Robotics Intro/Robot History 142.1.1
Unimate is first practical/industrial robot, deployed into factories in 1961
Move in 20 degree arc sideways, 60 degree arc upwards
Remember 200 different steps
Cobot: Industrial and collaborative
Checkpoint 1:
First experience with a robot: YouTuber with robot dog
Thoughts on robots in industries: I think it’s good to include them to help with boring jobs but I’m nervous about them replacing/putting people out of jobs
If you could have a robot d something for you, what would it be?: I would have a robot to vacuum the house for me so I could focus on taking care of my animals and myself
Ethical considerations around robots/AI: Ethical considerations would be not crediting/citing sources
What are some innovative/exciting applications of robots/automation: taking over mindless jobs, exoskeletons
Robot safety 142.2.1
Teach pendant attached to robot, computer, has stop button, can be wireless
Operator has the robot go through steps while recording the points
When programming speed is no more than 10in per second
Has controlled path
Lead programming, operator guides the robot through the activity by hand and records the coordinates
Disadvantages worker can be in harms way and has to be there to teach the robot
Tool center point 142.2.2
Select the axis to align the TCP to TPC is a specific point on the end of the tool used as a reference point for controlling the robots movements TCP orientation: Move the machine to a specified point in different directions If the robot moves but the TCP stays in place you’ve set it correctly Setting payload is important for operation Can set multiple payloads to use When payload is correct the gripper will not move
Robot Movement 142.2.3 Put robot into manual mode and enable teach pendant Override safety lock Move the axis one by one Can also control the speed with override buttons World moves it in all directions and allows rotation PTP/Linear movements: PTP=point to point Difference: PTP robot comes from axis to axis, Linear moves from start to end in linear moves Don’t change home in production program PTP just identifies points Linear moves the tip directly to the other points without lifting up Linear works every axis PTP works one axis at a time Robot singularities; Wrist, Elbow, Shoulder Robot programming
142.2.4 Moves to different positions then goes back to safe point Make sure data points live within the frame selected Be specific when selecting user frame P1 is memorize point and 100 is the velocity Jog robot to desired position to set a safe position Shift F1 to record points When closer to the surface decrease the velocity TCP Calibration
142.3.4 Measure and set point one Set the robot in free drive and move to different points Move to points in different directions Green is correctly set If yellow or red redo When done press set Test by going to the move tab and choose tool Same orientation as the tool flange to align the orientation with the tool use orientation tool Select base, position tool to align with positive Z axis of the base Can test in the move tab Setting payload and center of gravity is important because controller uses this information to move the robot safely If the gripper moves the payload is incorrect Intro to robot machine tending
142.7.1 Manage machines that are preforming tasks Mostly needed in manufacturing settings Robots mainly load and unload things from the machines Helps keep production going Precision is a big factor in selection