ROBOTICS-I

What is a robot?

A robot is a virtual or mechanical artificial agent. In practice, it is usually an electro-mechanical machine which is guided by computer or electronic programming, and is thus able to do tasks on its own. Another common characteristic is that by its appearance or movements, a robot often conveys a sense that it has intent or agency of its own

Types of robots:

Industrial Robots       

 Any job that involves repetitiveness, accuracy, endurance, speed, and reliability can be done much better by robots, which is why many industrial jobs that used to be done by humans are increasingly being done by robots.

Mobile Robots

Mobile robots are able to move, usually they perform

Task such as search areas. A prime example is the Mars

Explorer, specifically designed to roam the mars surface.

         Mobile robots are a great help to such collapsed

building for survivors Mobile robots are used for task

where people cannot go. Either because it is too dangerous

of because people cannot react the area that needs to be

searched.

  

Robots Used in Agriculture:

Although the idea of robots planting seeds,

ploughing fields, and gathering the harvest

may seem straight out of a futuristic science

fiction book, nevertheless there are several

robots in the experimental stages of being

used for agricultural purposes, such as robots that can pick apples, prune grapevines, transplant seedlings, and so on. In fact, there already is a type of robot that shears sheep in Australia.

Tele robots:    These robots are used in                           

places that are hazardous to humans, or are

inaccessible or far away. A human operator

 located at a distance from a Tele robot

controls its action, which was accomplished

with the arm of the space shuttle. Some other

 examples of Tele robots are laparoscopic

surgery being done with the help of a Tele robot,

or doctors using remotely located robots to

communicate with their patients, which

enables them to treat patients anywhere

in the world.

Rolling Robots:  

Rolling robots have wheels to move around.

These are the type of robots that can quickly

and easily search move around.  However

they are only useful in flat areas, rocky terrains give them a hard time.  Flat terrains are their territory.  

Walking Robots:  

Robots on legs are usually brought in when

The terrain is rocky and difficult to enter

With wheels. Robots have a hard time

Shifting balance and keep them from

                              

                                                                    

tumbling.  That’s why most robots with have at least 4 of them, usually they have 6 legs or more.  Even when they lift one or more legs they still keep their

balance.  Development of legged robots is often modled after insects or crawfish.

Stationary Robots:    Robots are not only used to explore areas or imitate a human being.  Most robots perform repeating tasks without ever moving an inch.  Most robots are ‘working’ in industry settings.  Especially dull and repeating tasks are suitable for robots.  A robot never grows tired, it will perform its duty day and night without ever complaining.  In case the tasks at hand are done, the robots will be reprogrammed to perform other tasks..  

Autonomous Robots:    Autonomous robots are self supporting or in other words self contained.  In a way they rely on their own ‘brains’.

Autonomous robots run a program that give them the opportunity to decide on the action to perform depending on their surroundings.  At times these robots even learn new behavior.  They start out with a short routine and adapt this routine to be more successful at the task they perform.  The most successful routine will be repeated as such their behavior is shaped.  Autonomous robots can learn to walk or avoid obstacles they find in their way.  Think about a six legged robot, at first the legs move ad random, after a little while the robot adjust its program and performs a pattern which enables it to move in a direction.  

Remote-control Robots :    An autonomous robot is despite its          autonomous not a very clever or intelligent unit.  The memory and brain capacity is

usually limited, an autonomous robot can be compared to an insect in that respect.

In case a robot needs to perform more complicated yet undetermined tasks an autonomous robot is not the right choice.                      Complicated tasks are still best performed by human beings with real brainpower.  A person can guide a robot by remote control.  A person can perform difficult and usually dangerous tasks without being at the spot where the tasks are performed.  To detonate a bomb it is safer to send the robot to the danger area.  

BEAM Robots :      BEAM is short for Biology, Electronics, Aesthetics and Mechanics.  BEAM robots are made by hobbyists. BEAM robots can be simple and very suitable for starters.

Biology

Robots are often modeled after nature.  A lot of BEAM robots look remarkably like insects.  Insects are easy to build in mechanical form.  Not just the mechanics are in inspiration also the limited behavior can easily be programmed in a limited amount of memory and processing power.

Electronics

Like all robots they also contain electronics.  Without electronic circuits the engines cannot be controlled. Lots of beam robots cannot be controlled.  Lots of Beam Robots

also use solar power as their main source of energy.

Aesthetics

A BEAM Robot should look nice and attractive.  BEAM robots have no printed circuits with some parts but an appealing and original appearance.

Mechanics

In contrast with expensive big robots BEAM robots are cheap, simple, built out of recycled material and running on solar energy

Virtual Robots :    Virtual robots don’t exits in real life.  Virtual robots are just programs, building blocks of software inside a computer.  A virtual robot can simulate a real robot or just perform a repeating task.  A special kind of robot is a robot that searches the world wide web.  The internet has countless robots crawling from site to site. These WebCrawler’s collect information on websites and send this information to the search engines.
    Another popular virtual robot is the chatterbot.  These robots simulate conversations with users of the internet.  One of the first chatterbots was ELIZA.  There are many varieties of chatterbots now, including E.L.V.I.S.

Medical applications of robots:

Robotic surgery, computer-assisted surgery, and robot-assisted surgery are terms for various technological developments that currently are devItalic texteloped to support a range of surgical procedures.

Robot-assisted surgery was developed to overcome limitations of minimally invasive surgery. Instead of directly moving the instruments the surgeon uses a computer console to manipulate the instruments attached to multiple robot arms.

Applications:

General surgery

Cardiothoracic surgery

Cardiology and electrophysiology

 Gastrointestinal surgery

Gynecology

Neurosurgery

Orthopedics

 Pediatrics

Radiosurgery

Urology

Mechanical applications of robots:

Cutting Applications:

Robots are the perfect tool for many cutting jobs. Laser, plasma and water jet cutters are often used with robots. Due to the dangerous nature of these technologies robots are the obvious choice. Usually the cutting tool is placed on the robot and the part is presented to the robot by conveyor, turntable or manipulator. A second option is to have the robot hold the part and move it while the cutting tool is fixed.

 De-burring, Grinding, Polishing, Linishing and Finishing:

to the end of the robot, for example in a mobile phone case finishing application By using the flexibility of 6-axis robots it is possible to grind, trim, fettle, polish and even clean almost any part, in any material and achieve an consistent excellent finish.

Robot technology allows a large number of different programs and hence parts to be adapted to by one installation. As with Cutting there are two main approaches, either the robot holds the part or the robot holds the tool. Also it is possible to have two robots working together for ultimate flexibility: one holding the part, one holding the tool. The starting point of designing a cell of this type is often the manual process it is to replace, although often using a robot will allow the use of new or different technologies. It is easy to use a multi-purpose tool

Handling:

Due to the huge array of technologies available and through years of experience, we are able to offer solutions to most handling applications. By using both proved systems from specialist manufacturers and bespoke products we can meet your requirements. Robots have not only power and speed but also accuracy dexterity and sensitivity. They are regularly used in a variety of industries for the manipulation of a plethora of of items from car doors to eggs, from springs to champagne.

Sealing and Gluing:

From an installation point of view sealing applications are very closely related to arc welding. The most important ability for the robot is to follow a path accurately with good control over speed. Automated sealing has been very difficult to get right in the past, a process that works very well at one speed may run into problems if it is accelerated. Over many years the problems have been ironed out and now sealing systems are not only very advanced but also have a great deal of connectivity with the robot so a good even bead of sealant will be applied. Robots are frequently used for sealing applications in the car industry using RTV to seal in windows, keep out water etc.

Spraying, Painting, Coating:

Paint spraying was one of the first uses for industrial robots. The volatile and hazardous nature of solvent based paint means that it is best to minimise human contact and robots give an excellent and consistent finish. Painting robots have been developed that are impervious to paint shop conditions and present no hazard when in proximity to flammable compounds or explosive atmospheres. There are two types of painting robots explosion proof and non-explosion proof. The former are sealed units and the arm is pressurised with air to prevent the ingress of explosive solvents. Pressure sensor are used to monitor integrity. Non explosion proof robots do not have the pressurised system but the do have the other features specifically for painting. Paint robots typically have quite thin arms as they do not have to carry much weight and access is important. They are also capable of very fluid movements as they have to mimic a skilled human painter.

Welding:

welding (including MIG, TIG, arc and laser) and spot welding. Both applications have been robotised for many years and the interface between the robot and welding units are highly evolved. Welding robots can be very highly specialised: For example "poke welding" robots are spot welding robots that use the arm itself to generate the mechanical force needed. CO2 laser welding robots are fittedwith a complex system of mirrors to take the laser to the end of the arm. Having said this MIG, YAG, TIG, ARC and normal spot welding use standardised machines that are widely available.

 

Seam welding will require a robot with excellent path following and precision. MIG and TIG systems are very frequently fitted to small robots of around 5 to 10kg payload and with a reach of less that 1.8m although it is possible to use bigger robots such as the 2.4m reach ABB IRB 6400. Robots often have weave functions to give a fantastic quality of weld - probably better than that of a skilled human welder. They can also control many of the welding parameters such as power, wire feed, gas flow etc. By using "service stations" that combine torch cleaners and "bullseye" or a centring device it is possible to maintain production 24-7 without the need for intervention. As arc welding is hazardous with fumes as well as the blinding light from the arc itself a robot is a sensible choice from a heath and safety standpoint. Arc welding cells obviously have screens around the work area and manipulators are often used to present parts to the robot to prevent anyone getting too close and to keep production rates high.

Pictured are four ABB IRB 1400 robots equiped with ESAB MIG welding gear. The wire feed units are the black boxes mounted on the top of the arms. In this case the robots are welding a car chassis. The robots will be connected so that they are aware of each others location to prevent collisions. The orange Y shaped stands between the robots are the bullseyes used to calibrate the robots.

Spot welding robots will generally carry a complete spot weld gun and power pack on the end of the arm. As these frequently weigh in excess of 100kg it is not surprising that this a task to which robots have been applied since the early days. In fact Kuka were spot welding specialists for many years before they started making robots. Using spot welders by hand is a very difficult job indeed and trying to manoeuvre such a heavy-weight piece of kit accurately is near impossible. A spot welding robot will on the other hand position a spot gun with remarkable dexterity and speed. J -guns, G - guns and some truly monstrous scissor guns are often equipped to robots. The robot will also require a substantial loom to carry services to the welder (air, water and power as well as sensor information) so the robot is designed to bear a substantial supplementary load to do this. The weld timer is closely linked to the robot and this allows a robot to respot a point if the welding process has not occured as it should. Tip dressing stations are usually fitted in a spot welding cell so that quality of weld can be consistent.

The ABB IRB 6600 pictured is a very heavy weight spot welder and it is carrying a scissor gun which could easly reach most of the way across a car body. Other robots frequently used for spot welding include the ABB IRB 6000 and 6400 models, Fanuc 420, 430 and R2000 models and Kuka KR125, and KR150's. Most major robot manufacturers have at least one robot designed for spot welding.