AUTOMATION AND ROBOTICS
Submitted by : Ronit.M.Dalia
Enrollment no : 200140119002
Guided by : Prof. P.P. Shah
Table of Content
Introduction to Automation
Need of Automation
Classification of Automation
History of Robotics
Introduction to Robotics
Classification of Robot
Introduction to Automation
Automation can be explained as a process to
create, control and monitor the applications of
technology. Automation is the process of handling
the operation of equipment such as processors,
machinery, stabilization of ships, aircraft, boilers
and many applications with minimum human efforts.
Need of Automation
1. To increase labor productivity
2. To reduce labor cost
3. To mitigate the effects of labor shortages
4. To reduce or eliminate routine manual and clerical
tasks
5. To improve worker safety
6. To improve product quality
7. To reduce manufacturing lead lime
8. To accomplish. processes that cannot be done
manually
9. To avoid the high cast of not automating
Classification of Automation
Base on hardware and software. Three main
classification are:
1. Fixed (hard) automation - involve hardware only
2. Programmable automation - involve software only
3. Flexible automation - involve hardware and
software
Fixed automation
It is a machine refer to totally hardware that can
operate automatically without human interference.
Examples-door with spring load-watch, gravity
machine, water-wheel, animal/wind-wheel.
Used in low and medium production manufacturing.
Special machine for production process efficiency at
higher number/rate of product.
An Automatic machine and numerical control
machine is an example of fixed automation because
the inner construction and function can't be change.
Programmable automation
Combination of hardware (machine) and software
(programmable).
Example-Production line assemble, Air condition, screen
saver, traffic light, radiator
Used when rate of production are small and there is a
variation at the product.
An equipments can be easily change their setup according to
the product configuration needs after the first production is
finish. More different/variety and unique product can be
produce
economically in small amount.
One set of program to control the whole operation of
product.
Flexible automation
Also known as "Flexible Manufacturing System(FMS)" and "Computer
Integrated Manufacturing(CIM)“
Combination of hardware and software (same as programmable) but can
easily changed during the operation without waiting the whole operation
completed.
It can be programmed for different configuration product either at the
beginning. middle or end of the production according to the production
changes.
But usually configuration product are limited compare to the programming
automation.
Allows combination of certain system.
In flexible automation, different product can be made in the same time at
the same manufacture system.
Flexible Automation System mostly consist of series of workstation that is
connected to the material operation and storage system, assembly line and
control of operation of work by using a program for a different work
station.
Example - Automobile assemble line.
ROBOTICS
History of Robotics
Robot (a Slavic word for worker) was first introduced in
1921 in a play by the Czech playwright, Karel Čapek.
The use of the word Robot was introduced into his play
R.U.R. (Rossum's Universal Robots) which opened in
Prague in January 1921.
The word 'robotics' was first used in Runaround, a short
story published in 1942, by Isaac Asimov (born Jan. 2,
1920, died Apr. 6, 1992). I, Robot, a collection of
several of these stories, was published in 1950.
Robotics Timeline
1922 Czech author Karel Capek wrote a story called
Rossum's Universal Robots and introduced the word
"Rabota" (meaning worker)
1954 George Devol developed the first programmable
Robot.
1955 Denavit and Hartenberg developed the
homogenous transformation matrices
1962 Unimation was formed, first industrial Robots
appeared.
1973 Cincinnati Milacron introduced the T3 model robot,
which became very popular in industry.
1990 Cincinnati Milacron was acquired by ABB
Introduction to Robotics
Word Robot Defined by Robotics Industry Association (RIA) as "A
re-programmable, multifunctional manipulator designed to move
material, parts, tools or specialized devices through variable
programmed motion for a variety of tasks“
Law of Japan states that a robot is"All purpose machine
equipped with a memory device (for handling) capable of
replacing human labour for the automatic performance of tasks“
Robert Schilling defines a robot as
"a software controlled mechanical device that uses sensors to
guide one or more of its end effectors through various
programmed motions in a work space in order to manipulate
physical objects"
Classification of Robot
Possible classification schemes are base
on :
1. Anatomy (Body)
2. Control of movement
3. Kinematics/geometry structure
4. Energy source
5. Authority body
6. Industry/non industry
7. Technology level
8. Based on design
9. Application/job1
10. By number of degree of freedom (gripper configuration)
Based on Anatomy
1. Arm
2. Two arm
3. Arm and leg
4. Arm, leg and face
5. Finger
• 2 fingers
• 3 fingers
• 5 fingers
Based on Control of Movement
1. Limited sequence Robot
2. From point to point Robot
3. Continues Robot
Limited Sequence Robot
The movement of robot is limited in linear direction.
Use of mechanical stop and limit switch to control the movement of
manipulator. Difficult to fixed the stop point.
The stop point on the path cannot be changed easily (only one stop point on
a single path between the 2 point)
Mechanical stop give a fixed position stop (repetition +/-0.5mm).
Advantages:
The cost is cheap 25% to 50% Compare to others.
This type of robot are used for casting, pressing and fixed movement.
The robot not sophisticated.
Disadvantages:
Control and movement are limited.
Used longer time for setting machine.
Point to Point Robot
The movement of robot is in linear direction.
Can stop the axes at any point through the path.
At the end of the tool will be programmed at sequence
discrete points in the work space.
No control for movement speed.
Move at different speed and distance.
Axes can reach the destination and stop before another
axes.
Usually used in industry environment where amount of
work is zero and consistency between the movement of
the outside object like "conveyer" not needed.
Continues Control Robot
The movement of robot is in any direction
continuously.
For complex workstation environment.
Position and end tool must be controlled and Follow
3 dimension (3-D) space.
Speed of movement action is different.
Example: paint spray, welding works and
application.
Based on Kinematics Coordinate
(Movement)
Work space can be defined as space that robot
manipulat (MOVE)
a) Cartesian Coordinate /Movement (x,y,z)
b) Cylindrical Movement(Ø, r, z)
c)Spherical Movement(Ø, R, Ø)
d)SCARA Movement(Ø, Ø, Z)
e) Revolute Movement(Ø, Ø, Ø)
Based on Energy Source
It is the energy source that makes the actuator or
robot joint to move.Normally there is four
categories:
1) Electrical Robot
2) Hydraulic Robot
3) Pneumatic Robot
4) Mechanical Robot
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