Industrial robots. Construction and application

The manual contains current news on the construction, control and use of industrial robots. It presents the classification of robots, their construction (also modular), kinematic structures (mobile robots), as well as control systems and robot programming. Discussed robot drives: pneumatic, electrohydraulic, electric, and mechanical transmissions. Sensory systems are described: displacements and positions, and corresponding to the senses of touch and sight, as well as grippers. Artificial intelligence systems used in control systems as well as design methods and principles of construction of robotic stations and production systems used in technological processes, operation of machine tools and technological machines as well as in assembly were presented. The issues of work safety in the vicinity of robots have been emphasized. The textbook is intended for students of technical university and students of technical schools of robotics, automation and production engineering.

Table of Contents

Admission

1. Development of robotics

1.1. Historical outline of the development of robotics
1.2. Statistical data illustrating the development of industrial robotics
1.3. Factors stimulating the development of robotics
1.4. The scope and research topics of robotics
1.4. The laws of robotics

2. Definitions and classification of industrial robots

2.1. Basic definitions
2.2. Classification of industrial robots
2.2.1. Classification of robots due to the construction of a kinematic unit
2.2.2. Classification of robots due to the kinematic structure
2.2.3. Classification of robots due to control
2.2.4. Classification of robots due to the number of degrees of freedom and the type of drive
2.2.5. Classification of robots due to other criteria

3. Construction of industrial robots

3.1. Basic assemblies and systems of industrial robots
3.2. Monolithic works with a serial kinematic structure
3.2.1. Robots with an articulated kinematic structure
3.2.2. Robots with a spherical kinematic structure
3.2.3. Robots with a cylindrical kinematic structure
3.2.4. Robots with SCARA kinematic structure
3.2.5. Robots with PUMA kinematic structure
3.2.6. Robots of the Cartesian kinematic structure
3.2.7. Multi-crest works
3.3. Robots with a modular and serial structure of the kinematic structure
3.3.1. Introductory information
3.3.2. Aluminum construction profiles
3.3.3. Examples of modular construction
3.4. Robots and manipulators with parallel structures
3.4.1. Parallel manipulators with three degrees of freedom
3.4.2. Spatial parallel manipulators with more degrees of freedom
3.5. Robots and manipulators with hybrid structures
3.5.1. Manipulator with PAROS-4 hybrid structure
3.5.2. Manipulator with hybrid structure Georg V
3.6. Mobile robots
3.6.1. Robots moving on a fixed track
3.6.2. Autonomous mobile robots

4. Introduction to robotic kinematics

4.1. Elements of the kinematic structure of industrial robots
4.2. Kinematics of robots with serial structure
4.2.1. Description of the robot's position and orientation
4.2.2. Mapping transformations of descriptions when switching from one coordinate system to another
4.2.3. Straight transformation of an arm with two degrees of freedom
4.2.4. Inverse transformation of an arm with two degrees of freedom
4.2.5. A robot with three degrees of freedom in two-dimensional space
4.2.6. A robot with four degrees of freedom in three-dimensional space
4.3. Kinematics of robots with parallel structures
4.3.1. Kinematics of a DELTA parallel keypad
4.3.2. Kinematics of the hexapod RPR parallel manipulator
4.4. Kinematics of mobile robots

5. Controlling industrial robots

5.1. Tasks of control systems
5.1.1. Responding to the operator's activities
5.1.2. Control in discrete axes
5.1.3. Control in continuously positioned axes
5.1.4. Control of technological inputs and outputs
5.1.5. Determining the sequence of further action
5.2. Classification of control systems
5.3. Control systems for teleoperators
5.4. Programmable PLC logic controllers
5.5. Computer numerical control systems
5.5.1. Architecture of the microprocessor system
5.5.2. Parameters and functions of microprocessor control modules
5.6. Robot programming by teaching
5.6.1. General information
5.6.2. Description of the instructions
5.6.3. An example of robot programming
5.7. Control of autonomous mobile robots

6. Drives of industrial robots

6.1. The purpose of the drives and the scope of their operation
6.2. Pneumatic drives
6.3. Electrohydraulic drives
6.4. Electric drives
6.4.1. DC drives with commutator motors
6.4.2. DC drives with non-commutative motors
6.4.3. AC drives
6.4.4. Linear drives
6.4.5. Drives with stepping motors
6.5. Mechanical gears
6.5.1. Mechanical transmission transmitting rotary motion
6.5.2. Mechanical gears for changing the rotational movement into progressive
6.5.3. Reducing mechanical transmissions

7. Sensory systems

7.1. Introduction to sensory systems
7.2. Measuring systems of position and displacement
7.2.1. Potentiometer
7.2.2. Counter Selsyn (resolver)
7.2.3. Linear and rotary inductosyn
7.2.4. Rotary-pulse transducer and bar ruler
7.2.5. Dials and code rulers
7.3. Speed measuring systems
7.4. Sensory systems of touch
7.4.1. Contact sensors
7.4.2. Force and stress transducers
7.4.3. Touch-type transducers
7.5. Vision systems
7.5.1. Tasks of vision systems
7.5.2. Systems for identifying the position of objects
7.5.3. Systems that recognize images
7.6. Sensory systems of presence and approximation
7.6.1. Ultrasonic proximity sensor
7.6.2. Laser sensors
7.6.3. Laser scanners
7.6.4. Sensors of presence

8. Gripping devices for industrial robots

8.1. Tasks of gripping devices
8.2. Classification and characteristics of gripping devices
8.3. Selection of the gripper type for a given class of manipulation objects
8.4. Construction of mechanical grippers
8.4.1. Drive systems
8.4.2. Transmission systems
8.4.3. Implementation systems for grabs
8.5. Designing gripper mechanisms
8.5.1. Gripper design algorithm
8.5.2. An example of calculating the gripper mechanism with rigid tips

9. Artificial intelligence in robotics

9.1. Introduction to artificial intelligence systems
9.2. Structure and functions of an intelligent robot
9.3. Human motion control systems, and robot control systems
9.4. Neural networks as robot control systems
9.4.1. Construction of neural networks
9.4.2. Controlling the robot's movement
9.4.3. Application of neural networks for image recognition
9.5. FC Control (Fuzzy Control)
9.5.1. Introduction
9.5.2. Basics of fuzzy control
9.5.3. An example of motion control in the robot axis

10. The use of industrial robots

10.1. Construction of robotic manufacturing systems
10.1.1. Introduction to robotic design 273
manufacturing systems
10.1.2. The most important features of mechatronic design
10.2. Robotization of welding stations
10.2.1. Robotic arc welding stations
10.2.2. Robotic welding stations
10.2.3. Robotic welding and laser and plasma cutting stations
10.3. Robotic manipulation and palletizing positions
10.4. Robotic machining stations
10.5. Robotic assembly stations
10.5.1. Basics of robotisation of assembly works
10.5.2. Configuration of robotic assembly stations
10.5.3. Robots for assembly tasks
10.5.4. Examples of robotic assembly stations

11. Safety in robotic workstations

11.1. General thoughts
11.1.1. Threats on robotic workstations
11.1.2. Causes of accidents while working in robotic systems
11.1.3. General rules for the safe integration of the robot with the system
11.2. Methods of securing robotic systems
11.2.1. Division of protective systems
11.2.2. Hardware level one security
11.2.3. Ways of detecting the presence of a human being
11.2.4. Analysis and evaluation of detection methods
11.2.5. Standards for non-contact protection devices

Literature
Index