Subject: Mechanism &Robotics Subject code: MSD Batch 5B

By Haridasa Nayak

Joints and Links in Robots

A joint of an industrial robot is similar to a joint in the human body: It provides relative motion between two parts of the body.
Each joint, or axis as it is sometimes called, provides the robot with a so-called degree-of-freedom (D.O.F) of motion. In nearly all cases, only one degree-of-freedom is associated with a joint.

Connected to each joint are two links, an input link and output link.
Links are the rigid components of the robot manipulator. The purpose of the joint is to provide controlled relative movement between the input link and the output link.

Most of robots are mounted on a stationary base on the floor.

The base and its connection to the first joint is Link 0.

Link 0 is the input link of joint 1, the first joint of a series of joints used in the construction of the robot.

The output link of joint 1 is the link 1.

Link 1 is the input link to joint 2, whose output link is link 2, and so forth.

Nearly all industrial robots have mechanical joints that can be classified into one of the five types:
Two types that provide translational motion. Three types that provide rotary motion

1. Linear Joint (type L joint)

The relative movement between the input link and the output link is a translational sliding motion, with the axes of the two links being parallel.

2. Orthogonal joint (type O joint)

This is also a translational sliding motion, but the input link and output links are perpendicular to each other during the move.

3. Rotational Joint (type R joint)

This type provides rotational relative motion, with the axis of rotation perpendicular to the axes of the input and output links.

4. Twisting Joint (type T joint)

This joint also involves rotary motion, but the axis of rotation is parallel to the axes of the two links.

5. Revolving Joint (type V joint, V from the v in revolving)

In this joint type, the axis of the input link is parallel to the axis of rotation of the joint, and the axis of the output link is perpendicular to the axis of rotation

A robot manipulator can be divided into two sections: A Body-and-arm assembly. Wrist assembly.

There are usually three degree-of-freedom associated with the bodyand-arm , and either two or three degrees-of-freedom with the wrist. At the end of the manipulators wrist is a device related to the task that must be accomplished by the robot. The device, called an end effector, is usually either: 1. A gripper for holding a workpart, or 2. A tool for performing some process.

The body-and-arm of the robot is used to position the end effector, and the robots wrist is used to orient the end effector.

There are five basic configurations commercial industrial robots:

commonly

available

in

1. Spherical (Polar) Configuration

This configuration consists of a sliding arm (L joint) actuated relative to the body, that can rotate about a vertical axis (T joint) and a horizontal axis (R joint)

2. Cylindrical Configuration
This robot configuration consists of a vertical column, relative to which an arm assembly is moved up and down. The arm can be moved in and out relative to the axis of the column. A T joint to rotate the column about its axis. An L joint is used to move the arm assembly vertically along the column. An O joint is used to achieve radial movement of the arm.

3. Cartesian (Rectangular) Configuration

It is composed of three sliding joints, two of which are orthogonal.

4. Jointed-arm robot (articulated) Configuration

This robot manipulator has the general configuration of a human arm. The joined arm consists of a vertical column that swivels about the base using a T joint. At the top of the column is a shoulder joint (R joint), whose about link connects to an elbow joint (R joint)

5. SCARA (Selective Complains Assembly Robot Arm)

This configuration is similar to the jointed robot except that the shoulder and elbow rotational axes are vertical, which means that the arm is very rigid in the vertical direction, but complaint in the horizontal direction.

Wrist Configurations
The robots wrist is used to establish the orientation of the end effector. Robot wrists usually consists of two or three degrees-offreedom. The three joints are defined as:
1. Roll, using a T joint to accomplish rotation about the robots arm axis. 2. Pitch, which involves up-and-down rotation, typically a R joint. 3. Yaw, which involves right-and-left rotation, also accomplished by
means of an R-Joint.

A two D-O-F wrist typically includes only roll and pitch joints (T and R joints)

Joint Notation System

The letter symbols for the five joint types (L, O, R, T, and V) can be used to define a joint notation system for the robot manipulator. In this notation system, the manipulator is described by the joints that make up the body-and-arm assembly, followed by the joint symbols that make up the wrist. For example, the notation TLR:TR represents a five degree-of-freedom manipulator whose body-and-arm is made up of : 1. A twisting joint (Joint 1 = T) 2. A linear joint (joint 2 = L) 3. A rotational joint (joint 3 = R) The wrist consists of two joints: 4. A twisting joint (joint 4 = T) 5. A rotational joint (joint 5 = R) A colon separates the body-and-arm notation from the wrist notation.

Joint Notation System - Example

Designate the robot configurations shown below, using the joint notation scheme.

Solution

1. This configuration has two linear joints, Hence, it is designated LL.

2. This configuration has three rotational joints, Hence, it is designated RRR.

3. This configuration has one twsiting joint and one linear joint. This is indicated by TL

Joint Notation System - Example

The robots shown below are equipped with a wrist that has twisting, rotary, and twisting joints in sequence from the arm to the end-effector. Give the designation for the complete configuration of each robot

For the robots shown above, the complete designation is as follows: (b) RRL:TRT (c) TRL:TRT (d) LVL:TRT

(a) LRL:TRT

Work Volume
The work volume (work envelope) of the manipulator is defined as the envelope or space within which the robot can manipulate the end of its wrist. Work volume is determined by: 1. the number and types of joints in the manipulator (body-and-arm and wrist), 2. the ranges of the various joints, and 3. the physical sizes of the links The shape of the work volume depends largely on the robots configuration

Work Volume
A Cartesian robot has a rectangular work volume

Work Volume
A cylindrical robot has a cylindrical work volume

Work Volume
A spherical robot tends to have a sphere as its work volume

Motion Types
Point to Point Motion:
All Axes start and end simultaneously All Geometry is computed for targets and relevant Joint changes which are then forced to be followed during program execution

Path or Trajectory Controller Motion

Here the motion is performed through a time sequence of intermediate configurations computed ahead of time (like above but without stop-start operation) or in real time Paths are Space Curves for the n-Frame to follow This motion is a continuous scheme to move the TCP from one location to the next along a desired (straight or curved) line under direct operational control

Lead Through Path Creation

Basically this was a technique whereby a skilled operator took a robot arm (for welding or painting) and used it like his/her weld tool or paint sprayer and performed the required process at reasonable speed

The robot is equipped with a position recording device and memorizes a large number of points during the teaching session These learned points then would be played back to replicate the skilled operators motions

Lead Through Path Creation

Advantages:
Simple way to create complex paths All points are sure to be physically attainable Playback speed can be controlled by an external device

Disadvantages:
Precision placements are required (program must be replayed at exactly the initial placement) Major concern with operator safety: robot is powered and operator is physically touching it (OSHA rules it unsafe practice!)

PROGRAMMING
Three Programming Methods: Manual teaching Lead through teaching Programming languages

1.Manual Teaching: Point to Point applications

2.Lead Through Teaching: Continuous Path Programming Robot Simulator Advantage is direct programming but also have disadvantages

Disadvantages: Every motion is recorded and played back in the same manner.So unintentional motions also be played. Impossible to achieve exact required velocity Memory size is required to store the data. Investment in a simulator is required.

3.Programming Languages: AL-Assembly language VAL-Victors assembly languages AML-Advanced machine language MCL-Machine control language

Classification of Robotics Languages: First Generation Language Second Generation Language World modelling and task oriented object level language

First Generation Language: Off-Line Programming used in combination with teach pendant. VAL is an example of this kind.

Second Generation Language: AML,VAL II etc Structural Programming language performing complex tasks. Apart from straight line interpolation performs complex motions. Uses force, torque and other sensors. Data processing, file management and keeping all records is done.

World modelling & task oriented object level language: More advanced language is WORLD modelling. TIGHTEN THE NUT. Intelligence is required.

In a robot, there are 3 basic modes of operation: Monitor mode Edit mode Run or Execute mode

Monitor mode: Programmer define locations, load a particular information in a register, save transfer programs from storage. Move back and forth into edit or run mode

Edit mode: Programmer can edit or change set of instructions. Run or Execute mode: Pre defined task can be executed in run mode. Dry run can be tested. Debugging.

1. INTRODUCTION TO VAL: Programming language and operating system which controls a robotic system. VAL programs also include subroutines,which are separate programs.

2.LOCATIONS:
Represents the position and orientation of robot tool. Two ways of representing robot locations * Precision point. * Cartesian coordinates and orientation angles. These are called transformations.

3.TRAJECTORY CONTROL: Two methods to control the path of the robot. Interpolate between initial and final position, producing tool tip curve in space. Move the robot tip in straight line path.

3.TRAJECTORY CONTROL: For the first case,called JOINT INTERPOLATED MOTION, the total time required is that of the longest joint in the robot. In the second case, the motion speed of the robot tool tip can be accurately controlled.

4.MONITOR COMMANDS: To enter and execute a program, we have to use monitor commands. Defining and Determining Locations. Editing Programs. Listing Program and Location Data. Storing, Retrieving and Location Data. Program control

Determining and Defining Locations: HERE and POINT command. WHERE command is used to display the current location. TEACH command is used for recording locations when RECORD button is pressed.

Editing Programs: EDIT command. Listing Program and Location Data: LISTL & LISTP commands. Storing, Retrieving and Location Data: LISTF command. STOREP, STOREL and STORE commands. LOADP, LOADL and LOAD commands.

Storing, Retrieving and Location Data: In VAL II, an additional command is FLIST. Besides VAL and VAL II can accept commands. COPY RENAME DELETE

Program control: SPEED command. EXECUTE command. ABORT command. DRIVE command. DO ALIGN command.

PROGRAM INSTRUCTIONS: Describes some important instructions included in the program. Robot Configuration Control. Motion Control. Hand Control. Location, Assignment and Modification. Program Control.

Robot Configuration Control: Execution of next motion of instruction other than a straight line. RIGHTY or LEFTY command. ABOVE or BELOW command.

Motion Control: MOVE command. MOVES command. DRAW command. APPRO command. DEPART command. APPROS or DEPARTS commands. CIRCLE command.

Hand Control: OPEN and CLOSE commands. OPENI and CLOSEI commands. CLOSEI 75 in VAL II, if a servo-controlled gripper is used, then this command causes the gripper to close immediately to 75 mm. A gripper closing command is also given by GRASP 20, 15

Hand Control: MOVEST PART, 30 Indicates the servo controlled end effector causes a straight line motion to a point defined by the PART and the gripper opening is changed to 30 mm.

Hand Control: MOVET PART, 30 Causes the gripper to move to position, PART with an opening of 30 mm by Joint Interpolated Motion.

Location, Assignment and Modification: The instructions that do the same as the corresponding monitor commands SET and HERE commands.

VAL SYSTEM AND LANGUAGE contd

Program Control: SETI command sets the value of an integer variable to the result of an expression TYPEI displays the name and value of an integer variable. GOTO20 GOSUB and RETURN PAUSE

VAL SYSTEM AND LANGUAGE contd

Program Control: PROCEED SIGNAL IFSIG and WAIT RESET

ECONOMICS
A simple economic analysis assumes that the payback period is given by P = R / (L-M) Where P = payback period in years R = investment in robot and accessories L = labor saving per year M = maintenance and programming cost per year