Robotic
Controller
This is the "brain" of the system, responsible for processing instructions and controlling the robot's movements.
Manipulator
This is the mechanical part of the robot that performs tasks.
What does the axis and main computer do?
Main computer: Reads the robot program and plans the movement trajectory.
Axis computer: Controls individual robot axes based on the planned movements.
Benefits with FMS
• High level of atomization, completely or close to unmanned
• High level of product related flexibility, can manufacture a variety of products in the same product family.
• Short change over time, system can quickly be prepared for manufacturing a product from another family.
Reasons why FMS instead of alternatives:
• Hazardous work environment – spray-paint with dangerous solvents
• Hard manual operations – heavy lifting or inappropriate working positions
• Staff difficulties – shortages of staff with certain expertise ex welding of car bodies
• Minimise human error.
FMS application areas
• Material handling
• Welding (Spot, Laser, ARC)
• Painting
Desribe Kinematics
Kinematics is the art of describing the position and orientation of joints in a robot with respect to a coordinate frame. Calculations are performed with the support of a transformation matrix. These matrixes are placed in each joint and thereby is a kinematic chain created through the robot that is related to the base coordinate system with the tool coordinate systemically (4x4) matrix that describes position/orientation for a coordinate system in relation to the reference coordinate system.
Forward kinematics
Forward kinematic describes the tool’s position and orientation based on given axis values.
Inverse kinematics
Through inverse kinematics can the axis values be gained when the tool’s position and orientation are given.
Redogör skillanderna mellan Rapid instructionerna (MOVE X)
MoveL - TCP rör sig linjärt och verktygets omorientering synkroniseras mot målpositionen.
• MoveC - TCP rör sig på en cirkelbåge från aktuell position mot målpositionen och genom cirkelpunkten. Cirkelpunkt och målposition ingår i MoveC-instruktionen.
• MoveJ - TCP rör sig på en icke-linjär bana som är resultatet av att de individuella robotaxlarnas position interpoleras mellan start- och målposition på ett sådant sätt att axlarna startar och stoppar samtidigt.
Move L p1, v100, z10, tool 1 /WObj:=refram1
MoveL = typ av bana, i detta fall är det en linjär bana
p1 = målposition för förflyttningen
v100= hastighet, i detta fall 100mm/s
z10 = nogrannhet, anger hur nära mål robot är innan målbyte
tool1= Aktuell vertygskoordinatsystem (TCS eller TCP)
refraam = koordinatsystem (workobject) som målpositionen är relaterat till.
Vad är en configuration?
För att roboten ska kunna nå en målposition måste värden för de individuella axlarna räknas ut, dvs man måste lösa inverskinematiken. Ofta är flera lösningar möjliga och därför anges konfigurationen för att få en enda lösning.
Konfigurationen talar om i vilken kvadrant (0 = 0-90, 1 = 90-180, osv) axel 1, 4 och 6 ska befinna sig när roboten når målpositionen.
Mekansik konfiguration makes it so that the robot can be desribed in what coordinatsystems.
Cartesian Robots: These robots use a linear XYZ-coordinate system with linear actuators for movement along three perpendicular axes.
Cylindrical Robots: They feature a rotary base and a linear arm, allowing movement within a cylindrical workspace.
Spherical Robots: These robots have a pivoting arm and rotary base, providing a spherical range of motion.
Articulated Robots: Comprising multiple rotary joints (e.g., ABB IRB1400 with 6 joints), these robots have a wide range of motion and flexibility.
What effect do number of joints have on the robot, (normally 4-6)
It effects reachability of the robot and the size of it
What are the diffrent motortypes?
Electronic, pneumatic and hydraulics
What is meant by accuracy and repetability
Accuracy describe the difference between a programmed position and the physically attained position with respect to a reference (for example the robots base coordinate system).
Repeatability describes the difference between the physically attained positions when a programmed target is visited several times.
What is meant by maximum load
This is the maximum weight the robot can handle and still operate to its full potential. The maximum load is based on the toolplane which does NOT include the tool itself. Heavier tool = less weight can be carried.
Why is speed and acceleration so important?
If a robot is considered a valuable investment it depends heavily on how many units it can process in a given period. Therefore, the speed and acceleration of the robot cannot be too low.
Why is simulation of robots important?
See if the robot can reach its target
See if the robot colides whit anything
High level of modeling is reqiuired
Safer
Describe the different coordinate systems which are used when carrying out offline programming and how they are related to each other.
World Coordinate System (WCS): The main reference frame, usually fixed, and it can be indirectly moved by shifting the base frame. This is typically the reference for multiple robots in a shared workspace.
Base Coordinate System (BCS): Defined at the robot's base and aligned with the robot's foundation.
Tool Coordinate System (TCS): Originates at the Tool Center Point (TCP), which is the functional point of the tool (e.g., gripper tip).
Work Object Coordinate System (WOBJ): Describes the workpiece. It includes:
-User Frame: Defined with respect to the WCS.
-Object Frame: Defined with respect to the User Frame.
Robot Target (robtarget): Defines positions in relation to the object frame or world frame.
Pose Accuracy (AP):
Distance between the programmed position and the geometric center of measured positions.
Pose Repeatability (RP)
Mean radius of the point cloud formed by repeated positions, adjusted for standard deviation.
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