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Topic 5 - The Function of Robots

The document discusses the functions and components of robotic systems. It explains that robots move using degrees of freedom and have hardware and software to enable movement. It also describes different types of movement, end effectors, and programming methods for robots.

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kvidiniotis99
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148 views

Topic 5 - The Function of Robots

The document discusses the functions and components of robotic systems. It explains that robots move using degrees of freedom and have hardware and software to enable movement. It also describes different types of movement, end effectors, and programming methods for robots.

Uploaded by

kvidiniotis99
Copyright
© © All Rights Reserved
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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Topic 5: The function of robots

Robotic systems are made up of software and hardware. Movement is an important feature of
robots and the hardware and software help this process.

MOVEMENT

Motion in robots can be explained in terms of degrees of freedom. One degree of freedom equates
to one movement back or forwards in a linear Movement. Or around in a circle (rotational). In order
to understand this let’s look at the human arm. A human arm has six degrees of freedom allowing
The following movements.

1. Shoulder: up and down (one degree)


2. Shoulder forwards and backwards (one degree)
3. Elbow: up and down (one degree)
4. Wrist: rotate (one degree)
5. Wrist: up and down (one degree)
6. Wrist: left and right (one degree)

If we also include thumbs and fingers, they also give the human body more degrees of freedom
In a robotic system, one robotic part equals one degree of freedom depending on how the hardware
is connected. Most robots have six degrees of freedom similar to the human arm, which enough to
carry out most simple tasks. A robot with an articulated arm has six degrees of freedom and some of
the jobs they can perform include the Following:

Arm: up and down (one degree)


Arm: lengthen and shorten (one degree)
Body: rotate (one degree)
Wrist: up and down (one degree)
Wrist: rotate (one degree)
Wrist: left and right (one degree)

Robots move in three ways, pick and place, point to point and contouring

Pick and place: this style of movement has only got two positions per axis and is used in loading and
Assembly work in mass production.

Point to point: this type of movement is done by one point location in space to another. Each point
is programmed into the robots control memory and then played back during the work cycle e.g.
tasks such as spot welding.

Contouring: this movement will make a robot follow a path that forms the shape of a curve. E.g.,
spray painting, continuous welding and getting objects off a conveyor. The gripper on a robot will
undertake such movement and functions on this path.
Hardware

The human body is a system made up of many parts e.g., a body, muscle system, sensory
system, power source and brain system. Robots’ bodies are similar to that of a human body.
The sensors on robots will receive signals from the environment and then send them to the
controller. Therefore, our eyes behave like sensors getting signals from the surroundings
and then sending them to the brain. The robot controller will process these signals received
from the sensors into output signals making the robot do something or event to take place.
The human body will use the brain to process signals which come from the eyes and then
transmits messages to make other parts move e.g., if we see a step the brain will send a
message to make the leg climb the step. In regards to a robot the actuators receive the
output signals and then make an action occur e.g., switching a motor on and off, opening or
closing a valve. Actuators are output devices and include motors, end effectors converting
energy and signals to movement.

What are end effectors?

They are attached to the end of a robot’s arm and are actuators or output devices in robots.
There are many types of end effectors and carry out many physical tasks e.g., tools, vacuum
grippers, magnetic grippers which have a set type and unique command. A robotic arm is
fitted with one type of end effector. If a new end effector needs to be added to the robotic
arm, then a new set of commands (programs/instructions) need to be carried out in order to
make the robot operate. E.g., you cannot replace a gripper or screwdriver head and expect
sit to do the same task. The programming of the robot controllers needs to be changed and
different end effectors motors to drive it.

Software programs

Robotic systems use software to control the hardware to carry out tasks. Industrial robots
will carry out specific tasks. The software that makes the hardware work is specialised
control language. Lego robots perform general tasks and are used in education and home
use. The programming language is not as complex. These programming languages use
varying techniques to control robots undertaking tasks. Programming languages consist of
two different languages online and offline programming. Online programming teaches the
robot the path it needs to undertake e.g., manually moving the robot arm in the set
motions. It is then recorded and a program is done. Offline programming will need
programming code to take charge of the robot’s movement before it is applied.
Questions

1. Explain the term ‘degrees of freedom’ as it applies to robotics.


2. Identify the number of degrees of freedom possessed by an
articulated arm.
3. List 3 types of end effectors.
4. Name 2 ways that robots may be programmed.
5. List the main components of a robotic system and describe
the function of each.

Answers
1. The term degrees of freedom refer to the motion/movement of
robots.
2. An articulated arm has 6 degrees of freedom: Arm up and
down-1degree, Arm lengthen and shorten-1degree, Body
rotate-1 degree, Wrist up and down- 1 degree, Wrist rotate- 1
degree, Wrist left and right- 1 degree.
3. 3 types of end effectors include: Pick and place, Point-Point and
Contouring.
4. Robots may be programmed online and offline. Online
programming teaches the robot the path it needs to undertake
and offline programming needs programming code to take
charge of the robot’s movement before it is applied.
5. Power Supply - The working power to the robot is provided by
batteries, hydraulic, solar power, or pneumatic power sources.

Actuators - Actuators are the energy conversion device used inside a


robot. The major function of actuators is to convert energy into
movement.
Electric motors (DC/AC)- Motors are electromechanical component
used for converting electrical energy into its equivalent mechanical
energy. In robots, motors are used for providing rotational movement.

Sensors - Sensors provide real time information on the task


environment. Robots are equipped with tactile sensor it imitates the
mechanical properties of touch receptors of human fingerprints and a vision
sensor is used for computing the depth in the environment.

Controller - Controller is a part of robot that coordinates all motion of


the mechanical system. It also receives an input from immediate
environment through various sensors. The heart of robot's controller is a
microprocessor linked with the input/output and monitoring device. The
command issued by the controller activates the motion control mechanism,
consisting of various controller, actuators and amplifier.

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