Question 1 • Playloads/weight It is extremely important to consider the payloads of the items that need moving when choosing a robot end-effector. When working in a setting where a robot must travel long distances, the weight of the end-effector is also crucial. For the EOAT to work effectively, it must be durable, feasible, and light enough to manage all the applications. It must withstand multiple cycles without breaking down to ensure that there are no slips, vibrations, or performance degradation. Material handling applications, for example, will assess the size and weight of an item when determining whether mechanical grippers or vacuum clamps are the most appropriate choice. • Tooling length The tooling length of the EOAT required to complete the necessary task will also influence the choice of your robot end-effector most appropriate for the job at hand. A robotic arm is most effective when it can cover the greatest distance. The goal here is to keep the right amount of offset load of the EOAT as low as possible. Keeping the robot end-effector tooling length as short as possible is preferable to reduce deflection, leading to improved automated rhythm and a more effective flow. • Size and shape of product The size and shape of the items you require your EOAT to handle and transfer is a big element in your chosen approach. The shape, size, and fragility of components have varied constraints regarding the robotic tooling used to fabricate them • Cycle time Another important factor to consider when choosing a robot end effector is its cycle time. A robot end-effector cycle time expressed in strokes per minute relates to the number of pieces stamped per minute in the Press Room. Industrial body shops use robot end effectors to complete parts by performing the movements or operations that the system can perform. A conventional transfer press, for example, operates at a rate of 15 to 22 strokes per minute. Increasing the efficiency of the system design can aid in the improvement of the strokes per minute rate. • Ancillary components You will also need to consider if the robot end-effector you choose needs any ancillary parts. The parts provide the EOAT with more versatility. Some of the most common axillary components are power clamps, grippers, magnets, vacuum clamps and ventures. • Cost Do not forget to consider your budget constraints when choosing your preferred robot endeffector. The cost of the EOAT will depend on several variables such as size, payload, and brand. Before you commit yourself, do some research on several options in the market and go for the one you can afford. However, you have to ensure that it is efficient Question 2 PLC is a device that is used for automation such as industrial processes, machine automation, and controlling various types of equipment. A PLC is a user-friendly, microprocessor-based computer that controls many types of functions and levels of complexity PLC is safe from shorting and all atmospheric conditions. Question 3 • Power Supply - The working power to the robot is provided by batteries, hydraulic, solar power, or pneumatic power sources. • Actuators - Actuators are the energy conversion device used inside a robot. The major function of actuators is to convert energy into movement. • Electric motors (DC/AC)- Motors are electromechanical component used for converting electrical energy into its equivalent mechanical energy. In robots motors are used for providing rotational movement. • Sensors - Sensors provide real time information on the task environment. Robots are equipped with tactile sensor it imitates the mechanical properties of touch receptors of human fingerprints and a vision sensor is used for computing the depth in the environment. • Controller - Controller is a part of robot that coordinates all motion of the mechanical system. It also receives an input from immediate environment through various sensors. The heart of robot's controller is a microprocessor linked with the input/output and monitoring device. The command issued by the controller activates the motion control mechanism, consisting of various controller, actuators and amplifier. Question 4 • Artificial intelligence is where systems emulate the human mind to learn, solve problems and make decisions on the fly, without needing the instructions specifically programmed. • AI-enabled robots are programmed with algorithms that allow them to process data from their surroundings, interpret it, and act accordingly. We can compare these algorithms to the human brain. It will enable the robot to “think” and react without any human input. Let’s take the self-driving car as an example. In this case, artificial intelligence is used to replace the human driver that would normally be in control of the vehicle. The car has sensors that detect obstacles, cameras to recognize traffic signals, and powerful processors that interpret all this data. This allows the car to “see” the road. It can then decide when to accelerate, brake, or turn without a driver. In short, AI is essential for robots to become autonomous and be able to make decisions on their own. Beyond allowing robots to become more independent, AI also helps them to become more accurate and efficient in performing their tasks Question 5 • Cartesian Robots which are also called linear robots or gantry robots, are industrial robots that work on three linear axes that use the Cartesian Coordinate system (X, Y, and Z), meaning they move in straight lines on 3-axis (up and down, in and out, and side to side). Cartesian robots are a popular choice due to being highly flexible in their configurations, giving users the ability to adjust the robot’s speed, precision, stroke length, and size. Cartesian Robots are one of the most commonly used robot types for industrial applications and are often used for CNC machines and 3D printing • SCARA Robots SCARA is an acronym that stands for Selective Compliance Assembly Robot Arm or Selective Compliance Articulated Robot Arm. SCARA Robots function on 3-axis (X, Y, and Z), and have a rotary motion as well. SCARA Robots excel in lateral movements and are commonly faster moving and have easier integration than Cartesian Robots. Typically, SCARA robots are used for assembly and palletizing, as well as bio-med application. • Articulated Robots Articulated Robots mechanical movement and configuration closely resembles a human arm. The arm is mounted to a base with a twisting joint. The arm itself can feature anywhere from two rotary joints up to ten rotary joints which act as axes, with each additional joint or axis allowing for a greater degree of motion. Most Articulated Robots utilize four or six-axis. Typical applications for Articulated Robots are assembly, arc welding, material handling, machine tending, and packaging. • Cylindrical Robots Cylindrical Robots have a rotary joint at the base and a prismatic joint to connect the links. The robots have a cylindrical-shaped work envelop, which is achieved with rotating shaft and an extendable arm that moves in a vertical and sliding motion. Cylindrical Robots are often used in tight workspaces for simple assembly, machine tending, or coating applications due to their compact design • Delta Robots Delta Robots, or parallel robots, possess three arms connected to a single base, which is mounted above the workspace. Delta Robots work in a domeshape and can move both delicately and precisely at high speeds due to each joint of the end effector being directly controlled by all three arms. Delta Robots are often used for fast pick and place applications in the food, pharmaceutical, and electronic industries • Polar Robots Polar Robots, or spherical robots, have an arm with two rotary joints and one linear joint connected to a base with a twisting joint. The axes of the robot work together to form a polar coordinate, which allows the robot to have a spherical work envelope. Polar Robots are credited as one of the first types of industrial robots to ever be developed. Polar robots are commonly used for die casting, injection molding, welding, and material handling Question 6 • Forward kinematics is the process of determining the position and orientation of the end effector in Cartesian space with the help of the joint angles Inverse kinematics is the process of calculating the joint angles with the help of the position and orientation of the end-effector. Forward kinematics Inverse kinematics Question 7 a. • Signal conditioners provide the essential circuitry between the sensor and the data acquisition system. This circuit ensures proper conditioning of the output before any further signal processing can occur b. • Amplification: Amplification is when the overall magnitude of a signal is increased – thus increasing the measurement resolution as well as the sensitivity of the signal. Strategically placed external signal conditioners can magnify the voltage level before it can be affected by environmental noise. Converting a 0-10mV signal to a 0-10V signal is an example of amplification. Thermocouples and strain gauges are sensors that typically require amplification. • Isolation: Input signals outside the range of a digitizer can cause serious damage to sensitive equipment. Isolation breaks the galvanic path between the input and output signal. By breaking the galvanic path, unwanted signals on the input line are prevented from passing through to the output. The isolator can also filter out any unwanted noise in the signal path – and eliminate any electrostatic interference caused by ground loops, which can also damage any devices that are connected to the sensor. The input is normally transferred to the output by converting it to an optical or magnetic signal then it is reconstructed on the output. Isolation is also used to prevent ground loops. If a sensor is on a different ground plane from the measurement sensor, such as a thermocouple mounted on an engine, isolation may also be needed. • Linearization: Linearization is the action of converting a non-linear input signal to a linear output signal – and is necessary when sensors produce signals that are not linearly related to the physical measurement. A thermocouple is an example of a sensor that requires linearization • Excitation: Excitation voltage is required for the operation of an active sensor such as a thermistor, an RTD, or a pressure sensor. The stability and accuracy of the excitation signal directly affects the stability and accuracy of the sensor. Question 8 A PLC is a type of computer that is specifically designed for use in industrial environments. It is used to control and automate various processes, such as those found in manufacturing plants, power plants, and water treatment facilities. PLCs were first invented in the late 1960s as a replacement for hard-wired relay control systems, which were difficult to maintain and adapt to changing process requirements • Input/Output (I/O) capabilities: PLCs have a variety of input and output ports that allow them to interface with sensors and actuators, such as temperature sensors, pressure sensors, and motor starters • Programming capabilities: PLCs can be programmed using a variety of languages, such as ladder logic, which is a graphical programming language that is well-suited for use in industrial environments. This allows PLCs to be easily adapted to changing process requirements • Real-time control: PLCs are able to control processes in real-time, which is essential for many industrial processes • Communication capabilities: PLCs can communicate with other devices and systems, such as supervisory control and data acquisition (SCADA) systems and other PLCs, via a variety of communication protocols, such as Ethernet and Modbus. b. • Operation of PLC A PLC's operation is broken down into three stages: inputs, program execution, and outputs. PLCs capture data from the plant floor by monitoring inputs from any connected machines or devices. These inputs are checked against the program logic, which changes the outputs to any connected output devices.
