Robotic Arms Assignment Solution

INRODUCTION:

Robotic hand

The end effector, or robotic hand, can be designed to perform any desired task such as welding, gripping, spinning etc., depending on the application. For example robot arms in automotiveassembly lines perform a variety of tasks such as welding and parts rotation and placement during assembly. In some circumstances, close emulation of the human hand is desired, as in robots designed to conduct bomb disarmament and disposal.

Types

6 Axis Articulated Robots from KUKA

• Cartesian robot / Gantry robot: Used for pick and place work, application of sealant, assembly operations, handling machine tools and arc welding. It's a robot whose arm has three prismatic joints, whose axes are coincident with a Cartesian coordinator.
• Cylindrical robot: Used for assembly operations, handling at machine tools, spot welding, and handling at diecasting machines. It's a robot whose axes form a cylindrical coordinate system.
• Spherical robot / Polar robot (such as the Unimate): Used for handling at machine tools, spot welding, diecasting, fettling machines, gas welding and arc welding. It's a robot whose axes form a polar coordinate system.
• SCARA robot: Used for pick and place work, application of sealant, assembly operations and handling machine tools. It's a robot which has two parallel rotary joints to provide compliance in a plane.
• Articulated robot: Used for assembly operations, diecasting, fettling machines, gas welding, arc welding and spray painting. It's a robot whose arm has at least three rotary joints.
• Parallel robot: One use is a mobile platform handling cockpit flight simulators. It's a robot whose arms have concurrent prismatic or rotary joints.
• Anthropomorphic robot: Similar to the robotic hand Luke Skywalker receives at the end of The Empire Strikes Back. It is shaped in a way that resembles a human hand, i.e. with independent fingers and thumbs.

Notable robotic arms

In space the Space Shuttle Remote Manipulator System also known as Canadarm or SSRMS and its successor Canadarm2 are examples of multi degree of freedom robotic arms that have been used to perform a variety of tasks such as inspections of the Space Shuttle using a specially deployed boom with cameras and sensors attached at the end effector and satellite deployment and retrieval manoeuvres from the cargo bay of the Space Shuttle.

A machine consists of an actuator input, a system of mechanisms that generate the output forces and movement, and an interface to the user. Electric motors, hydraulic and pneumatic actuators provide the input forces and movement. This input is shaped by mechanisms consisting of gears and gear trains, belt and chain drives, cam and follower mechanisms, and linkages as well as friction devices such as brakes and clutches. Structural components consist of the frame, fasteners, bearings, springs, lubricants and seals, as well as a variety of specialized machine elements such as splines, pins and keys. The user interface ranges from switches and buttons to programmable logic controllers and includes the covers that provide texture, color and styling.