Vaishnavi Institute of Technology & Science, Bhopal DEPARTMENT OF MECHANICAL MECHANICA L ENGINEERING
LABORATORY MANUAL
SUBJECT: ROBOTICS [SUBJECT CODE: MMMD-207] LAB-II
CLASS: M.TECH (MACHINE DESIGN) YEAR: 20!-20"
APPRO#ED BY:
H.O.D. [M$%&] P'. ANIL #ISH*+ARMA
PREPARED BY: P'. BY: P'. ANIL +. RAO
PRINCIPAL D'. A.C.#ARSHNEY
Vaishnavi Institute of Technology & Science, Bhopal DEPARTMENT ! ME"#ANI"A$ EN%INEERIN%
$ist of Epe'i(ents !A")$T*+ P'of ANI$ - RA *EAR+ ./01203 ./01203
S)B4E"T+ RBTI"S "$ASS+ M.TECH (MACHINE
1. Demonstration of Cartesian/ cylindrical/ spherical robot. 2. Demonstration of Articulated/ SCARA robot. 3. Virtual modeling for inematic and dynamic !erification any one robotic .
structure using suitable soft"are.
#. Design$ modeling and analysis of t"o different types of grippers. %. Study of sensor integration. &. '"o program for linear and non(linear path. ). Study of robotic system design. *. Setting robot for any one industrial application after industrial !isit.
DESIGN)
ROBOTICS , LABORATORY MANUAL
E5PERIMENT N 0 TIT$E+ DEMNSTRATIN ! "ARTESIAN6"*$INDRI"A$6SP#ERI"A$ RBT 78ective+ 'o study basic robot co(ordinate configurations. P'ela7+ 1. +a!e you seen cartesian/cylindrical/spherical configuration robot, 2. -i!e any practical eample of each of them. Int'o9uction+ ndustrial Robots Definition
A robot is a programmable arm simulator. 0A robot is a re(programmable$ multifunction manipulator designed to mo!e material$ parts$ tools$ or special de!ices through !ariable programmed motions for the performance of a !ariety of tass
"a'tesian "o2'9inate Ro7ot+
'he Cartesian co(ordinate robot is one that consists of a column and an arm. t is sometimes called an (y( robot$ indicating the aes of motion. 'he (ais is lateral motion$ the y(ais is longitudinal motion$ and the (ais is !ertical motion. 'hus$ the arm can mo!e up and do"n on the (ais the arm can slide along its base on the ( ais and then it can telescope to mo!e to and from the "or area on the y(ais. 'he Cartesian co(ordinate robot "as de!eloped mainly for arc "elding$ but it is also suited for many other assembly operations. Robots "ith Cartesian configurations consists of lins connected by linear 4oints 567. -antry robots are Cartesian robots 56667. A robot "ith 3 prismatic 4oints 8 the aes consistent "ith a Cartesian coordinate system. Commonly used for9
:ic and place "or Assembly operations +andling machine tools Arc "elding
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ROBOTICS , LABORATORY MANUAL
;igure 19 Cartesian robot "ith its rectangular "orspace
Ad!antages9
Ability to do straight line insertions into furnaces.
Disad!antages9
Re>uires large operating !olume. <posed guiding surfaces re>uire co!ering en!ironments. Can only reach front of itself Aes hard to seal
in corrosi!e or dusty
"ylin9'ical "o2'9inate Ro7ot
'he cylindrical co(ordinate robot is a !ariation of the Cartesian robot. 'his robot consists of a base and a column$ but the column is able to rotate. t also carries an etending arm that can mo!e up and do"n on the column to pro!ide more freedom of mo!ement. 'he cylindrical co(ordinate robot is designed for handling machine tools and assembly.
DEPARTMENT OF MECHANICAL ENGINEERING
ROBOTICS , LABORATORY MANUAL
Robots "ith cylindrical configuration ha!e one rotary 5 R7 4oint at the base and linear 567 4oints succeeded to connect the lins. A robot "ith 2 prismatic 4oints and a rotary 4oint 8 the aes consistent "ith a cylindrical coordinate system. Commonly used for9
+andling at die(casting machines Assembly operations +andling machine tools Spot "elding
;igure 29 Cylindrical robot "ith its cylindrical "orspace
Ad!antages9
Can reach all around itself Rotational ais easy to seal Relati!ely easy programming Rigid enough to handle hea!y loads through large "oring space -ood access into ca!ities and machine openings
Disad!antages9
Can?t reach abo!e itself 6inear aes is hard to seal
DEPARTMENT OF MECHANICAL ENGINEERING
ROBOTICS , LABORATORY MANUAL
@ont reach around obstacles <posed dri!es are difficult to co!er from dust and li>uids
Sphe'ical "o2'9inate Ro7ot
'he polar co(ordinate$ or spherical co(ordinate robot consists of a rotary base$ an ele!ation pi!ot$ and a telescoping etend(and(retract boom ais. 'hese robots operate according to spherical co(ordinates and offer greater fleibility. 'hey are used particularly in spot "elding. :olar robots ha!e a "or space of sphe'ical shape. -enerally$ the arm is connected to the base "ith a t"isting 5'7 4oint and rotatory 5R7 and linear 567 4oints follo". A robot "ith 1 prismatic 4oint and 2 rotary 4oints 8 the aes consistent "ith a polar coordinate system. Commonly used for9
+andling at die casting or fettling machines +andling machine tools Arc/spot "elding
;igure 39 Spherical robot "ith its Spherical/:olar "orspace
DEPARTMENT OF MECHANICAL ENGINEERING
ROBOTICS , LABORATORY MANUAL
Ad!antages9
6arge "oring en!elope. '"o rotary dri!es are easily sealed against li>uids/dust.
Disad!antages9
Comple coordinates more difficult to !isualie$ control$ and program. <posed linear dri!e. 6o" accuracy.
"onclusion+ 2 'he three basic robot configurations based on co(ordinate system is studied in details. 'his "ill help you in deciding the "orspace area of robot for a particular operation/tas and to choose correct type of co(ordinate configuration of robot for design. Postla7+ 1. Decide suitable robot co(ordinate configuration any seen or unseen application. 2. @hy do you prefer only that particular robot co(ordinate configuration,
DEPARTMENT OF MECHANICAL ENGINEERING
ROBOTICS , LABORATORY MANUAL
E5PERIMENT N . TIT$E+ DEMNSTRATIN ! ARTI")$ATED6S"ARA RBT 78ective+ 'o study different robot configurations. P'ela7+ 1. +a!e you seen Articulated/SCARA configuration robot, 2. -i!e any practical eample of each of them. Int'o9uction+ ndustrial Robots Definition
A robot is a programmable arm simulator. 0A robot is a re(programmable$ multifunction manipulator designed to mo!e material$ parts$ tools$ or special de!ices through !ariable programmed motions for the performance of a !ariety of tass
A'ticulate9 Ro7ot+
'hose "ith the designation 'RR are also called articulated robots. An articulated robot more closely resembles the human arm. 'he 4ointed(arm is a combination of cylindrical and articulated configurations. 'he arm of the robot is connected to the base "ith a t"isting 4oint. 'he lins in the arm are connected by rotary 4oints. =any commercially a!ailable robots ha!e this configuration. A robot "ith at least 3 rotary 4oints. Commonly used for9
Assembly operations @elding @eld sealing Spray painting +andling at die casting or fettling machines
DEPARTMENT OF MECHANICAL ENGINEERING
ROBOTICS , LABORATORY MANUAL
;igure 19 Articulated robot
Ad!antages9
All rotary 4oints allo"s for maimum fleibility Any point in total !olume can be reached. All 4oints can be sealed from the en!ironment.
Disad!antages9
<tremely difficult to !isualie$ control$ and program. Restricted !olume co!erage. 6o" accuracy
S"ARA Ro7ot+
'he SCARA 5Selecti!e Compliance Assembly Robot Arm7 is a cylindrical type$ "hose reach is obtained by using a re!olute$ instead of a prismatic 4oint. SCARA robot is suitable for assembly operation and is therefore etensi!ely used in se!eral industries for this purpose. A robot "ith at least 2 parallel rotary 4oints.
DEPARTMENT OF MECHANICAL ENGINEERING
ROBOTICS , LABORATORY MANUAL
Commonly used for9
:ic and place "or Assembly operations
;igure 29 SCARA robot "ith its "orspace
Ad!antages9
+igh speed. +eight ais is rigid 6arge "or area for floor space =oderately easy to program.
DEPARTMENT OF MECHANICAL ENGINEERING
ROBOTICS , LABORATORY MANUAL
Disad!antages9
6imited applications. 2 "ays to reach point Difficult to program off(line +ighly comple arm
"onclusion+ 2 'hese t"o configurations apart from three basic robot configurations based on co(ordinate system are for the ad!anced usages. 'his "ill help you in deciding the "orspace area of robot for a particular operation/tas and to choose correct type of co(ordinate configuration of robot for design. Postla7+ 1. Decide suitable robot co(ordinate configuration any seen or unseen application. 2. @hy do you prefer only that particular robot co(ordinate configuration,
DEPARTMENT OF MECHANICAL ENGINEERING
ROBOTICS , LABORATORY MANUAL
E5PERIMENT N 1 TIT$E+ VERT)A$ MDE$IN% !R -INEMATI" AND D*NAMI" VERI!I"ATIN AN* NE RBTI" STR)"T)RE )SIN% S)ITAB$E S!T:ARE 78ective+ 'o !erify the in!erse inematic and in!erse dynamic modeling of one(lin arm or t"o(lin arm as robotic structure using =A'6AB. P'ela7+ 1. Do the in!erse inematic and dynamic !irtual modelings for one or t"o(lin arm robot/manipulator. 2. +o" much did you cope "ith =A'6AB, Int'o9uction+ 'o !erify the in!erse inematic and in!erse dynamic modeling of one the simple robotic structure =A'6AB program is "ritten. =A'6AB programming is one of the best "ays to !erify the problems.
;igure 19 inematics of three(lin planer arm :rog.17 Referring abo!e ;ig.1$ the input homogeneous matri$ ' is gi!en as 1/2$( E3/2$F$ E3G%/2 E3/2$1/2$F$ E3/2G1F$F$1$FF$F$F$1H "here IJ&FK$ and the non(ero constant D+ parameters from table a1Ja2J2 units$ and a3J1 unit. C2JF.*&& and
DEPARTMENT OF MECHANICAL ENGINEERING
ROBOTICS , LABORATORY MANUAL
s2JF.%$ "hich yields L2J3FK. S1JF and c1J1. Value of 4oint angle L1 is obtained as L1JFK. ;inally$ L3J3FK. 'able9 D+ parameters of the three(lin arm $in; 7i
F F
M2 M3
a2 a3
F F
M is Noint Variable. n order to sol!e abo!e eample$ a =A'6AB program is "ritten$ as sho"n belo"$ "hich can be stored in a file that can be run to yield the abo!e results. O :rogram for in!erse inematics of 3(lin arm O Pon(ero constant D+ parameters. a1J2a2J2a3J1 Onput :hiJpi/3pJ2.%Gs>rt537pyJ1Gs>rt537/2 Ontermediate Calculations "Jp(a3Qcos5phi7 "yJpy(a3Qsin5phi7 delJ"Q"G"yQ"y OCalculations for theta2 c2J5del(a1Qa1(a2Qa27/52Qa1Qa27 s2Js>rt51(c2Qc27 th21Jatan25s2$c27 th22Jatan25(s2$c27 OCalculation for finding theta1 s11J55a1Ga2Qcos5th2177Q"y(a2Qs2Q"7/del c11J55a1Ga2Qcos5th2177Q"(a2Qs2Q"y7/del s12J55a1Ga2Qcos5th2277 Q"yGa2Qs2Q"7/del c12J55a1Ga2Qcos5th2277 Q"Ga2Qs2Q"y7/del th11Jatan25s11$c117 th12Jatan25s12$c127 OCalculation for theta3 th31Jphi(th11(th21 th32Jphi(th12(th22 OAngles in degree r2dJ1*F/pi DEPARTMENT OF MECHANICAL ENGINEERING
ROBOTICS , LABORATORY MANUAL
th11dJth11Qr2d$ th12dJth12Qr2d$ th21dJth21Qr2d$ th22dJth22Qr2d$ th31dJth31Qr2d$ th32dJth32Qr2d$ P'og.> ;or the t"o(lin manipulator as sho"n in figure 2$ consider a1Ja2J1$ and the 4oint angle !ariations for both 4oints$ L1 and L2$ are taen being the same as per e>uations ecept that their end conditions are different$ i.e. L15'7Jpi and L25'7Jpi/2. sing the =A'6AB program sho"n belo"$ the 4oint angle and tor>ue plots can be obtained.
;igure 29 A t"o(lin robot arm O n!erse dynamics for '"o(6in =anipulator O nput for tra4ectory and lin parameters 'J1F th1'Jpi th1FJF th2'Jpi/2 th2FJF m1J1 a1J1 m2J1 a1J1 a2J1 gJT.*1 con J 2Qpi/' delth1Jth1'(th1F delth2Jth2'(th2F iner21Jm2Qa1Qa2 for iJ19%1$ ti5i7J5i(17Q'/%F angJconQti5i7 ONoint tra4ectory th15i7Jth1FG5delth1/'7Q5ti5i7(sin5ang7/con7 th1d5i7Jdelth1Q51(cos5ang77/' th1dd5i7Jdelth1QconQsin5ang7/' th25i7J th2FG5delth2/'7Q5ti5i7(sin5ang7/con7
DEPARTMENT OF MECHANICAL ENGINEERING
ROBOTICS , LABORATORY MANUAL
th2d5i7J delth2Q51(cos5ang77/' th2dd5i7Jdelth2QconQsin5ang7/' thddJth1dd5i7$ th2dd5i7H Onertia matri sth2Jsin5th25i77 cth2Jcos5th25i77 i22Jm2Qa2Qa2/3 i21Ji22Giner21Qcth2/2 i12Ji21 i11Ji22Gm1Qa1Qa1/3Gm2Qa1Qa1Giner21Qcth2 imJi11$i12$i21$i22H Oh(!ector h1J(5m2Qa1Qa2Qth1d5i7Giner21/2Qth2d5i77Qth2d5i7Qsth2 h2Jiner21/2Qsth2Qth1d5i7Qth1d5i7 h!Jh1$h2H Ogamma(!ector cth1Jcos5th15i77 cth12Jcos5th15i7Gth25i77 gam1Jm1QgQa1/2Qcth1Gm2QgQ5a1Qcth1Ga2/2Qcth127 gam2Jm1QgQa2/2Qcth12 g!Jgam1$gam2H ONoint tor>ue tauJimQthddGh!Gg! tor15i7Jtau5i7 tor25i7Jtau527 end plot5ti$th1$(U$ti$th2$97 figure plot5ti$tor1$($ti.tor2$97 "onclusion+ 2 ne of the critical modeling as in!erse inematics and dynamics of one or t"o(lin arm manipulator is can be !erified "ith ease using =A'6AB soft"are. t taes less time to !erify and gi!es better understanding too. Refe'ences+2 0ntroduction to Robotics by S.. Saha('ata =c-ra" +ill nc.
Postla7+ 1. Are you able to do it for more number of lins, 2. =odel some more structure and then !erify it using =A'6AB.
DEPARTMENT OF MECHANICAL ENGINEERING
ROBOTICS , LABORATORY MANUAL
E5PERIMENT N ? TIT$E+ DESI%N, MDE$IN% AND ANA$*SIS ! T: DI!!ERENT T*PES ! %RIPPERS 78ective+ 'o design and !erify by modeling and analysis of t"o different robotic grippers. P'ela7+ 1. @hat are the different types of grippers, 2. Re!ie" of modeling and analysis of 3 D parts. Int'o9uction+ 'he design of the end(of(arm tooling for a robotic assembly system is !ery important for reducing errors and decreasing cycle times. 'his is the piece of the robotic parts handler or assembler that physically interacts "ith the en !ironment. @hile many factors may be blamed for the common failures of "orcells$ the culprit is !ery often the grippers. @ell designed grippers can increase throughput$ impro!e system reliability$ compensate for robot inaccuracy$ and perform !alue added functions to the assembly. Design+2 n order to design robot "e need to consider the gripping force of the robot end(effectors to grip the ob4ect "ithout slippage.
=odel 19 A simple pi!ot(type gripper is used to hold boes as sho"n follo"ing figure. 'he gripping force$ ;g re>uired is 2F gf. 'he gripper is to be actuated by a piston de!ice to apply an actuating force$ ;a. 'he corresponding le!er arms for the t"o forces are sho"n in the figure. 'aing moments of the forces on one arm and summing them to ero$ "e get$ ;g lg J ;a la r$ ;a J ;g lg lg J 2F 2F J *F gf. %
DEPARTMENT OF MECHANICAL ENGINEERING
ROBOTICS , LABORATORY MANUAL
;igure9 :i!ot type gripper 'herefore$ the piston de!ice "ould ha!e to pro!ide an actuating force of *F gf to close the gripper "ith a force against the boes of 2F gf. =odel 29 A bloc of "eight ha!ing 1#FF P is to be gripped as sho"n in figure. ;ind the clamping force assuming a safety factor 2. Assume coefficient of friction J F.2. 'he centre of gripping does not coincide "ith the centre of gra!ity.
;igure9 gripper for clamping force Assuming acceleration a up"ard$ Resol!ing !ertical forces 1#FF G 2 ;2 J 2 ;1 8 5@a/g7 Resol!ing moments about :$ %F ;2 J 51#FF 2%F7/2
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ROBOTICS , LABORATORY MANUAL
r$ ;2 J 51#FF 2%F7/5%F 27 J 3%FF P. 'herefore$ ;1 J %&FF P assuming a J 2gH Clamping force J 5;1 G ;27 safety factor / J 5T1FF 27 / F.2 P J T1FFF P 'his is greater than the !alue for gripping at the C.-. f the bloc is to be lifted by holding it at the C.-. of the bloc$ the gripping force "ill be less. Mo9eling+2 =odeling of different robot grippers is done using suitable modeling soft"are lie Solid
;igure 19 -ripper Approaching :art from Side Analysis+2 =odeled robotic gripper is analyed for the regions "here the maimum stresses are generated. 'he region of ma stresses is to be considered as a region of probability of failure. 'he crac propagation may from the same location "here there is maimum stresses and hence chances of failure. 'his failure region can be detected/analyed through the analysis soft"are lie APSWS or ABAXS "onclusion+ 2 '"o different types of grippers are designed and modeled using CAD soft"are. ;urther it is analye for maimum stresses using Analysis soft"are 5APSWS7. Postla7+ 1. Design grippers considering its types i.e.
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ROBOTICS , LABORATORY MANUAL
E5PERIMENT N 3 TIT$E+ ST)D* ! SENSR INTE%RATIN 78ective+ 'o study the theory of sensory integration. P'ela7+ 1. @hat do you no" about Sensory ntegration 5S7, 2. @hat are the application areas of S, Int'o9uction+ @e "ould lie to tal about 0@hat is Sensory ntegration, Although this seems lie an ob!ious >uestion$ it is important to define "hat is and "hat is not sensory integration as many research studies purport to use S$ yet the modifications of treatment are so substantial as to mae one >uestion "hether the procedures truly are sensory integrati!e.
Characteristics of Sensory ntegration :rocedures9
acti!e participation child directed indi!idualied treatment purposeful acti!ity need for adapti!e response3 input !aries based on childs response acti!ity rich in propriocepti!e$ !estibular and tactile input implied or stated goal of impro!ing processing and organiation of sensation 5not the teaching of specific sills7 administered by a trained therapist 5' or :'7
'hus$ studies "hich in!ol!e pure sensory stimulation such as that of controlled$ systematically applied !estibular stimulation 5e.g.$ the "or of antner7 should not be grouped "ith those of sensory integration. Similarly$ perceptual motor programs "hich tend to be preplanned$ therapist directed$ structured programs should be considered separately. 'he distinction is not al"ays clear(cut since some studies combine sensory integration and perceptual motor procedures. ;or eample$ +uff and +arris in their study "ith 3# mentally retarded adults utilied sensory integration acti!ities but in a specified se>uence. n their study$ each treatment session "as di!ided into four areas9 CPS normaliation 5ecitation or inhibition7$
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ROBOTICS , LABORATORY MANUAL
sensory stimulation$ refle inhibition and gross motor acti!ity$ and !isual motor acti!ity. 'hus$ treatment "as substantially more structured than in sensory integration$ and "as therapist directed rather than therapist guided.
Are Sensory ntegration :rocedures
@hy and +o" Does Sensory ntegration @or , @e "ould net lie to discuss the issue of "hy and ho" sensory integration procedures are effecti!e. n sensory integration theory$ "e hypothesie that "e are
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ROBOTICS , LABORATORY MANUAL
influencing brain organiation and brain change. 'he idea that the neural organiation is actually changing or de!eloping as a result of the sensory input/adapti!e response is contro!ersial. Brain change in humans is nonobser!able and thus$ it is !ery difficult to establish support for it. n demonstrating the effecti!eness of sensory integration$ "e are primarily limited to obser!able beha!iors. Brain change can be inferred only from indirect obser!able !ariables$ such as change in a childs performance it cannot be easily directly obser!ed ecept$ perhaps$ through autopsy. 'here is some possible support for the effect of sensory integration therapy on change in the ner!ous system. n a study by a"ar$ findings suggested that sensory integration therapy positi!ely influenced hemispheric specialiation as measured by a dichotic listening tas in a sample of children "ith learning disabilities. ttenbacher demonstrated change in postrotary nystagmus$ as measured by the Southern California :ostrotary Pystagmus 'est 5SC:P'7$ "ith multiple measurements of 3 children o!er a 2F("ee treatment period. +o"e!er$ as ttenbacher noted$ many factors contribute to postrotary nystagmus 5:RP7 as tested " ith the SC:P'$ thus it is not clear "hether or not the :RP change "as due to change in central ner!ous system physiology or to other factors.
;actors nfluencing the ualities of the patient or client$ for eample the childs age$ the diagnosis the degree of responsi!eness to certain inds of sensory input. ;or eample$ learning disabled children "ho sho" a shortened duration of postrotary nystagmus appear to impro!e to a greater degree from S treatment than those children "ho do not sho" this type of dysfunction. ;ollo"ing are some of the !ariables "hich may influence a childs response to therapy. 'hese can be categoried as treatment !ariables$ patient !ariables$ and therapist !ariables.
Variables @hich =ay nfluence Response to 'herapy9
'reatment !ariables9 se>uence of inds of sensory input therapist induced !s. child induced stimulation :atient !ariables9 age$ se$ diagnosis$ se!erity 'herapist !ariables9 se$ personality$ epectations
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ROBOTICS , LABORATORY MANUAL
Variables "hich influence the response to therapy can be eamined in a number of "ays917 through obser!ation of treatment$ 27 through theory$ and 37 through controlled testing. 6et us tae the eample using the !ariable of the childs age. 'hrough "oring "ith children of a !ariety of ages$ "e may clinically obser!e through treatment that children that mae the most rapid gains in therapy are children "ho ha!e not yet entered school$ thus primarily children under &. @e may dra" upon theories of brain plasticity "hich "ould indicate that the younger the child$ the more plastic the brain$ and since "e feel "e are influencing brain function$ "e may hypothesie that S "ould be most effecti!e "ith younger children. ;inally$ "e may carry out controlled testing specifically to eamine age effects$ or$ "e may re!ie" the literature$ in a meta(analysis$ and eamine the effect of age on outcome. "onclusion+ 2 +ere the Sensory ntegration 5S7 therapy is studied "hich is !ery important and effecti!e for the treatments. 'his concept is still a field of de!elopment and hence need to be "ell researched. Refe'ence+2 Sharon A. Cerma$ 0'he
DEPARTMENT OF MECHANICAL ENGINEERING
ROBOTICS , LABORATORY MANUAL
E5PERIMENT N @ TIT$E+ T PR%RAM !R $INEAR AND NN2$INEAR PAT# 78ective+ 'o study the VA6 language programming for linear and non(linear path. P'ela7+ 1. @hat are different robot languages, 2. @hat are the different tra4ectory paths possible of robot manipulator, Int'o9uction+ VA$ $anguage+ VA6 is a popular tetual robot language de!eloped by nimation nc. for the :=A series of robots. VA6 has been upgraded to VA6 system "ith more interlocing facilities. Victor Sheinman de!eloped VA6 language. VA6 is !ery user( friendly. t pro!ides arm mo!ement in 4oint$ "orld and tool coordinates$ gripping and speed control. @A' and S-PA6 commands can be gi!en to implement a specific tas. 'he commands are subroutines "ritten in BASC and translated "ith the aid of an interpreter. Compiled BASC has more fleibility.
;ollo"ing are the t"o programs "hich are "ritten for specific tass and they are "ith linear and non(linear paths of manipulator. Depalletiing+ n a pallet ob4ects protruding #F mm from the face of the pallet are located in a number of ro"s and columns. 'he pallet has 3 ro"s that are 3F mm apart and # columns that are %F mm apart. 'he plane of the pallet is assumed to be parallel to the Y(W plane. 'he ro"s are parallel to Y(ais and the columns are parallel to W(ais. 'he ob4ects are to be piced up one after another from the pallet and placed in a location of sliding channel 5chute7. ;igure 1 indicates the pallet.
:R-RA= D<:A66<' 1 R<=AR :R-RA= ' :C BN
DEPARTMENT OF MECHANICAL ENGINEERING
ROBOTICS , LABORATORY MANUAL
1F
S<' :C J CRP
The el9 t'a8ecto'y+ A "eldment is to be made as sho"n in figure 2. 'he "eld tra4ectory is a continuous path arc "elding along the paths Y2(Y3 "ith triangular "ea!ing$ Y3(Y# "ith straight "eld$ Y#(Y%(Y& "ith circular interpolation$ Y&(Y) "ith straight "eld$ Y)(Y*(YT "ith circular arc$ YT(Y1F "ith straight "eld and Y1F(Y11 "ith fi!e point "ea!ing. 'he "eld torch begins its mo!ement from home position Y1 and departs to location Y12. Craterfilling is done at the end of trapeoidal "ea!ing. @rite a VA6 program for suitable arc "elding.
DEPARTMENT OF MECHANICAL ENGINEERING
ROBOTICS , LABORATORY MANUAL
;igure 19 Depalletiing
:R:-RA= @<6D CRV< 1 @S<' 1 J 1F$ #F$ %F 2 @S<' 2 J *$ 3%$ &F 3 @S<' 3 J 12$ #F$ %% # @VS<' 1 J %$ % % @VS<' 2 J 1F$ )$ 2$ F$ 1$ 2$ F & =V< Y1 ) =V< Y2 * @S'AR' 1$1 T =V< Y3 1F @
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ROBOTICS , LABORATORY MANUAL
13 1# 1% 1& 1) 1* 1T 2F 21 22
CRC6< Y#$ Y%$ Y& =V
;igure 29 'he "eld tra4ectory "onclusion+ 2 ne of the Robot :rogramming 6anguages 5R:67 i.e. VA6 language is used for linear and non(linear paths and "hich is collecti!ely$ found easier "ay of programming. Refe'ence+2 0RB'CS '
DEPARTMENT OF MECHANICAL ENGINEERING