IntroductiontoRobotics,H.

HarryAsada

UNIT5 CASE STUDIES

MULTIPLEROBOTS-MACHINEINTERFACE-
ROBOTSINMANUFACTURINGANDNONMANUFACURING APPLICATIONS-ROBOT CELL
DESIGN-SELECTION OF ROBOT

MULTIPLE ROBOTS:

Commerciallyavailable industrial robots:SCARA, articulated and gantryrobot.

Thissectiondescribesthefundamentalactionofthecontrollerforatrajectory-controlledrobot,alsoknownasa playback
or continuous path robot. This is the most popular kind ofrobot used for industrial applications.The controller
controls the path of the TCP along a smooth trajectory in space based on the coordinates of apreprogrammed
set of discrete locations along the desired path. It controls the robot axes and peripheralequipment based on a
robot program written in a robot language by the operator. The robot program consists oftwo major kinds of
instructions: motion and nonmotion. Motion instructions move the robot axes along adesignated path, and
nonmotion instructions control the I /O signals or the execution of the sequence ofinstructions in the robot
program.
To teach the positions where the robot axes should move, the operator jogs the robot, using the teach
pendantkeys to move the robot axes along a desired path. The operator can also use the teach pendant to record
thedesired discrete path positions in the robot program. The operator then modifies the motion instructions in
theprogram to specify the speed of the robot motion or the connection type between the path segments. I
/Oinstructionscanalsobeinsertedintheprogramtocontroltheperipheralequipmentorrespondtosensorsignalsatthede
siredposition.Therobotcontrollerexecutestherobotprogrambyreadingtheinstructionsfrom a section of the
information to the motion control section. The motion control section plans the path toeach designated point by
using the specified motion type and speed, then interpolates the path, using anacceleration and deceleration
algorithm. The servo-control section controls the servo-motors by considering thedynamics of the robot axes in
real time.
ProgramSequence Execution (Interpreter)
The program sequence execution section executes the robot program created by interpreting the user
interfacesection and stores it in the robot program storage section. It interprets the instructions in the program
and sendsthe information to the motion control section to move the robot axes. It also controls the program
executionsequence by communicating with the I/O control and sensor control sections.

MotionControl
The motion control section controls the motion of the robot axes according to the information passed from
theprogramsequenceexecutionsection.Itincludesthreesmallercomponents:apathplanningmodule,ainterpolation
module, and a servo-control module (Lewis, 1993). It also communicates with the sensor controlsection and
modifies the path based on the information received from the sensors. Section 1.6 provides moreinformation on
motion control.

I/O Control
The I /O control section of the controller controls the end-effector, such as a hand or a spot gun, and
theperipheral devices and communicates with external controllers such as a programmable controller. It is
usuallynecessary when the robot performs a productive operation to synchronize some peripheral devices with
therobot motion and to receive signals from a host programmable controller to synchronize the robot
operationswith the production line. I /O signals include analog I /O, digital I /O (which shows one of two
states: on oroff), and group I /O (whichis a combination of multiple digital I /O signals).

SensorControl
Sensors are connected to the robot controller and can be utilized to modify the destination point or the path
ofthe robot to accommodate the requirements of designated workpieces or changes in the robot environment
asmeasured by the sensors. The sensor control section of the controller communicates the sensor signals to
therobot controller. Sensor signals can represent positional or path offset data, speed adjustment data, or
processmodification data. The sensor control section generally uses serial communicationor a bus interface
forcommunication because the amount of data communicated isusuallymore than a simple digital signal.

NetworkCommunication
Thenetworkcommunicationsectionofthecontrollercontrolsthecommunicationwiththeperipheralequipment,
programmable controller, other controllers, host computers, and so forth. The communicated datainclude
simple I /O signals, diagnostic data representative of the controller’s status, alarm information, robotprograms,
and control variable files.
ProgrammableController
The programmable controller has two major roles. First, it connects the robot controller and the
peripheraldevices under the robot control. In this case the robot controller is the master and the programmable
controller,when it receives a command from the robot controller, sends multiple commands to the peripheral
devices andreports the status of the multiple peripheral devices to the robot. Second, the programmable
controller mightconnect one or several robot controllers and a host line controller. In this case the robot
controller is the slaveand the programmablecontroller sends commands for program selection or execution to
the robot controller.

PeripheralEquipment
Peripheral equipment includes elements such as the end-effector, which is usually attached to the robot
wrist,jigs such as clamps and sliders, and process-specific controllers such as for welding, dispensing, and
painting.They are often controlled directly by the robot controller or through a programmable controller using
digitalsignals. For example, an arc welding robot, might control a workpiece positioner with multiple servo-
drivenaxes, seam-tracking sensors, and part presence sensors, and it might control as well the welding
processcontroller.

BasicArchitecture of the Robot Controller

The robot controller normally contains at least one digital processor with data storage memory, a set of servo-
amplifiers,userinterfacehardware,andcommunicationelectronics.Theprocessorperformsprograminterpretation,
program sequence control, and motion control to generate motion commands, which are thencommunicated to
a set of servo-amplifiers to regulate the electric current that drives the servo-motors. Figure 5shows the general
hardware architecture of the robotcontroller.
Processor
Microprocessors are used in robot controllers. The recent progress in digital microprocessor technology
hasdrasticallyimprovedtheperformanceofrobotcontrollers.Digitalservo-
controltechnologyhasalsoprogressed.Theservo-
systemiscontrolledbyadigitalmicroprocessortoincludepositionfeedbackcontroland current feedback control.In
this case the main CPU performs program interpretation, sequence control,and motion planning.A digital
signal processor (DSP) is often used for servo-control.

Memory
Memoryisthecomponentthatstoresthesystemsoftwaretobeexecutedbythecentralprocessor.Memoryalso stores
user programs and program execution parameters and is used as a working medium for CPU dataprocessing.
Nonvolatilememory such as Flash ROM or EPROM is used to store system software. CMOSRAM is used to
store user programs and parameters because of its fast access speed. However, CMOS RAMmemory requires
battery backup and regular exchange of batteries. Volatile memory such as DRAM with fastaccess speed is
used as the working medium for CPU. Floppy disks, hard disks, or PCMCIA memory cards arealso used as
external memory devices.

Servo-amplifier
The servo-amplifier increases the servo-control system drive voltage from a low-level to a high-level
voltagesuitable for driving the motor. The servo-amplifier can utilize a DC, AC, or pulse width modulated
(PWM)signal. The pulse width modulated motor drive is predominant in modern robotic systems and is the
drivediscussed here. The servo-control system provides a low-level PWM signal that is amplified by the servo-
amplifier. The output is connected to the motor. In order to rotate the motor, a three phase signal is used.
Thethree-phase signal is varied in frequency to adjust motor speed and varied in amplitude to adjust the
availabletorque.
A PWM signal is used to create this variable frequency–variable amplitude signal. To create this signal,
shownin Figure 6, three voltage commands, one for each phase, are generated by the servo-control system.
Thesevoltage commands are fed into a set of voltage comparators in addition to a triangle waveform. The
output ofthe comparator changes state when one of these input signals exceeds the other. Thus, whenever the
voltagecommand is higher than the triangle waveform, the output will be high. When the triangle waveform is
higher,theoutputwillbe low. Thismakes a series ofvariable widthonoroffpulsesinstepwiththevoltagecommand.
Six such pulse streams are created. These low-level signals are sent to the servo-amplifier, wherethey are
connected to the high-power transistors that drive the motor. These transistors are shown as ‘‘Circuit
2Inverter’’. The DC power for the output transistors is derived from a threephase, full-wave bridge
rectifiershownas‘‘Circuit1Converter’’inFigure6.Thepurposeofthisconvertersectionistochangeincomingfixed
 frequency(either50or60Hz)alternatingcurrentintodirectcurrent.Thedirectcurrentisinvertedbacktoavariable
frequency–variable amplitude three-phase PWM drive for the motor.

MACHINEINTERFACE

MULTIPLE ROBOTS AND MACHINE INTERFACE:

When multiple robots are present in a work cell, interference will occur in 2 ways:
The first case involves physical interference of the robots, where the work volume of 2 robots in the cell
overlap each other. The danger of collision exists between the robot arms. This is easily prevented by separating
the robots by an adequate distance. Another solution to avoid this interference is to co ordinate the programmed
motion cycles of the two robots. So that the arms are never close enough to risk a collision.
The second type of interference is when there are two or more machines being serviced by one robot, and the
machine cycles are timed in such a way that idle time 1 second experienced by one or more machines, while
another machine is being serviced by the robot. This is called “Machine Interference”. Machine interference can
be measured as the total idle time of all the machines in the cell as compared to the operator cycle time

ROBOTSIN MANUFACTURING AND NON MANUFACURINGAPPLICATIONS

MANUFACTURINGAPPLICATIONS

1. Material handling
• Machine loading and/or unloading
• Material transfer

2. Processingoperations

• Spray painting
• Spot welding
• Arcwelding
• Palletizing andDe palletizing

3. Inspection
MaterialHandling
Inadditiontotendingdiecastingmachines,earlyrobotswerealsousedforothermaterialhandlingapplications.Theseap
plicationsmakeuseoftherobot’sbasiccapabilitiestotransportobjects,withmanipulative skillsbeing of less
importance. Typically motiontakes place in two or three dimensions,withtherobotmountedeither
stationaryonthefloororonslidesorrailsthatenable ittomovefromoneworkstation to another. Occasionally the
robot may be mounted overhead, but this is rare. Robots used inpurely material-handling operations are
typically nonservo, or pick-and-place, robots. The primary benefits ofusing robots for material handling are
reduction of direct labor costs and removal of humans from tasks thatmay be hazardous, tedious, or fatiguing.
Also, the use of robots typically results in less damage to parts duringhandling, a major reason for using
robots for moving fragile objects. In many material-handling
applications,however,otherformsofautomationmaybemoresuitableifproductionvolumesarelargeandnomanipula
tion of the workpiece is required.

MachineTending (Loading and Unloading)

In addition to unloading die casting machines, robots are also used extensively for other machine loading
andunloading applications. Machine loading and unloading is generally considered a more sophisticated
robotapplication than simple material handling. Robots can be used to grasp a workpiece from a supply
point,transport it to a machine, orient it correctly, and then insert it into the workholder on the machine. This
mayrequire that the robot signal the machine tool when it (thinks it) has the workpiece in the right position in
theworkholder so that the latter can clamp the part in the right location. The robot then releases the part
andwithdraws the hand so that processing can begin. While this appears to be rather a simple set of tasks, it
maynotbesosimpleifthetwomachinescannotcommunicatewitheachother.Becauseitisratherunlikelythatthe robot
and the machine tool are using the same software, some sort of communication link will have to beestablished
in order to integrate these machines and coordinate the functions. After processing, the robotunloads the
workpiece and transfers it to another machine or conveyor. The greatest efficiency is usuallyachieved when a
single robot is used to service several machines, as in a robotic cell. Also, the single
robotmaybeusedtoperformotheroperationswhilethemachinesareperformingtheirprimaryfunctions.Thismay
require that the robot be able to exchange grippers. Another example of a machine loading and
unloadingapplicationistheloadingandunloadingofhotbilletsintoforgingpresses.Thismaynecessitatethedesignofa
special gripper that can accommodate the preforged billet of narrow cross section and later the
forged,flattened billet of wider cross section. Loading and unloading machine tools, such as lathes and
machiningcenters;
stampingpressloadingandunloading;tendingplasticinjectionmoldingmachines;holdingapartfora spot welding
operation. Although robot hands are more durable and heat-resistant than human hands, robothands can also
get too hot. The robot can be programmed to dip its hand into a cooling bath at appropriateintervals.
Althoughadversetemperaturesoratmospherescanmakerobotsadvantageousformachineloadingandunloading, the
primary motivation may still be to reduce direct labor costs. Overall productivity is also likelyto increase
because of the longer amount of time the robot can work compared to humans. In machine loadingand
unloading it is both the manipulative and the transport capabilities that make use of robots feasible. Thetask
may require a high level of RPC. Robot configurations have been developed specifically for
tendingtandempresslinesforpress-to-
presstransferofsheetmetalparts.SeeFigure8.Thisisanexcellentexampleofarobotformaterialhandlingandmachinet
ending.Theserobotsrequireavarietyoffeatures.Configurations include swing-arm, track mounted,
and pendulum-type robots. Pendulum robots are medium payload, overhead, or bridge-mounted four, five,
orsix axis robots. This configuration allows for greater reach with offset tool (20–29 ft) and faster cycle
time(420–550 pph). They have medium wrist moment load ratings (300 – 600 lb. ft) and can handle medium-
sizestamping that can be run on 108–144 in. press lines.

Spraying: Spray painting is a natural application for industrial robots. Robots are able to achieve a level
ofconsistency that it is difficult to expect human spray painters to duplicate. Although a skilled human
spraypainter is required to teach the robot a painting task initially, the robot, once taught, will do the spray
paintingoperation repeatedly with a consistency unattainable by the human who taught it. A comprehensive
spraypainting line for automobile bodies uses robots not only for the spray painting operation but also for
openingthe doors of the automobile bodies to facilitate the operation. Spray painting robots are being utilized
on amore modest scale in industries other than the automobile industry.
Insprayingapplicationstherobotmanipulatesasprayguntoapplyamaterial,suchaspaint,stain,adhesive,or plastic
powder, to either a stationary or moving part. These coatings are applied to a wide variety of parts,including
automotive body panels, appliances, and furniture. In those cases where the part being sprayed is ona moving
conveyor line,the robot conveyor. In a similar application robots apply resin and choppedglassfiber to molds
for producing glass-reinforced plastic parts and spray epoxy resin between layers of graphitebroad goods in
the production of advanced composites. The manipulative ability of the robot is of
primeimportanceinsprayingapplications.Accuracyisnotaprobleminspraying.Amajorbenefitishigherproduct
qualitythroughmoreuniformapplicationofmaterial(repeatability).Otherbenefitsincludereducedlaborcosts and
reducedwaste of coating material and reduced exposure of humans to toxic materials.
Welding:
The largest single application for robots at present is in spot welding automotive bodies. Spot welding
isnormallyperformedbyapoint-to-pointservo-robotholdingaweldinggun.Arcweldingcanalsobeperformed by
robots using noncontact seam trackers, which have greatly increased the use of robots for arcwelding.
Todayroboticarc weldersare low-cost,easily programmed,anddurable. Mostoftheroboticwelding units have six
axes: three in arm and three in wrist. The robot has a fixed load, with aluminum thematerial of choice (to
reduce mass). Some welding robots demonstrate a repeatability of _ 0.004 inchesanywhere in the WE at
maximumspeed. Simulation and off-line programming are being investigated toreduce the time needed to set
up and run a welding project. The problem is that (1) off-line programming
isstillexpensiveand(2)theprogramsmustbemanuallyedited(toaccountforthefactorsdiscussedearlierunder RPC,
such as flexing, effect of weight, speed, and gear backlash). All these factors (and inactions ofthese factors)
affect the accuracy. When you use the teach pendant (online programming), you are using therepeatability
aspect of RPC rather than the accuracy.

Machining:
Inmachiningapplicationstherobottypicallyholdsapoweredspindleandperformsdrilling,grinding,deburringroutin
g,orothersimilaroperationsontheworkpiece.Aschematicofarobotperformingadeburring operation is shown in
Figure 10. The problem in deburring is that the burr varies in size (height andwidth) so the cutting forces also
vary. Therefore burring tools are usually rotated at very high revolutions perminute (ca 20,000) and are
equipped with a constant force compensation device (controls feed rate to maintainconstant cutting force so as
to minimize deflection of the cutting tool). Rotary files made of tungsten carbide,PCD, CBN, or TiN coated
tool steels are used. In general deburring cutting forces are very small, so thedeflectionsof the tooling are
small and three-force accuracy is good.
In machining operations the workpiece can be placed in a fixture by a human or another robot. In
someoperations the robot moves the workpiece to a stationary powered spindle and tool, such as a buffing
wheel,and manipulates the part against the tool in order to accomplish the processing. The general problem
inmachining is this: The process of chip formation creates cutting forces, which may be quite substantial
inprocesses like drilling or milling. These forces can cause the tool to deflect and consequently a loss
ofaccuracy since the tool does not take the desired path to achieve the desired part size or geometry. Robots
ingeneral do not have the rigidity typically found in machine tools. Robot applications in machining are
limitedat present because of accuracy requirements, expensive tool designs, and lack of appropriate sensory
feedbackcapabilities. Mostmachining processesrequire thatthe robotbe accurate(able togo totherightplacethe
first
timeandperhaps only once)andthatitmustusually beprogrammed off-line,whichmeansthataccuracywillbe much
poorer than repeatability.

Palletizing:Apalletizer orpalletiseris amachine whichprovidesautomaticmeansforstackingcasesofgoods or

products onto a pallet.
Depalletizingis removing the material from the pallets and stacks it evenly.

Robotsin different application.

Currently,robotsperformanumberofdifferentjobsinnumerousfieldsandtheamountoftasksdelegatedtorobots is
risingprogressively. The best way to split robots into types is a partition by their application.

1. Industrial robots – These robots bring into play in an industrialized manufacturing atmosphere.
Typicallythese are articulated arms particularly created for applications like- material handling, painting,
welding andothers. If we evaluate merely by application then this sort of robots can also consist of some
automaticallyguided automobiles and other robots.

2. Domestic or household robots – Robots which are used at home. This sort of robots consists of
numerousdifferent gears for example- robotic pool cleaners, robotic sweepers, robotic vacuum cleaners, robotic
sewercleaners and other robots that can perform different household tasks. Also, a number of scrutiny and tele-
presence robots can alsobe considered as domestic robots if brought into play in that sort of environment.

3. Medicalrobots –Robotsemployedinmedicineandmedicinalinstitutes.First&foremostsurgicaltreatment
robots. Also, a numberof robotic directed automobiles and perhaps lifting supporters.

4. Service robots – Robots that cannot be classed into any other types by practice. These could be various
datacollecting robots, robots prepared to exhibit technologies, robots employed for research, etc.

5. Military robots – Robots brought into play in military & armed forces. This sort of robots consist of
bombdiscarding robots, various shipping robots, exploration drones. Often robots at the start produced for
militaryand armed forces purposes can be employed in law enforcement, exploration and salvage and other
associatedfields.

6. Entertainment robots – These types of robots are employed for entertainment. This is an extremely wide-
ranging category. It begins with model robots such as robosapien or the running photo frames and
concludeswith real heavy weights likearticulated robot arms employed as movement simulators.

7. Space robots – I would like to distinct out robots employed in space as a split apart type. This type of
robotswouldconsistoftherobotsemployedonCanadarmthatwasbroughtintoplayinspaceShuttles,theInternational
Space Station, together with Mars explorers and other robots employed in space exploration &other activities.

8. Hobby and competition robots – Robots that is created by students. Sumo-bots, Line followers,
robotsprepared merely for learning, fun and robots prepared for contests.
Now, as you can observe that there are a number of examples that fit well into one or more of these types.
Forillustration, there can be a deep ocean discovery robot that can collect a number of precious information
thatcan be employed for military or armed forces purpose.

Robotics is a broad field and everyday there is a pioneering invention in the field. Robots were invented by
thehumans just for fun but by now they are used for assisting humans in various sectors. Human beings are
bettersuitable for multifaceted, imaginative, adaptive jobs, and robots are good for dreary, recurring tasks,
permittinghuman beings to do the harder thinking jobs, whereas a robot is employed for substituting humans
for variousrecurring tasks or entertainment to make living more expedient.

Need of robots andautomation in followingapplications.

Welding:Robotweldingistheuseofmechanizedprogrammabletools(robots),whichcompletelyautomatea welding
process by both performing the weld and handling the part. Processes such as gas metal arc welding,while
often automated, are not necessarily equivalent to robot welding, since a human operator sometimesprepares
the materials to be welded. Robot welding is commonly used for resistance spot welding and arcweldingin high
production applications, such as the automotive industry.
Robot welding is a relatively new application of robotics, even though robots were first introduced into
USindustry during the 1960s. The use of robots in welding did not take off until the 1980s, when the
automotiveindustry began using robots extensively for spot welding. Since then, both the number of robots
used inindustry and the number of their applications has grown greatly. In 2005, more than 120,000 robots
were in usein North American industry, about half of them for welding. Growth is primarily limited by high
equipmentcosts, and the resulting restriction to high-production applications. Robot arc welding has begun
growingquicklyjustrecently,andalreadyitcommandsabout20%ofindustrialrobotapplications.Themajorcomponen
ts of arc welding robots are the manipulator or the mechanical unit and the controller, which acts asthe robot's
"brain". The manipulator is what makes the robot move, and the design of these systems can becategorized into
several common types, such as SCARA and cartesian coordinate robot, which use differentcoordinate systems
to direct the arms of the machine.
The robot may weld a pre-programmed position, be guided by machine vision, or by a combination of the
twomethods. However, the many benefits of robotic welding haveprovento make ita technology that
helpsmanyoriginal equipment manufacturersincrease accuracy, repeat-ability, and throughput.
The technology of signature image processing has been developed since the late 1990s for analyzing
electricaldata in real time collectedfrom automated, robotic welding, thus enabling the optimization of welds
Diecasting isametalcastingprocessthatischaracterizedbyforcing moltenmetalunderhighpressureintoa mold
cavity. The mold cavity is created using two hardened tool steel dies which have been machined intoshape
andwork similarlytoan injection mold during theprocess.Mostdie castings are madefrom non-ferrous metals,
specifically zinc, copper, aluminium, magnesium, lead, pewter and tinbased alloys. Dependingon the type of
metal being cast, a hot-or cold-chamber machine is used.
The castingequipment andthe metal diesrepresentlarge capitalcosts andthistends to limitthe process tohigh
volume production. Manufacture of parts using die casting is relatively simple, involving only four mainsteps,
which keeps the incremental cost per item low. It is especially suited for a large quantity of small tomedium-
sized castings, which is why die casting produces more castings than any other casting process. Diecastings are
characterizedby a very goodsurface finish(by casting standards) and dimensional consistency.
 Two variants are pore-free die casting, which is used to eliminate gas porosity defects; and direct injection
diecasting,which is used with zinc castings to reduce scrap and increaseyield.

Palletizing: A palletizer or palletiser is a machine which provides automatic means for stacking cases
ofgoods or products onto a pallet.
Manually placing boxes on pallets can be time consuming and expensive; it can also put unusual stress
onworkers. The first mechanized palletizer was designed, built, and installed in 1948 by a company
formerlyknownasLamsonCorp.Therearespecifictypesofpalletizersincludingtherow-
formingwhichwereintroduced in the early 1950s. In row-forming palletizing applications loads are arranged on
a row forming areaand then moved onto a different area where layer forming takes place. This process repeats
until a full layer ofgoods and products are configured to be placed on a pallet.
The in-line palletizer was developed in the 1970s when higher speedswere needed for palletizing.
Thispalletizer type utilizes a continuous motion flow divider that guides the goods into the desired area on the
layerforming platform.
Robotic palletizers were introduced in the early 1980s and have an end of arm tool (end effector) to grab
theproduct from a conveyor or layer table and position it onto a pallet. Both conventional and robotic
palletizerscan receive product at a high elevation (typically between 84” - 2.13m to 124” - 3.15m) or low “floor
level”elevation (typically at 30” -0.76m to 36” -0.91m).

ROBOTCELL DESIGN:

Robot workcell controller (also known as the robot workstation controller) is employed forcontrolling
thedifferent activities that take place successively or simultaneously in the workplace.It also
includesoneimportant aspect of providing safety to the human operators. There are three types of tasks carried
out by theworkcell controller such as:

1. Sequence Control
2. Operator Interface
3. Safety Monitoring

CONSIDERATIONS IN WORK CELL DESIGN:

There are several issues that must be considered in the design of the work cell. They are:
1. Change to other equipment in the cell:
To implement the work cell and interference the robot to the other equipment in the cell, alterations will often had
to be made to the equipment. Special fixtures and control devices must be devised to permit the cell to operate as a
single integrated mechanism.
2. Part position and orientation:
At the pickup point, the work parts must be in a known orientation to enable the robot to grasp and hold it
consistently and accurately. During subsequent processing within the cell, this part orientation should not be lost.
3. Part identification problem:
In cells where more than one type of part is processed or assembled a method of identifying the particular part type
must be determined.
4. Protection of the robot from its environment:
In certain applications, such as spray paintings, a means of protecting the robot from the adverse effects of its
environment must be provided.
5. Utilities:
Such as electricity, air pressure, etc., must be provided.
6. Control of work cell:
 The activities of the robot must be co ordinated with those of other equipments in the cell.
7. Safety:
A means of protecting human personal from harm in and around the robot work cell must be provided.

SELECTIONOF ROBOT:

Factorsconsidered for robot selection;

1. Type of job
2. Configuration
3. Number of axes
4. Drivesystem
5. Programming method
6. Controlsystem
Selectionof robots for different applications:
SpotWelding Robot:

• Arobot must be ofjointed armorpolar configuration for performing this application.

• It musthavefiveorsixaxes.
• It canhave eitherelectric orhydraulicdrive system.
• It must be programmed in poweredleadthrough method.
• It requiresapoint to pointcontrol system.
SprayPainting Robot:

• Forthis application, thejointedarm configuration robot will be the appropriate selection.

• The number of axes must be morethan or equal tosix.
• Itmust have ahydraulicdrive system.
• Manualleadthroughprogrammingmethod will be required.
• Itmust possess acontinuouspath control system.
ArcWelding Robot:

• This typeof robot can be of Cartesian, jointed arm,orpolar configuration.

• It must beincorporated withfiveorsixaxes.
• It mustfeature eitherelectricorhydraulicdrive system.
• It is capableof programming withPoweredorManualLeadthroughmethod.
• It musthave acontinuouspath control system.
MachineLoading:

• To perform machine loading, a robot should be of eithercylindrical, jointed

arm,orpolarconfiguration.
• It requires onlyfour orfiveaxes.
• The drive system mustbehydraulicforloading heavy weights.Otherwiseelectrictypeis enough.
• The programmingmethod needed for this operation will bepoweredleadthrough.
• Asthis is a simple process, it can have eitherpoint topointorlimited sequencecontrolsystem.

AssemblyOperation:

• The configuration of the robot must be JointedArmorCartesian.

• Thenumber of axes can be fromthreeto six.
• Itrequires anelectric drive system for this process.
• It must be capable of programming intextuallanguagesorpoweredleadthroughmethod.
• It musthave eithercontinuouspath orpoint to pointcontrol system.