Components of Industrial Robot
•Physical parts or anatomy,
•Built-in instructions or instinct ,
•Learned behavior or task programs.
Physical Parts of An Industrial Robot
•Mechanical part or manipulator (Body, Arm, Wrist)
•End effector (Tool or Gripper)
•Controller (Sensors, Processor)
Manipulator is constructed of a series of Joints & Links. A Joint provides relative motion between the input link and the output link.
Each joint provides the robot with one degree of freedom.
Linear, rotational, twiating and revolving.
Degrees of Freedom
Point location in space specified by three coordinates (P). Object location in space specified by location of a selected point on it (P)
and orientation of the object (R). Six degrees (P,R) of freedom needed to fully place the object in space and orientate it.
Robot Hand Location
The arm joints are used to position the end effector. The wrist joints
are used to orient the end effector.
Robotic languages range from machine level to high-level languages.
High-level languages are either interpreter based or compiler based.
Levels of Robot Languages
•Microcomputer Machine Language Level
•Primitive Motion Level
•Structured Programming Level
Industrial Robot Characteristics
Lifting power (Payload), Reach (Workspace), Repeatability, Reliability,
Manual/Automatic control, Memory, Library of programs, Safety interlocks, Speed of operation, Computer interface, and easy Maintenance.