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Robot Technical Specifications
Robot Technical Specifications
When spec-ing out a robot, there are several key technical characteristics to consider, including:
Payload Capacity: The maximum, safe, added weight that can be added to a robot and still have it operate at maximum speed/performance. Determines the robot's ability to perform specific tasks.
Reach: The maximum distance a robot can reach from its base. Determines the robot's ability to access specific areas or objects.
Speed: The maximum speed at which a robot can move. Determines the robot's ability to perform tasks within a given time frame.
Accuracy: The degree to which a robot can perform a task with precision. Determines the robot's ability to perform tasks that require a high level of accuracy, such as assembling small parts.
Repeatability: The ability of a robot to perform the same task repeatedly with a high level of accuracy. Determines the robot's ability to perform tasks that require consistent and repeatable results.
Degrees of Freedom: The number of independent axes or joints that a robot has. Determines the robot's ability to perform complex movements and tasks.
Environmental Considerations: The environmental conditions under which the robot will operate, including temperature, humidity, and exposure to dust, water, or chemicals. Determines the type of robot that is suitable for the environment and the level of maintenance required.
Power Requirements: The power supply needed to operate the robot, including voltage, current, and frequency. Determines the type of power supply needed and the electrical infrastructure required.
Programming Language and Software Compatibility: The programming language and software that the robot uses. Determines the level of expertise required to operate and program the robot.
Parts of a Robot
Parts of a Robot
6-Axis Robots are called such because they have 6 joints:
Base (Joint/Axis 1): The base is the bottom part of the robot, which connects the robot to the ground or a mounting surface. It allows the robot to rotate horizontally around its vertical axis, providing the first degree of freedom.
Shoulder (Joint/Axis 2): The shoulder joint is the second joint in the robot, located just above the base. It allows the robot arm to move forward and backward, providing the second degree of freedom.
Elbow (Joint/Axis 3): The elbow joint is the third joint in the robot, located between the shoulder and the wrist. It allows the forward section of the robot arm to rotate, providing the third degree of freedom.
Wrist 1 (Joint/Axis 4): The first wrist joint is the fourth joint in the robot, located at the end of the robot arm. It allows forward wrist of the robot arm to move up and down, providing the fourth degree of freedom.
Wrist 2 (Joint/Axis 5): The second wrist joint is the fifth joint in the robot, located at the end of the wrist 1 joint. It allows the robot wrist to tilt up and down, providing the fifth degree of freedom.
Flange (Wrist 3 / Joint/Axis 6): The flange is the sixth & final joint of the robot, located at the end of the 2nd Wrist joint. End-of-arm tooling (EOAT) is attached to the flange joint, which allows the robot to interact with objects. The flange can swivel around its axis, providing the sixth degree of freedom.
These six joints provide the robot with a high degree of freedom and flexibility, allowing it to perform tasks that require a wide range of motion and precision. By moving each joint in a specific sequence and combination, the robot can perform complex movements and manipulate objects with a high degree of accuracy and control.
From a systems approach perspective, a robot arm is a system, each joint can be considered a module, and the components within each module can include:
Encoder: An encoder is a device that measures the position, speed, and direction of rotation of a motor. In a robot joint, an encoder is used to provide feedback on the position of the joint, allowing the robot to precisely control its movement and maintain accuracy.
Current Sensors: Current sensors are used to monitor the electrical current flowing through the motor in the joint. They provide feedback on the torque being applied to the joint and help to ensure that the motor is not being overloaded or overheated.
PMSM: A PMSM (Permanent Magnet Synchronous Motor) is a type of motor used in robot joints that provides high torque and precision control. It is typically used in applications that require precise positioning and high-speed operation.
Circular Spline: A circular spline is a type of bearing used in robot joints that allows for smooth and precise movement. It is designed to withstand high loads and provide low friction movement, making it ideal for robotic applications.
Wave Generator: A wave generator is a component of the harmonic drive system, which is a type of gear system commonly used in robot joints. The wave generator converts rotational motion into linear motion, allowing for precise and smooth movement of the joint.
Flexspine: A flexspine is a component of the harmonic drive system that helps to absorb shock and reduce backlash in the joint. It is designed to provide flexibility and allow for smooth and precise movement, even under heavy loads.
Temperature Sensor: A temperature sensor is used to monitor the temperature of the motor and other components in the joint. It provides feedback on the heat generated during operation and helps to prevent overheating and damage to the joint.
All of these components work together to provide precise and smooth movement in a robot joint. By monitoring the position, torque, and temperature of the joint, the robot can maintain accurate control and prevent damage to the motor and other components. The circular spline, wave generator, and flexspine all help to ensure smooth and precise movement, while the PMSM provides high torque and precision control. Overall, these components are essential for ensuring the reliability and performance of a robot arm.
End of Arm Tooling (EOAT) / End Effectors
End of Arm Tooling (EOAT) / End Effectors
End of Arm Tooling (EOAT) refers to the specialized equipment attached to the end of a robotic arm to perform a specific task. EOAT is designed to interact with the environment and perform tasks such as gripping, manipulating, and moving objects, as well as performing process-specific manufacturing operations.
Generally speaking, there are two broad categories of End Effectors:
Grippers, which use physical touch & mechanical interaction to manipulate objects
Tools, which are typically manufacturing process-specific, and can be specialized to perform almost any task
EOAT can also be categorized by how they work:
Active/Powered EOAT, which require additional energy input beyond the robot's movement. This includes most Grippers and tools, and can be powered one or more ways:
(Electro) Pneumatic Powered Devices
(Electro) Mechanically Powered Devices
(Electro) Magnetic Devices
Hydraulic Powered Devices
Vacuum Powered Devices
Passive/Unpowered EOAT, which do not require additional energy input beyond the robot's movement
Simple Mechanical Devices (e.g. Hooks, Scoops, etc.)
(Permanent) Magnet Devices
Adhesive Devices
EOAT can also be multi-purpose, in several different ways:
Multiple Gripper EOAT, which have multiple grippers that can be used to pick up and manipulate multiple objects at the same time. This is useful in applications where the robot needs to perform multiple tasks simultaneously, such as in assembly, material handling, or machine tending.
Multiple Tool EOAT, which have multiple process-specific tools that can be used to perform different tasks. For example, a robot in a manufacturing plant may need to switch between a drill, a saw, and a grinder to perform different operations. A multiple tool EOAT allows the robot to quickly use multiple tools to perform multiple tasks without the need for manual intervention.
Combination EOAT (Gripper + Tool) EOAT, which have both gripper(s) and tool(s) to perform complex tasks. For example, a robot may use one gripper to hold an object while using a tool to drill a hole in the object.
Quick-Change EOAT, which allows the robot to quickly and easily change end effectors based on the task being performed. Quick-change EOAT typically use a standardized interface to allow for easy and fast tool changes. This is useful in applications where the robot needs to perform multiple tasks with different end effectors, such as in manufacturing or assembly. Quick-change EOAT can also be combined with multiple gripper or multiple tool EOAT to increase the flexibility and versatility of the robot.
Aside from grippers and tools, sensors can and often are incorporated into EOAT for several reasons:
Feedback: Sensors can provide feedback to the robot control system about the state of gripper(s) or tool(s). For example, a force sensor can provide feedback about the amount of force being exerted by the robot, allowing the control system to adjust the force as needed.
Process Monitoring: Sensors can be used to monitor the progress of a process and provide feedback to the robot control system. For example, a temperature sensor can be used to monitor the temperature of a material during a welding process, allowing the robot to adjust the welding parameters as needed.
1.4✔ CHECKPOINT
1.4✔ CHECKPOINT
Robot Functionality
Robot Functionality
What are the benefits of using a 6-axis robot compared to a 4-axis or 5-axis robot, and in what applications are 6-axis robots most useful?
How does the payload capacity of a robot impact its ability to perform different tasks and applications?
Explain the concept of robot workspace and how it is defined for a given robot?
Scenario: You are using a 5kg payload cobot and need to manipulate parts with a gripper as well as assemble them with a screwdriver. Given the specs of all these components below, what EOAT configuration would you use to accomplish this task?
Gripper weight = 1kg
Screwdriver weight = 1.5kg
Part weight = 3kg
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