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TKI 4303 Ind Robotics Lesson 6 Class Notes

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6 views

TKI 4303 Ind Robotics Lesson 6 Class Notes

j

Uploaded by

parhay050
Copyright
© © All Rights Reserved
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
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TKI 63/4303 Industrial

Robotics
Lesson 6 Electromechanical
Systems
 A system is a combination of
components or subsystems that
work together to form a unit.
 Electromechanical systems
transfer power from one point to
another through mechanical motion
that is used to do work.
 A robot is a unique type of system.
A Quick Glance Back
 At one time all manufacturing
operations were manually controlled.
 Primary control devices included:
 Gas-filled tubes
 Magnetic contactors
 Electrical switchgear

 Developments in solid-state
electronics & miniaturization have
brought about many advances in
system control
Today
 Electromechanical, opto-electric,
hydraulic, and pneumatic systems
are often combined in the control of
a single industrial robot.
 The various systems become the
subsystems that make up the
robot as a whole.
 When subsystems are combined,
the result is referred to as a
synthesized system.
Subsystems
 A variety of subsystems is used in
virtually all automated systems.
 Electrical power system – needed to
produce & distribute electrical energy
 Hydraulic & pneumatic systems – used in
operations & for system control functions
 Opto-electric systems – used for inspection
& in various type of sensors
 Mechanical systems – needed for holding
objects for machining operations & to
move them on a production line
Automated Systems
 All automated systems have all of
these main parts:
 Energy source
 Transmission path
 Control
 Load
 Indicators
Energy Source
 Provides power for the system
 Industry uses 40% of energy
produced
 Most common source of power is
alternating current (AC)
 Three phase for larger systems
 Some machines require direct
current (DC)
 Used for dc servo motors and controls
Transmission Path
 Provides a path for the transfer of
energy
 Begins at the power source and
ends at the load device
 Path may be a single feed line,
electrical conductor, light beam, or
pipe
 Can have alternate paths that are
connected in series or parallel
Control
 Most complex part of the system
 Control alters the flow of power and
causes some type of operational
change in the system
 Examples, changes in:
 Electric current
 Hydraulic pressure
 Light intensity
 Air flow
Load
 Part (or parts) designed to produce
work

 Work occurs when energy is


transformed into mechanical motion,
heat, light, chemical action, or sound

 In most cases, the largest portion of


the energy supplied by the source is
consumed by the load device
Indicator
 Indicator readings display operating
conditions at various points
throughout the system
 In some cases the indicator is
optional, in others it is essential
 When operations or adjustments
are critical, system function may
depend upon specific readings
Mechanical Systems
 Produces some form of mechanical motion
 Transmission path can consists of electrical
energy, but hydraulic fluid or air can be used
 Control is accomplished by changes in
pressure, direction, force, & speed
 3 types of motion in automated systems
 Rotary – Linear – Reciprocating
 Indicators measure physical quantities, such
as pressure, flow rate, speed, direction,
distance, force, torque, & electrical values
Electrical Systems &
Robots
 Sensing Systems
 Timing Systems
 Digital Control Systems
 Control Systems
 Electrical Motors
 Rotary Electric Actuators
 Overload Protection
Sensing Systems
 Have become one of the fastest
growing and most diversified areas
in industrial robotics
 Sensing systems respond to various
forms of energy, such as light,
induction, and capacitance
 What are the five main parts of this
system?
Timing Systems
 Turning a device on or off at a specific
time or in step with an operating
sequence is done by using timing
systems.
 Delay timing is necessary when a delay
is required before a load device actually
becomes energized
 Interval timing occurs after a load has
been energized
 Cycle timing systems are typically more
complex, including both delay and
interval timing to provide energizing
action in an operational sequence.
Digital Control Systems
 Automatic fabrication methods,
packaging, and machining
operations have been improved
through advances in digital
systems.
 Code is converted into electrical
pulses the computer understands
Control Systems
 Control of an automated
manufacturing system is
accomplished by human input or
automatically by a physical change.
 Control unit of an industrial robot
determines its flexibility and efficiency
 Nonservo or open-loop – most basic
 Fullcontrol – simply turns a system off or on
 Partial control – alters system operations
 Servo or Closed-loop
 Both full and partial control can be achieved
Electric Motors
 Convert electrical energy into mechanical
motion
 Robotic systems ordinarily use several
motors
 Rotary motion produced by an electric
motor is call torque
 Types of motors used in industrial robotics:
 DC, permanent-magnet DC, Series-wound DC,
Shunt-wound DC, Compound-wound DC, Single
Phase AC, Universal, Induction (Squirrel Cage),
Three Phase AC, Synchronous
Rotary Electric Actuators
 Robots require rotary electric
actuators to produce a type of rotary
motion different from that produced
by an electric motor.
 This type of rotary motion controls
the angular position of a shaft
 Through these devices, rotary
motion is transmitted between
locations without direct mechanical
linkage
Examples of Rotary Electric
Actuators
 Synchro systems – motor-generator
units that are connected together
 Servo systems – machines that
change the position or speed of a
mechanical object
 Servomotors – used to achieve a
precise degree of rotary motion
 AC synchronous motors
 DC stepping motors
Overload Protection
 End effectors of industrial robots must have
some type of protection against overload
 Mechanical fuses – pins or tubes that will
break away or buckle under extreme stress
 Detents – two or more elements held into
position by spring-loaded mechanisms
 Preloaded springs – extreme stress causes
the spring to release and the end effector
breaks away from the work area

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