Basic knowledge you must know about robotics

The history of robots is not long. In 1959, the United States Engelberg and Devol made the world's first industrial robot, and the history of robots really began. In 1946, Dvor invented a system that "replayed" the movement of the recorded machine. In 1954, Dvor acquired patents for programmable manipulators. In 1959, Ingeberg and Dvor teamed up to manufacture the first industrial robot.

Classification of robots

Regarding how to classify robots, there is no uniform standard in the world. Some are classified according to load weight, some are controlled according to control methods, some are classified according to degrees of freedom, some are classified according to structure, and some are classified according to application fields. General classification:

Teaching Reproduction Robot: By guiding or otherwise, the robot is taught first, and the working program is input, and the robot automatically repeats the operation.

CNC type robot: It is not necessary to make the robot move, and the robot is taught by numerical values, language, etc., and the robot performs work based on the information after teaching.

Sensory Control Robot: Controls the motion of the robot using information acquired by the sensor.

Adapting to Control Robots: Robots can adapt to changes in the environment and control their own actions.

Learning **Controlled Robots: The experience that robots can “experience” work, has certain learning functions, and applies the “learning” experience to work.

Intelligent robot: A robot that uses artificial intelligence to determine its actions.

From the application environment, our robotics experts divide robots into two categories, industrial robots and special robots.

The so-called industrial robot is a multi-joint robot or a multi-degree-of-freedom robot for the industrial field. Special robots are advanced robots other than industrial robots that are used in non-manufacturing and serve humans.

Including: service robots, underwater robots, entertainment robots, military robots, agricultural robots, robotic machines, etc. In special robots, some branches develop rapidly and have independent integration trends, such as service robots, underwater robots, military robots, and micro-manipulation robots.

At present, international robotics scholars divide robots into two categories from the application environment: industrial robots in manufacturing environments and services and humanoid robots in non-manufacturing environments, which is consistent with our classification.

Advantages and disadvantages of robots

Advantages of robot use:

Robotics and automation technology can increase productivity, safety, efficiency, product quality and product quality in most cases;

Robots can work in hazardous environments without having to consider life support or safety needs;

Robots do not require a comfortable environment, such as lighting, air conditioning, ventilation and noise isolation.

Robots can work tirelessly and tirelessly, they don’t have psychological problems, they don’t drag things, they don’t need medical insurance or holidays;

In addition to malfunction or wear, the robot will maintain accuracy consistently;

Robots have much higher precision than people. Linear displacement accuracy of up to a few thousandths of an inch (1 inch = 2.54 cm), the new semiconductor wafer processing robot has micro-inch accuracy;

Robots and their ancillary equipment and sensors have certain capabilities that are not available to humans;

A robot can respond to multiple stimuli or multiple tasks simultaneously, while humans can only respond to one current stimuli.

Negative use of robots:

Robots replace workers, which bring economic and social problems;

The robot lacks emergency capability, and unless the emergency can be predicted and a countermeasure has been set in the system, the emergency cannot be handled well. At the same time, security measures are needed to ensure that the robot does not harm the operator and the machines (equipment) that work with him. These include: inappropriate or erroneous reactions, lack of decision making, power outages, damage to robots or other equipment, and personal injury;

Although the robot is outstanding under certain circumstances, its ability is still limited in terms of: freedom, dexterity, sensor vision system, real-time response.

Components of the robot

The robot acts as a system and consists of the following components:

A robot or moving car, which is the main part of the robot, consisting of connecting rods, moving joints and other structural components, allowing the robot to reach a certain position in space. If there are no other parts, only the robot itself is not a robot. (equivalent to a person's body or arm);

End effector, a component attached to the last joint of a robot. It is typically used to grab objects, connect with other mechanisms, and perform the required tasks. End-effectors are generally not designed or sold in robot manufacturing, and in most cases they only provide a simple gripper. (equivalent to the human hand)

The end effector is mounted on the robot to perform tasks in a given environment, such as welding, painting, gluing, and part handling, which are a few tasks that may require a robot to perform. Usually, the action of the end effector is directly controlled by the robot controller, or the signal of the robot controller is transmitted to the control device of the end effector itself (such as a PLC);

Drive, the drive is the "muscle" of the robot. Common drives include servo motors, stepper motors, cylinders and hydraulic cylinders, as well as new drives for specific applications, which are discussed in Chapter 6. The drive is controlled by the controller.

Sensor, sensor used to collect information about the internal state of the robot or to communicate with the external environment. The robot controller needs to know the position of each link to know the overall configuration of the robot. People know where their arms and legs are, even in complete darkness, because the neural sensors in the central nervous system in the tendons feed back information to the human brain. The brain uses this information to determine the extent of muscle contraction and to determine the state of the arms and legs. For robots, sensors integrated in the robot send information about each joint and link to the controller, so the controller can determine the configuration of the robot. Robots are often equipped with many external sensors, such as vision systems, tactile sensors, speech synthesizers, etc., to enable the robot to communicate with the outside world.

The controller, the robot controller acquires data from the computer, controls the action of the driver, and coordinates the motion of the robot along with the sensor feedback information. If the robot is to take a part out of the bin, its first joint angle must be 35°. If the first joint has not reached this angle, the controller will send a signal to the drive (delivering current to the motor) so that The actuator moves and then measures the change in joint angle through a feedback sensor (potentiometer or encoder, etc.) on the joint, and stops transmitting the control signal when the joint reaches a predetermined angle. For more complex robots, the speed and force of the robot are also controlled by the controller. The robot controller is very similar to the human cerebellum. Although the function of the cerebellum is not as powerful as the human brain, it controls the movement of the human.

The processor, which is the brain of the robot, is used to calculate the motion of the robot joints, determine how much and how far each joint should move to reach the predetermined speed and position, and supervise the controller to coordinate the action with the sensor. The processor is usually a computer (dedicated). It also needs to have an operating system, programs, and external devices like monitors.

Software, there are roughly three pieces of software for robots. The first block is the operating system that is used to operate the computer. The second piece is the robot software, which calculates the motion of each joint based on the equation of motion of the robot and then transmits this information to the controller. This software has many levels, ranging from machine language to high-level languages ​​used by modern robots. The third block is a collection of routines and applications developed for use with robotic external devices (such as visual generics) or developed to perform specific tasks.

In many systems, the controller and processor are placed in the same unit. Although the two parts are placed in the same device box or even integrated in the same circuit, they have their own functions.

The following items are used to define the performance of the robot:

Load capacity, load capacity is the load weight that the robot can bear when it meets other performance requirements. For example, the maximum load capacity of a robot may be much greater than its rated load capacity, but when the maximum load is reached, the robot's working accuracy may be reduced, and it may not be able to accurately move along a predetermined trajectory or create additional deviations. The load of the robot is often very small compared to its own weight. For example, the Fanuc RoboTIcs LR Mate robot weighs 86 pounds and has a load of only 6.6 pounds; the M16 robot weighs 594 pounds and has a load of only 35 pounds.

The range of motion, the range of motion is the maximum distance a robot can reach in its working area. The person can reach many points in his working area in any position (these points are called smart points). However, for other limit lines that are close to the range of motion of the robot, the pose cannot be arbitrarily specified (these points are called non-dexterous points). Description: The range of motion is a function of the length of the robot joint and its configuration.

Accuracy: Accuracy is the accuracy with which the robot reaches a specified point. It is related to the resolution of the drive and the feedback device. Most industrial robots have an accuracy of 0.001 inches or more.

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