RoboticsLecture7 - Robotics 10/14/10 (C) 2001, Ernest L....

Info iconThis preview shows pages 1–11. Sign up to view the full content.

View Full Document Right Arrow Icon
10/14/10 (C) 2001, Ernest L. Hall, University of Cincinnati 1 Robotics
Background image of page 1

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon
10/14/10 (C) 2001, Ernest L. Hall, University of Cincinnati 2 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.
Background image of page 2
10/14/10 (C) 2001, Ernest L. Hall, University of Cincinnati 3 SYLLABUS TOPIC 1. Realistic and Safe Use of Robots 2. Applications of Industrial Robots Project 3. Economic Justification 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
Background image of page 3

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon
10/14/10 (C) 2001, Ernest L. Hall, University of Cincinnati 4 Objective Determine the relationship between various robot applications and the end effectors and tooling available on commercial robots or automated guided vehicles. Be able to select the appropriate end effector for a robot application. Be able to compute the load force and moments.
Background image of page 4
10/14/10 (C) 2001, Ernest L. Hall, University of Cincinnati 5 End Effectors End effectors are of two types Grippers Two linkage grippers Three finger gripper for feeding lathe chuck Four linkage grippers for parallel finger movement Other Process tools Thousands of types http://www.urcautomation.com/robot-gripper.htm
Background image of page 5

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon
10/14/10 (C) 2001, Ernest L. Hall, University of Cincinnati 6 Other gripper sites http://www.intelitek.com/products/robotics/accessorie http://www.urcautomation.com/CNC-Loading.htm http://www.starhub.net.sg/~apspl/flyer_schunk7.html http://hgighub.lbl.gov/esd/BioinstrGroup/DNAPrep/Ga
Background image of page 6
10/14/10 (C) 2001, Ernest L. Hall, University of Cincinnati 7 Gripper Sizing Article by Zajac http://www.grippers.com/size.htm
Background image of page 7

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon
10/14/10 (C) 2001, Ernest L. Hall, University of Cincinnati 8 Problem An industrial robot is used to lift an 80 pound load vertically using a constraint gripper. The gripper weighs 20 pounds. If it moves with an acceleration of g/2, what minimum payload must be specified for the robot? = Ma F
Background image of page 8
10/14/10 (C) 2001, Ernest L. Hall, University of Cincinnati 9 Example – Constraint gripper Load Constraint Gripper W =Weight of Load + Gripper a = g/2 F F = F s + F d F = W + ma F = W + (W/g)(g/2) = 3W/2 Constraint gripper
Background image of page 9

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon
10/14/10 (C) 2001, Ernest L. Hall, University of Cincinnati 10 Problem An industrial robot is used to vertically lift a W=100 pound total load (gripper plus payload) using a frictional type gripper. If the
Background image of page 10
Image of page 11
This is the end of the preview. Sign up to access the rest of the document.

Page1 / 31

RoboticsLecture7 - Robotics 10/14/10 (C) 2001, Ernest L....

This preview shows document pages 1 - 11. Sign up to view the full document.

View Full Document Right Arrow Icon
Ask a homework question - tutors are online