Report on Industrial Robotics

Chapter 1

Introduction

An Industrial robot is a robot system used for manufacturing. Industrial robots are
automated, programmable and capable of movement on three or more axes. Industrial robots
as other modern manufacturing systems are advanced automation systems that utilize
computers as an integral part of their control. Computers are now vital part of industrial
automation. They run production lines and control stand alone manufacturing systems such as
various machine tools, welders, inspection systems and laser beam cutters.

Industrial robots are by far the largest commercial application of robotics technology
today. All the important foundations for robot control were initially developed with industrial
applications in mind. These applications deserve special attention in order to understand the
origin of robotics science and to appreciate many unsolved problems that still prevent the
wider use of robots in manufacturing. How robots with different mechanisms fit different
applications. Even though robots are well established in large-scale manufacturing,
particularly in automobile and related component assembly, there are still many challenging
problems to solve. The range of feasible applications could significantly increase if robots
were easier to install, to integrate with other manufacturing processes, and to program,
particularly with adaptive sensing and automatic error recovery.

Figure 1.1: Industrial Robots.

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Chapter 2

Short History on Industrial Robotics

The invention of the industrial robot dates back to 1954 when George Devol filed a
patent on a programmed article transfer (Fig. 2.1). After teaming up with Joseph Engelberger,
the first robot company, Unimation, was founded and put the first robot into service at a
General Motors plant in 1961 for extracting parts. from a die-casting machine. Most of the
hydraulically actuated Unimates were sold through the following years for work piece
handling and for spot-welding of car bodies .Both applications were successful, which means
that the robots worked reliably and ensured uniform quality. Soon, many other companies
started to develop and manufacture industrial robots. An innovation-driven industry was
born. However, it took many years until this industry became profitable.

Figure 2.1: The photo shows the first robot installed at Ford from their Museum in
Dearborn.

Industrial robots are considered as a cornerstone of competitive manufacturing, which

aims to combine high productivity, quality, and adaptability at minimal cost. In 2007 more
than one million industrial robot installations were reported, with automotive industries as the
predominant users with a share of more than 60%.

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Chapter 3

Types of Industrial Robots

There are six types of industrial robots used in industries:

1. Articulated
2. Cartesian
3. Cylindrical
4. Polar
5. Scara
6. Delta

Figure 3.1: Types of Industrial Robots.

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Chapter 4

Articulated Robot

An articulated robot is a robot with rotary joints. Articulated robots can range from
simple two-jointed structures to systems with 10 or more interacting joints. The links in the
arm are connected by rotary joints. Each joint is called an axis and provides an additional
degree of freedom, or range of motion. Industrial robots commonly have four or six axes.

Application -

 Assembly
 Arc welding
 Material handling
 Machine tending
 Packaging

Figure 4.1 & 4.2: Articulated Robot

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Chapter 5

Cartesian Robot

These are also called rectilinear or gantry robots. Cartesian robots have three linear
joints that use the Cartesian coordinate system (X, Y, and Z). They also may have an attached
wrist to allow for rotational movement. The three prismatic joints deliver a linear motion
along the axis.

Application-

 CNC machine tooling

 Packaging automation
 Cutting, scribing and sorting
 Part assembly
 Precision spot welding

Figure 5.1 & 5.2: Cartesian Robot.

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Chapter 6

Cylindrical Robot

The robot has at least one rotary joint at the base and at least one prismatic joint to
connect the links. The rotary joint uses a rotational motion along the joint axis, while the
prismatic joint moves in a linear motion. Cylindrical robots operate within a cylindrical-
shaped work envelope.

Application –

 Spot Welding
 Materials Handling
 Machine Tending
 Painting
 Picking, Packing and Palletizing
 Mechanical Cutting & Grinding
 Deburring and Polishing

Figure 6.1 & 6.2: Cylindrical Robot.

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Chapter 7

Polar Robot

It is also called spherical robots. In this configuration the arm is connected to the base
with a twisting joint and a combination of two rotary joints and one linear joint. The axes
form a polar coordinate system and create a spherical- shaped work envelope.

Application-

 Die casting
 Injection molding
 Welding
 Material handling.

Figure 7.1 & 7.2: Polar Robot.

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Chapter 8

Scara Robot

Selective Compliance Assembly Robot Arm or Selective Compliance Articulated

Robot Arm. commonly used in assembly applications. SCARA Robots are a popular option
for small robotic assembly applications. This selectively compliant arm for robotic assembly
is primarily cylindrical in design. It features two parallel joints that provide compliance in
one selected plane.

Application-

 Pick-and-place or assembly
 Operations where high speed
 And high accuracy is required

Figure 8.1: Scara Robot.

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Chapter 9

Delta Robot

These spider-like robots are built from jointed parallelograms connected to a common
base. A type of parallel robot that consists of three arms connected to universal joints at the
base. The parallelograms move a single EOAT in a dome-shaped work area. This robot
configuration is capable of delicate & precise movement. It can work at a velocity of 0.45
meters per second.

Application-

 Heavily used in the food

 Pharmaceutical
 Electronic industries

Figure 9.1: Delta Robot.

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Chapter 10

Construction of Industrial Robotics

Construction of robot is completed by assembly six parts which are mention below:

1. A Controller Connected To Computer

2. An arm
3. Drive (Engine)
4. End Effectors
5. Actuators
6. Sensor

Figure 10.1: Industrial Robot.

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1. Controller:
The controller is that part of the robot which operates the mechanical arm and
maintains contact with its environment. The controller is connected to the computer network
Systems, so that the robot may work together with other robots or machines. The controller
functions as the "brain" of the robot. The device is a computer composed of hardware and
software, combined to enable it to carry out its assigned tasks.

There are 4 types of control:

1. Point-to-point (PTP) control robot.

2. Continuous-path (CP) control robot.
3. Controlled-path robot.
4. Stop-to-Stop

Figure 10.2: Controller of Robot.

2. Arm:
The arm of a robot is an important part of the robotic architecture. Most of the robotic
arms resemble the human hands having fingers, wrists, and elbows. A servomotor is used to
actuate the arms. It is used to automate the process of placing goods or products onto pallets.

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3. Drive:
Most of the robotic drives are made by using D.C. motors. The drive is the engine of the
robot. It enables mobility and movements between the joints of the arm. A drive operates and
controls the speed, torque and direction of moving objects. Drives are generally employed for
speed or motion control applications such as machine tools, transportation, robots, fans, etc.

Figure 10.3: Drive Components of Robot.

4. Actuator:
They are generally muscles of a robot. The actuators mechanism can be achieved by
using hydraulic systems/ pneumatic systems, or any other system that can apply forces to the
system. Devices which need to bend and move for which actuators are needed.

Figure 10.4: Actuator.

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5. Sensor:
The sensors are used as a converter that measures a physical quantity and converts it
into a signal which can be read by an observer. The Sensors which are used in a robot are as
follows:
 Vision sensors (Camera)
 Tactile and proximity sensors line sensors
 Temperature sensors
 Light sensors
 Sound sensors
 Latest sensor used
 Ultrasonic Sensor

Figure 10.5: Sensors.

6. End Effectors:
The end effector is the hand which is connected to the arm. Depends upon the
applications/ uses the robotic the end effector can be of various shapes and sizes.

Figure 10.6: End Effectors.

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Chapter 11

Advantages and Disadvantages

Advantages:

1. Increased Efficiency.
2. Higher Quality of Work.
3. Increased Profitability.
4. Improved Working Environment.
5. Longer Working Hours.
6. Better quality and consistency.
7. Maximum productivity and throughput.
8. Greater safety.
9. Reduced direct labor costs.
10. Keeping manufacturing non-stop.

Disadvantages:

1. Robots are Expensive.

2. Maintenance cost is high.
3. Skilled workers are required.
4. High initial investment.
5. Expertise can be scarce.
6. Ongoing costs.

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 Report on Industrial Robotics

Reference

Research Paper:

‘Industrial Robotics’ Published by IRJET

Website:

https://www.researchgate.net/publication/226964084_Industrial_Robotics

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