Introduction to Robotics

Table of Contents

Chapter 1: Robotics in Automated Manufacturing

Topics: Evolution of Robotics; What is an Industrial Robot?; Essential Characteristics; Robots and Automated Manufacturing; Project Manufacturing; Job Shop; Batch Manufacturing; Repetitive (Flow) Manufacturing; Continuous Manufacturing; Robot Safety

Learning Objectives:

• Identify why robots did not appear in large numbers in manufacturing until the late 1970s.
• State the Robot Industries Association's definition of an industrial robot and explain the two key words.
• Describe how industrial robots are used in batch production systems.
• Explain how industrial robots are used in repetitive manufacturing systems that utilize transfer lines.
• List at least three factors that should be considered as part of a risk assessment when a robot system is in the development stage.
• Describe and contrast the following guarding methods: barrier, presence-sensing device, awareness device, warning system.
• Define the term zero-energy state.

Chapter 2: The Basic Robot System

Topics: Manufacturing and Robot Systems; Robot Arm; Robot Controller; Power Source; Tooling; Teaching/Programming Device; Data Storage; Definition of Terms; Critical Specifications; Payload; Degrees of Freedom; Drive Power; Repeatability; Accuracy; Work Envelope Dimensions; Speed; Memory Capacity; Programming Support; End-of-Arm Tooling; Environmental Requirements

Learning Objectives:

• Name and describe the basic building blocks of an industrial robot.
• Name and describe the additional components that make up a robot system.
• Define the following robot terms: degrees of freedom, position axes, orientation axes, work envelope, tool center point.
• Define and give an example of the following specifications for industrial robots: payload, repeatability, memory capacity, and environmental requirements.
• Explain the difference between accuracy and repeatability in robots.

Chapter 3: Robot Classification I

Topics: Robot Classification; Classification by Control System; Open-Loop Control; Nonservo Operation; Advantages of Open-Loop Control; Disadvantages of Open-Loop Control; Applications for Open-Loop Control; Closed-Loop Control; Advantages of Closed-Loop Control; Disadvantages of Closed-Loop Control; Applications for Closed-Loop Control; Classification by Application

Learning Objectives:

• Identify the five methods of classifying industrial robots.
• Explain the difference between robots with closed-loop control and those with open-loop control.
• Describe the techniques used in closed- and open-loop control in robot systems.
• List the advantages and disadvantages of open- and closed-loop control in robot systems.
• Distinguish between assembly and nonassembly robots according to the application for which they were designed.

Chapter 4: Robot Classification II

Topics: Classification by Arm Geometry; Cartesian (Rectangular) Arm Geometry; Cylindrical Arm Geometry; Spherical (Polar) Arm Geometry; Articulated Arm Geometry; Classification by Power Source; Classification by Path Control; Classification by Intelligence Level

Learning Objectives:

• Classify robots by arm geometry, power source, and path control techniques.
• dentify the basic robot work envelopes and name the arm geometries that produce them.
• Name the basic power sources used for robot motion and give an advantage and disadvantage of each.
• Identify the basic path-control techniques and describe their characteristics.

Chapter 5: Work-Cell Sensors

Topics: Sensor Overview; Simple Contact Sensors; Simple Noncontact Sensors; Simple Process Control Sensors; Complex Sensors; Complex Sensor Interface; Complex Contact Sensors; Complex Noncontact Sensors; Complex Process Control Sensors

Learning Objectives:

• List the two types of interfaces and three groups of sensors used in industrial robot systems.
• Describe the primary simple contact sensor commonly found in robot systems.
• Identify and explain the operation of the two simple noncontact sensors most often used in industrial robot installations.
• Explain the difference between the simple sensor interface and complex sensor interface.
• Identify and describe vision and tactile sensors and the systems required to support them.

Chapter 6: End-of-Arm Tooling

Topics: General Requirements; Tooling Terms; Tooling Power Sources; Tooling Overview; Standard Grippers; Servo or Nonservo Grippers; Vacuum Devices; Magnetic Devices; Flexible Pneumatic Devices; Special-Purpose Tooling; Protecting End-of-Arm Tooling; Compliance

Learning Objectives:

• Name the five general requirements all tooling must satisfy.
• Identify and describe briefly the four basic tooling power sources.
• Describe the five categories of end-of-arm tooling used in robot applications.
• Explain the function and advantages of a quick-change device.
• Define the term compliance and explain why it is important.

Chapter 7: Robot Teaching and Programming

Topics: Work-Cell Programming; Controller Functions; Robot Programming; On-Line Programming; On-Line Programming Example; Off-Line Programming; Defining Programmed Points; Writing Program Statements; Work Cell Control with a PLC; PLC Programming Example

Learning Objectives:

• List and describe the four basic functions of the computer(s) controlling an automated work cell.
• Name the two major types of robot programming and give advantages and disadvantages of each.
• Name and describe two basic methods of teach programming and tell when each is used.
• List three advantages of off-line programming.
• Name the two elements of a computer program for off-line robot programming.
• Explain the basics of ladder logic programming.

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