation, Wiley
www.robotics.uc.edu
10/13/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 3
SYLLABUS
TOPIC
1. Realistic and Safe Use of Robots
2. Applications of Industrial Robots
3. Economic Justification; Project Assigned
Excel Template
4. Robot Implementation
5. Arm Configurations
6. Wrist Configurations
7. End Effectors and Tooling
8. Methods of Actuation
9. Non-servo Operation
10. Servo Controlled Robots
11. Cell Control, Hierarchical Design
12. Performance Measures
Sample Report 1 - Welding
Sample Report 2 - Painting
Sample Report 3 - Soldering
Sample Report 4 - Batch Manufacturing
Sample Report 5 - Machine Loading
13. Joint Control Programming
14. Path Control Programming
15. High Level Languages
16. Simulation and Programming
17. Vision and Sensor Systems
18. Work Cell Interfacing; REPORT DUE
19. Intelligent Robot Cells
20. Flexible Manufacturing
21. FINAL ORAL EXAM
10/13/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 4
Some web resources
www.robotics.uc.edu
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10/13/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 5
Realistic and Safe Use of
Robots
An intelligent industrial robot is
a remarkably useful
combination of a manipulator,
sensors and controls.
The use of these machines in
factory automation can
improve productivity, increase
product quality and improve
competitiveness.
Robots have been created to
perform a wide variety of tasks
spanning from educational
robots in classrooms, to arc
welding robots in the
automobile industry, to
teleoperated robot arms and
mobile robots in space.
10/13/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 6
Objective
Provide an introduction
to the field of industrial
robotics
10/13/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 7
What is a robot?
Definition - The Robot
Industries Association (RIA)
has defined an industrial
robot as "a
reprogrammable, multi-
functional manipulator
designed to move material,
parts, tools or specialized
devices through variable
programmed motions for
the performance of a variety
of tasks."
10/13/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 8
Open and closed kinematic
chains
The most common types of manipulators may
be represented as an open kinematic chain of
rigid bodies, or links, that are interconnected
by joints; however, some have closed
kinematic chains, such as four bar link
mechanisms.
10/13/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 9
Future vision
A more general definition of a robot is “a
general-purpose, reprogrammable machine
capable of processing certain human-like
characteristics such as judgment, reasoning,
learning, and vision.” Although industrial
robots have been successfully used in a
variety of manufacturing applications, most
robots used are deaf, dumb, blind, and
stationary [Hall and Hall, 1985].
10/13/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 10
Reality
An industrial robot is limited in sensory
capabilities (vision and tactile), flexibility,
adaptability, learning and creativity. In fact,
most robots are simply automated machines
that are used where the jobs are repetitive,
dirty, dangerous, or very difficult for a human.
10/13/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 11
Intelligent robots
Current researchers are attempting to develop
intelligent robots. Hall [1985] defines an intelligent
robot as one that responds to changes to its
environment through sensors connected to a
controller. Much of the research in robotics has
been concerned with vision and tactile sensing.
Artificial intelligence, or AI, programs using heuristic
methods have somewhat solved the problem of
adapting, reasoning, and responding to changes in
the robot's environment.
10/13/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 12
Automation and Robotics
The robot's reprogrammability, known as soft
or flexible automation, has greatly enhanced
the flexibility of automation systems [Asfahl,
1992]. Initially, in the early 1950s,
numerically controlled (NC) machine tools
were introduced, which later evolved into
computer numerical control (CNC) machines.
10/13/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 13
Benefits of robots
Introducing robot technology into factories
improved plant productivity, quality, and
flexibility above what could be realized on the
basis of hard or fixed automation structures.
10/13/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 14
History
These new industrial robots were first commercially
marketed in 1956 by a firm named Unimation. In
1961, the Ford Motor Company was the first to use
a Unimate robot to unload a die-casting machine
[Odrey, 1993]. Since then, the automobile industry
has driven the development of the flexible
manufacturing system (FMS) with industrial robots.
However, robots in the early 1980's were limited by
their drive mechanisms, controller systems and
programming environment, such that they were
often too expensive and not well suited for most
manufacturing tasks.
10/13/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 15
History (Cont.)
However, robots in the early 1980's were limited by
their drive mechanisms, controller systems and
programming environment, such that they were
often too expensive and not well suited for most
manufacturing tasks. As a result, the increase in
robot installation through the mid 80's turned into a
significant slump, lasting into the early nineties
[Holusha, 1994]. Because of the steep decline in
robot orders, many US manufacturers chose to pull
out of the industrial robot market, ceding the market
to foreign competitors.
10/13/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 16
U.S. Survivor
Adept Technology Inc. (San Jose, CA) is the
only major US robot manufacturer to survive
in the $700 million market with about $60
million in annual sales [Sinton, 1995].
10/13/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 17
Social impact
The introduction of robots is often justified on
the basis that they perform consistently and
productively. Often a few people suffer the
loss of employment. Others believe robotic
technology creates skilled jobs with greater
creativity. However, the question of the social
impact of robotics has yet to be adequately
addressed [McKerrow, 1991].
10/13/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 18
Today
In recent years, a push for lower cost and
greater reliability has caused US
manufacturers to realizing the significant
impact robots can have in improving
productivity, quality, flexibility, and time-to-
market.
10/13/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 19
Any questions?
10/13/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 20
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