robotics1
Differenze
Queste sono le differenze tra la revisione selezionata e la versione attuale della pagina.
Entrambe le parti precedenti la revisioneRevisione precedenteProssima revisione | Revisione precedente | ||
robotics1 [2023/05/10 12:56] – [Industrial robots] admin | robotics1 [2024/03/13 11:52] (versione attuale) – [Types of robots] admin | ||
---|---|---|---|
Linea 13: | Linea 13: | ||
A robot is a machine capable of carrying out a complex series of actions automatically. | A robot is a machine capable of carrying out a complex series of actions automatically. | ||
- | An industrial robot is a robot system used for manufacturing ([[https:// | + | An industrial robot is a robot system used for [[https:// |
* welding | * welding | ||
* painting | * painting | ||
* assembling and pick and place | * assembling and pick and place | ||
- | * packaging and palletizing ([[https:// | + | * [[https:// |
* product inspection and testing | * product inspection and testing | ||
- | * machine tending ([[https:// | + | * [[https:// |
These tasks are accomplished with high endurance, speed, and precision. | These tasks are accomplished with high endurance, speed, and precision. | ||
Linea 37: | Linea 37: | ||
* speed | * speed | ||
* accuracy and repeatability | * accuracy and repeatability | ||
- | * DOF (or //Degrees of Freedom//): number of independent motions which Is usually the same as the number of axes | + | * DOF (or //Degrees of Freedom//): number of independent motions, which is usually the same as the number of axes |
==== Types of robots ==== | ==== Types of robots ==== | ||
There most common types of industrial robots are: | There most common types of industrial robots are: | ||
- | * [[https:// | + | * [[https:// |
- | * SCARA robots, which are 4 DOF fast, simple and accurate robots | + | * [[https:// |
- | * delta robots, which are 4 DOF very fast and low-inertia robots | + | * [[https:// |
The figure below shows a PUMA-like articulated robot with its six joints. | The figure below shows a PUMA-like articulated robot with its six joints. | ||
Linea 62: | Linea 62: | ||
* defining target positions, specifying the end-effector Cartesian position (x,y,z coordinates and [[https:// | * defining target positions, specifying the end-effector Cartesian position (x,y,z coordinates and [[https:// | ||
The latter is much more convenient and is by far the most used, but requires //inverse kinematic// calculations to be performed by the robot controller, in order to find out joints position and velocity to get to the target. When doing so it should be considered that: | The latter is much more convenient and is by far the most used, but requires //inverse kinematic// calculations to be performed by the robot controller, in order to find out joints position and velocity to get to the target. When doing so it should be considered that: | ||
- | * there are more various configurations with the same target | + | * each target |
- | * some configurations or some paths must be avoided because of [[https://www.mecademic.com/en/what-are-singularities-in-a-six-axis-robot-arm|singularities]]; | + | * some configurations or some paths must be avoided because of [[https://en.wikipedia.org/wiki/Industrial_robot# |
==== Robot programming ==== | ==== Robot programming ==== | ||
- | Every robot comes with a controller, which has the double purpose of powering the robot and interfacing it with other devices. Most robots come with a particular device, attached to its controller, called //teach pendant//. This is an handheld touchscreen device used to directly control the robot, moving or //jogging// its axes, and to program it with a simple interface. | + | Every robot comes with a controller, which has the double purpose of powering the robot (like a driver) and doing calculations |
{{: | {{: | ||
- | The teach pendant allows to program the robot by moving its end-effector to the desired positions, saving target points to be reached, specifying paths to follow and actions to be performed by the tool. Once finished the robot will repeat these steps autonomously. Such method, called on-line programming, | + | The teach pendant allows to program the robot by moving its end-effector to the desired positions, saving target points to be reached, specifying paths to follow and actions to be performed by the tool. Once finished the robot will repeat these steps autonomously. Such method, called |
robotics1.txt · Ultima modifica: 2024/03/13 11:52 da admin