RoboticsLecture6 - Robotics 10/14/10 (C) 2001, Ernest L....

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10/14/10 (C) 2001, Ernest L. Hall, University of Cincinnati 1 Robotics
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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.
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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 Quiz 1 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
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10/14/10 (C) 2001, Ernest L. Hall, University of Cincinnati 4 Objective Determine the relationship between various robot applications and the wrist configurations available on commercial robots or automated guided vehicles. Be able to select the appropriate configuration for a robot application. Be able to recognize and discuss a certain configuration when you see one.
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10/14/10 (C) 2001, Ernest L. Hall, University of Cincinnati 5 Arm recognition Can you recognize the following arm types?
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10/14/10 (C) 2001, Ernest L. Hall, University of Cincinnati 6 Spherical robot arm The linear extending arm is capable of being rotated around the horizontal and vertical axes.
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10/14/10 (C) 2001, Ernest L. Hall, University of Cincinnati 7 Cylindrical arm The linear extending arm can be moved vertically up and down around a rotating column.
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10/14/10 (C) 2001, Ernest L. Hall, University of Cincinnati 8 Cartesian arm Three orthogonal sliding or prismatic joints.
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10/14/10 (C) 2001, Ernest L. Hall, University of Cincinnati 9 Vertical articulated Three joints arranged in an anthropomorphic configuration.
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10/14/10 (C) 2001, Ernest L. Hall, University of Cincinnati 10 Horizontally articulated arm Two rotary axes and a linear joint. Selective Compliance Assembly Robotic Arm, SCARA http://www.soton.ac.uk/~rmc1/robotics/arirobot.htm
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10/14/10 (C) 2001, Ernest L. Hall, University of Cincinnati 11 Purpose of the Robot Wrist Orientation To orientate the tools, three additional joints are require, these are normally mounted at the end of the arm in an assemble termed the wrist: it is conventional to define the joints of a wrist roll, pitch and yaw. The arm and wrist give the robot the required six degrees of freedom, that permit the tool to be positioned and orientated as required by the task.
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RoboticsLecture6 - Robotics 10/14/10 (C) 2001, Ernest L....

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