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ROBOTICA

Robotizarea Fabricatiei II Conf. Dr. Ing. Bogdan MOCAN

Bogdan MOCAN

Departamentul Ingineria Proiectrii si Robotica

e-mail: [email protected]

Robotizarea fabricaiei I

Modul 1 - Introducere in domeniul roboticii industriale

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Robotizarea Fabricatiei I

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Conf. Dr. Ing. Bogdan MOCAN 2

2016 Bogdan Mocan Toate drepturile rezervate autorului.

Acest material este protejat n conformitate cu legile privind drepturile de autor

(Legea nr.8/1996 cu toate modificrile ulterioare). Nicio parte a acestui material nupoate fi reprodus, sub nici o form i prin nici un mijloc, fr permisiunea n scris dinpartea autorului.

Pentru utilizarea exclusiv a studenilor care au participat la cursulRobotizarea Fabricaiei I".


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Conf. Dr. Ing. Bogdan MOCAN

Definiii

Robotica industrial este tiina i tehnologia roboilor carepresupune:

proiectarea, realizarea i implemenatrea lor in aplicaiiindustriale.

Robot industrial este un echipament tehnologic cu funcionareautomatizat, flexibil, adaptabil prin reprogramare la condiiile unuimediu tehnologic complex in care acioneaz substituind una sau maimulte dintre funciile operatorilor umani.


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Robotul industrial conform ISO 8373Automatically Controlled

Industrial robots are automated, meaning thatthey operate by themselves with little or nodirect human control. This is achieved through arobotic controller, a computing device that

calculates robotic movement by reading codeand sending motion instructions to the motorsof the robot.

The IRC5, ABBs fifth generation robot

controller. The IRC5 unit is modular and cancontrol up to 36 synchronized axes.

Note: Each axis of motion is controlled by onemotor. For example, a six axis robot has six

motors, one at each articulated joint.


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Robotul industrial conform ISO 8373Reprogrammable

Industrial robot controllers encode motioninformation to the joint motors by readingmachine code.

Note: Industrial robot programming code is different than

the common G code used in CNC programming, and is

typically proprietary. For example, we use the ABB RAPIDlanguage with ABB controllers.


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Robotul industrial conform ISO 8373Text-Based Programming (RAPID)

RAPID code can be edited in most text editors and mark-ups can be imported into apps like Notepad++. However,it is easiest to program within the RobotStudio environment.

The RAPID editor is similar to the RhinoScript editor, with conveniences like instant semantics checks, argumentpick lists, and syntax coloring.



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Robotul industrial conform ISO 8373Graphical Programming (RobotStudio)

Screen shot from RobotStudio. It would be very tedious to use text-based programming for an entire robot program so, just as we do

with CNC programming, we use a graphical editor that allows us to manipulate and simulate a CAD model.

The difference here is that we can synchronize the code very quickly without the need to specify a post-processor, as we are usingABB programming software for ABB robot controllers.



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Robotul industrial conform ISO 8373Parametric Programming (HAL)

HAL is an example of an industrial robotic programming plugin for Grasshopper which allows users to simulate their robots andgenerate RAPID code in near real time. The advantage is that the code output is directly tied to a parametric model, allowing theuser to bypass tedious importing and re-importing of CAD geometry into RobotStudio.

Image from hal.thibaultschwartz.com



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Robotul industrial conform ISO 8373Multipurpose Manipulator

Industrial robots are different from task-specific fabrication equipment such as 3Dprinters, laser cutters, and CNC mills in that they are intentionally unspecific and, as aresult, can be used for an almost endless range of applications. The arm is fitted withwhat are called end effectors or end-of-arm tooling which are specific towhichever application the robot is intended to perform. Common industrial robotapplications include (but are certainly not limited to):

Welding

Laser Cutting

Painting

Palletizing

Machine Tending



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Multipurpose Manipulator Robotic Welding

Robotic arms can weld along curves using MIGor TIG welding end effectors, or they can weldat points using spot welding end effectors.Spot welding end effectors can beopen/closed and on/off, whereas MIG/TIGwelders are only on/off.

Note: Unlike CNC end mills, these tools cant

be directly touched off, but rather have anoffset distance from the target not unlike a

laser cutting heads focal length.ABB robotic arm with spotwelding end effector



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Multipurpose Manipulator Robotic Laser Cutting

Laser tubes, where wattage generates the laser beam, and the ensuing opticsassembly have to be in a straight line for a robotic arm, versus configured with mirrorturns as in a typical laser cutter.



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Multipurpose Manipulator Robotic Painting (ASM)

Robotic painting arms use ASM, or Automated Spray Method, to rapidly and evenlycoat cars and airplane components with paint. These robots are covered in drapedcloth which allows the robot its full range of motion while protecting the arm from

paint.

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Multipurpose Manipulator Robotic Palletizing

Robotic palletizing is used toquickly and accurately stackobjects onto pallets. These robotsare known for long reach, highpayload, and fast speed andtypically require only three axes.

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Multipurpose Manipulator RoboticMachine Tending

Robots can be integrated into

assembly line or othermanufacturing processes. Forexample, a robotic arm may beused to retrieve finished partsfrom a CNC machining centerand reload the machine with

fresh stock.

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http://youtube.com/v/Hmh2RVvXeoEhttp://youtube.com/v/Hmh2RVvXeoE



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Robotul industrial conform ISO 8373 Programmable in 3 or More Axes

An industrial robotic arm requires 3 axes (or degrees of freedom) because 2 axes

are required to reach any point in a plane and the third is required to reach any pointin space.

Think of the 3 axes as yaw, pitch, and roll rather than X, Y, and Z as in a CNC mill.

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Robotul industrial conform ISO 8373 Typical 6 Axis Arm

A typical 6 axis arm (as well as our ownIRB 140 arm) have 6 axes that work intandem (interpolate and configure) toreach targets.

Ranges of motion for the axes are:

Axis 1 (base twisting) 360o

Axis 2 (base bowing) 200o

Axis 3 (forearm flapping) 280o

Axis 4 (forearm twisting) 400o*

Axis 5 (wrist flapping) 240o

Axis 6 (wrist twisting) 800o*

*unlimited but set to default value

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Robotul industrial conform ISO 8373- Robot Reach

Reach is more of an art than a scienceand is based on joint interpolation aswell as joint configuration (decidingbetween multiple possible jointpositions to reach a target). The imageto the left is a typical reach diagram forthe ABB IRB 140. The 810mm frontreach is almost 32in.

Reach is also dependent on how therobot is mounted.

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Robotul industrial conform ISO 8373- Robot Load Diagram

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Robotul industrial conform ISO 8373- Robot Working range/ velocity

Robot Working range/ velocity - exemple

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Robotul industrial conform ISO 8373- Robot Mounting

Robots can be bolted to steel tables orother rigid bases but are often wall orceiling-mounted to enhance reach

relative to the intended roboticapplication.

If the object the robot is mounted to canalso be moved via the robotic controller,such as gantry or rail-mounting, this is

considered an additional axis oradditional axes depending on theconfiguration.

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De ce sa automatizam/ robotizam?

.... fr automatizare si robotizare, companiile

productoare, nu numai ca pierd din competitivitate,

dari reduc semnificativ ansele de a rmne pe

pia. Sursa: Siemens Industry Software

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Istoria roboticii industriale

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http://f/Didactic_IPR/Anul_2015-2016/SEM_II/RF_I/01_Curs_1_Introducere/History_of_Industrial_Robots_online_brochure_by_IFR_2012.pdfhttp://f/Didactic_IPR/Anul_2015-2016/SEM_II/RF_I/01_Curs_1_Introducere/History_of_Industrial_Robots_online_brochure_by_IFR_2012.pdf


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Robotizarea Fabricatiei I Conf. Dr. Ing. Bogdan MOCAN

Productori de roboti

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http://www.comau.com/enghttp://www.comau.com/eng


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Asociatii din domeniul roboticii

JIRA (Japan industrial robotics association)

WRO (world robotic Olympiad)

RIA (robotics institute of America)

IFR (international federation of robotics)

CRIA (China Robot Industry Alliance )

IEEE robot & automation society

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Classification of robotics

According to JIRA

JIRAs chiefly concerned with industrial robots but

has created a robot classification system.i. Manual Robotii. Fixed Sequence robotiii. Variable sequence robot

iv. Numerical robotv. Playback robotvi. Intelligent robot


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JIRA classification - Fixed sequence

robot

This type of robot repeats a fixed sequence of actionswithout needing to be controlled by an operator

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JIRA classification - Variable sequence

robot

This type of robot is similar to class 2, except that the sequenceof actions can be reprogrammed easily allowing it to be quicklyadapted to perform new tasks.


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JIRA classification - Numerical robot

This type of robot moves through a sequence ofactions, which it receives in the form of numerical data.

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JIRA classification - Intelligent robot

A robot that senses its environment and responds tochanges in it in order to continue performing itsfunction.

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Productori de roboti cota de piata

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Aspecte privind robotii industriali

Grade de libertate: numrul de micri independente pe care lepoate executa un corp.

1 D.O.F. 2 D.O.F. 3 D.O.F.


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Identificarea axelor robotilor industriali

l

i ll

Axele 1, 2 and 3 sunt axele principale (mecanismului generator de traiectorie).

Axele 4, 5 and 6 sunt axele mecanismuluide orientare.

Axa 2

Axa 1

Axa 3

Axa 6

Axa 5

Axa 4

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Structura unui robot industrial

Bild: KUKA Roboter GmbH, Augsburg, D, www.kuka.com

1. Care este legtura intre numrul

de axe si numrul gradelor delibertate?

2. Cate grade de libertate are unrobot cu 7 axe?

3. De ce in realitate un robot nupoate atinge toate punctele dinspaiul sau de lucru?

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Sisteme de coordonate in robotica

Roboii articulai pot fi controlati prinstabilirea unghiurilor din cuple(cinematica directa). Acest lucru esteutil pentru aplicaii de cercetare,

jogging manual, sau parcarea robotului.

In cele mai multe situaii se cunoate poziiasi orientarea efectorului final dupa carecontrolerul robotului calculeaz unghiurile

din cuple (cinematica inversa).

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Aceste poziii pot fi specificate n coordonate de baz sau se pot folosi o multitudine dealte sisteme de referina asociate diverselor elemente din spaiul de lucru al robotului.

De obicei, este mai facil sa se specifice poziiile efectorului final fcndu-se referire laTCP (Tool Center Point) i sistemul de coordonate asociat obiectului de lucru.

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Muli roboi (inclusiv ABB) utilizeaz un sistem de coordonate de baz cu originea npunctul n care axa 1 i suprafaa de montare se intersecteaz.

Din punctul de vedere al robotului axa x mergenainte, stnga axa y, i axa z merge nsus.


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Un sistem de coordonate (definit de) utilizator este adesea aliniat cu dispozitivele deprindere si fixare din zona de lucru (ex. suprafaa mesei de lucru).

n acest sistem de coordonate (UCS) putem alinia sistemul de coordinate asociatobiectului de lucru.


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Categorii de roboi industriali

Caracterizati de cinematica axelor principale.


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Aspecte privind singularitatile

Aici, punctul de concuren al axelor mecanismului de orientare, localizat la interseciaaxelor comandate A4, A5, A6, este poziionat direct n centrul de rotaie al axei 1.

Punctul de concuren a axelormecanismului de orientare

Singularitate in pozitia deasupra capului


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Tipuri de micri pe care le poate face


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Tipuri de micri pe care le poate face

un robot industrial


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Elementele componente ale unui


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sistem robotic industrial

2. Robotul

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sistem robotic industrial

3. Efectorul final


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Actuatoare folosite in domeniul


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Actuatoare folosite in domeniul

roboticii

Motoare de curent alternativ;

Motoare de curent continuu se rotesc in directiacurentului;

Motoare pas cu pas control foarte bun al rotatiei;

Motoare piezo utilizeaza vibratiile elementelorpiezoceramice;

Muschi artificial (air muscle) aerul comprimat determinamiscarea


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Ti i d f fi l


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Tipuri de efectoare finale

1. Dispozitive de lucru

cap de slefuire, frezare, gaurire


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Cele mai uzuale aplicatii ale robotilor


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Cele mai uzuale aplicatii ale robotilor

industriali

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E l d li tii b ti t


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Exemple de aplicatii robotizate

Manipulare & asamblare &paletizare

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E l d li tii b ti t


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Exemple de aplicatii robotizate

Sudare cu arc electric & sudare inpuncte


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Aspecte de pia privind roboii


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p p p industriali

Sursa: The Rise of the Machines The New Economy/ February 2013

Distributia roboilor la 10000 de muncitori


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T di t l i d i l b til


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Tendintele in domeniul robotilor

Sursa: International Federation of Robotics/ World Robotics 2013 Industrial Robots

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Te di tele i do e i l robotilor


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Tendintele in domeniul robotilor

evolutia pretului

robotilor industriali

relativ la costul fortei de

munca

din 90 pana in 2006


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Eficienta proceselor industriale


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Eficienta proceselor industriale

Comparatie intre procesele realizate manual si automatizate/robotizate

Aplicaiaindustrial Eficienaproceselorn regimmanual (%)

Eficienaproceselor

robotizate (%)

Sudare cu arc electric (incluzndi tierea cu plasm)

30-35 90+

ndeprtarea de material(debavurare, polizare, achiere,polizare)

25-30 90+

Procese de achiere 55-60 90

Procese dendoire, presare 40-50 90

Manipulare (pick and place) 70-75 90

Paletizare 70-75 90

Depaletizare 65-70 90

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Subiectele abordate in acest


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semestruM1: Introducere in domeniul roboticii industriale

M2: Manipularea in aplicaii industriale robotizate

M3: Tipuri de efectori finalifolosii in aplicaii industriale robotizate

M4: Asamblarea in aplicaii industriale robotizate

M5: Senzori folosii aplicaii industriale robotizate

M6: Sudarea in aplicaii industriale robotizate

M7: Ambalarea si paletizarea in aplicaii industriale robotizate

M8: Alimentarea si evacuarea masinilor unelte in aplicaii industriale robotizate

M9: Robotii industriali implementati in aplicatii agro-alimentare

M10: Roboti industriali implementati in aplicatii speciale

M11: Fabricaia automatizata si robotizata

M12: Justificarea economica a robotizrii proceselor industriale


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Control Systems Sensors and Actuators Automated Machine Tools Industrial Robotics

Logic Controllers Handling Systems Storage Systems Identification Systems

Manufacturing Cells Robotic Assembly Lines Flexible Manufacturing Systems

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Rezumat


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Rezumat

Introducere in robotica industriala

Spatiul de lucru al robotilor, TCP-ul robotilor, modulul

de generare a traiectoriilor, modulul de orientare

Pozitii de singularitate ale robotilor industrialiarticulati

Aplicatii ale robotilor industriali


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