Structure of Industrial Robot Systems

Structure of Industrial Robot Systems

Structure of Industrial Robot Systems - Robots consists of three basic components

1. The main switch enclosure or Power supply

2. The control or memory console

3. Robot mechanical unit.

The power supply may be electric, hydraulic or pneumatic. If the unit is hydraulically powered, then a fourth component is included the hydraulic power package.The control system provides the guidance to direct the robot manipulator to follow a prescribed sequence of operations. The manipulator (mechanical unit) is much like a human arm and wrist that carries a tool to perform work. The tool may be a welding head, a spray gun or a gripper containing on off jaws depending upon the specific application of the robot.

The manipulator usually has six basic motions (degrees of freedom) to reach a point with a specific orientation in space. Typically the arm has three degrees of freedom, in linear or rotary motions, and the wrist section contains three rotary motions. The combination of these six motions will orient the tool and position it at the required point in the space.

A different orientation might completely change the position of the robot arm. For example, to place a weld on the top side of a structure requires a, completely different orientation from that required to place a weld at almost the same point but on the bottom side of the same structure.

The six basic motions are

1. Shoulder swivel. Allows vertical movement.

2. Elbow extension. Allows radial, or in/out, movement.

3. Arm sweap. Provides rotational movement. .

4. Pitch. Allows the wrist to move up and down.

5. Roll. Provides wrist rotation.

6. Yaw. Allows the wrist horizontal movement.

Not all robots have the capability of all six motions; some may only have a subset of them. Using computer control, the robot can be taught a large number of sequences of motions and operations and even make logical decisions. A principal advantage of a robot is that it can be reprogrammed and transported from one application to another.