ROBOT CLASSIFICATION
Classification Based on Control Systems:
– 1. Point-to-point (PTP) control robot
– 2. Continuous-path (CP) control robot
– 3. Controlled-path robot
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Point to Point Control Robot (PTP):
• The PTP robot is capable of moving from one point
to another point.
• The locations are recorded in the control memory.
PTP robots do not control the path to get from one
point to the next point.
• Common applications include:
– component insertion
– spot welding
– hole drilling
– machine loading and unloading
– assembly operations
2
Continuous-Path Control Robot (CP):
• The CP robot is capable of performing movements along the
controlled path.
• With CP from one control, the robot can stop at any specified
point along the controlled path.
• All the points along the path must be stored explicitly in the
robot's control memory.
• Applications Straight-line motion is the simplest example for
this type of robot. Some continuous-path controlled robots
also have the capability to follow a smooth curve path that
has been defined by the programmer.
• In such cases the programmer manually moves the robot arm
through the desired path and the controller unit stores a large
number of individual point locations along the path in
memory (teach-in).
3
Continuous-Path Control Robot (CP):
Typical applications include:
– spray painting
– finishing
– gluing
– arc welding operations
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Controlled-Path Robot:
• In controlled-path robots, the control equipment can
generate paths of different geometry such as straight lines,
circles, and interpolated curves with a high degree of
accuracy.
• Good accuracy can be obtained at any point along the
specified path.
• Only the start and finish points and the path definition
function must be stored in the robot's control memory.
• It is important to mention that all controlled-path robots have
a servo capability to correct their path.
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Robot Specifications
Characteristics Units
No of Axes Numbers(eg 1,2)
Max speed/cycle mm/sec
time
Load carrying Kg
capacity (pay load)
Reach & stroke mm
Total orientation Degrees
Repeatability --
Precision & Accuracy mm
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ROBOT SELECTION
• Robot must be matched properly by capabilities to task requirements.
• An objective approach to robot selection provides fewer restrictions in system design by
allowing for the optimum system design to be achieved regardless of the specific robot need.
• Criteria for robot selection:
– Techinical issues:
• Type: nonservo, servo, servo-controlled
• Work envelope: rectangular, cylindircal, spherical, jointed arm, scara
• Payload
• Cycle time
• Repeatability
• Drive: electric, pneumatic, hydraulic, any combination
• Unique capabilities
– Non-technical issues:
• Cost and benefit consideration
• Commonality of equipment
• Training and maintenance requirements
• Reliability
• Service
• “Systems” help
• Safety
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SUMMARY
• Robot technology is an applied science that is referred to as combination of
machine tool fundamentals and computer applications.
• The basic components of an industrial robot are, manipulator, end effector,
power supply and control system.
• Robot anatomy is concerned with the physical construction and operation of
the manipulator and has five basic configurations:
rectangular,
cylindrical,
spherical,
jointed-arm, and
scara.
• So far, there have been five generations of robot controllers, and we are
merging now to sixth, seventh, and even higher generations.
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• Robots with increasing intelligence, sensory capability, dexterity, and
sophisticated control systems have become dominant factor in modern
manufacturing.
• The three factors that influence the selection of robots in manufacturing are:
• Dynamic properties and performance,
• Economics and safety.
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THANK YOU
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