Robotics
Classification
Envelopes
Accuracy
Repeatability
History
c3000 BC
c500 BC
c360 BC
c218 BC
c200 BC
c150 BC
c1250
c1400
1509
1643
1720
1738
1770
1774
1787
Egyptian water clocks and mechanical dolls
Herodotus describes the wooden foot of
Hegesistratus
Archytas of Tarentum - wooden bird that could fly
Roman general Marcus Sergius has an iron
replacement made for his severed hand
Chinese mechanical orchestra
Hero of Alexandria - De Automatis described a
mechanical theatre with marching and dancing
figures
Albertus Magnus invents household automaton to
open doors
Swiss and German android clocks developed
Götz von Berlichingen’s iron hand is made with
gearing for manipulating mechanical fingers and
thumb
Blaise Pascal develops mechanical adding machine,
the Pascaline
Bouchon and Falcon in Lyons, France, design looms
for weaving patterns into silk
Jacques de Vauconson builds mechanical duck that
quacked, bathed, drank water, and ate, digested,
and voided grain
Pierre and Henri-Louis Jacquet Droz built 3 android
automatons: a young boy who wrote letters, and
older boy who drew pictures, and a girl who
played piano
John Winkinson invents boring machine to help
build steam engine
James Watt invents flyball governor to control speed
of steam engine
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Robotics
1795
1800
1801
1812
1818
1818
1830
1873
1887
1892
1909
1921
1930
1931
1937
Evan's Flour Mill in Philadelphia introduced
continuous process
Metal lathe invented by Henry Maudslay
Joseph Marie Jacquard invents punch card controlled
automatic loom in France
Charles Babbage begins difference engine to
compute mathematical tables automatically
Eli Whitney invents milling machine
Mary Wollstonecraft Shelley wrote Frankenstein or
the Modern Prometheus
Charles Babbage conceives the analytical engine,
develops many basic principles of computing,
Ada Augusta Lovelace writes the software
C. M. Spencer invents fully automatic lathe or
automatic screw machine
Herman Hollerith begins to mechanize the U.S.
census using punched card concept
Steward Babbitt invents motorized rotary crane with
gripper for removing ingots from a furnace
Henry Ford mass produced automobiles with a 1.5
minute cycle time
Karel Capek wrote play R.U.R. (Rossum's Universal
Robots), coining the word robot from the Czech
word robotit which means worker, drudge, or
forced labor
Vannevar Bush builds analog computer (differential
analyzer) to solve integral equations mechanically
IBM 601 performs decimal multiplication using
plugboard programming and electromechanical
memory, arithmetic, and control
Howard Aiken of Harvard with IBM support
develops Mark I electromechanical computer as
an extension of punched-card technology completed in 1944
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Robotics
1938
1938
1942
1944
1945
1945
1946
1946
1948
1948
1949
1950
1951
John Atanasoff develops a prototype electronic
computer - completed in 1942
William Pollard and Harold Roseland invent a spray
painting machine with recorded paths for
DeVilbiss
Punched paper tapes used to control differential
analyzer
Goertz invented master-slave manipulator
J. Presper Eckert and John Mauchly invent ENIAC
(Electronic Numerical Integrator and Calculator)
full scale electronic computer at University of
Pennsylvania
John von Neumann develops concept of stored
program in the EDVAC computer - completed in
1949
Forrester and Everett develop Whirlwind at MIT
general purpose digital computer (16 bits, 42K
ips, 5 bit op code, 11 bit address, 5K tubes, 256
word memory)
George Devol invented a playback device for
machine control, used it on an electromechanical
feedback manipulator
Bardeen, Bratton, and Shockley invent transistor at
Bell Laboratories
Norbert Wiener publishes Cybernetics describing
concepts of communications and control in
electronic, mechanical, and biological systems
EDSAC stored program computer developed at
Cambridge University
Lincoln Lab founded at MIT
Parsons Corporation and MIT developed APT
(Automatically Programmed Tools) language
using Whirlwind computer to control a Cincinatti
Hydrotel milling machine using flexowrite tape -
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Robotics
1951
1951
1951
1952
1953
1955
1956
1956
1956
1957
1957
1958
1958
1959
1959
NC component completed 1954, APT completed
by Douglas Ross and others in 1956
Eckert and Mauchly develop mass produced
commercial computer UNIVAC (Universal
Numerical Integrator and Calculator)
Third generation programming language compilers
written
Raymond Goertz invents teleoperator-equipped
articulated arm for the Atomic Energy
Commission
IBM 701 computer marketed - delivered in 1953
SAGE (Semi-Automatic Ground Environment) air
defense system development project started
Pennsylvania Railroad leased IBM 705 to handle the
paperwork
FORTRAN developed
George Devol invents programmable robot, calls it
univeral automation, founds Unimation
Cincinnati Milacron introduce numerical control
machine tool
Tidewater Oil's "Refinery of the Future" used IBM
650 to monitor complex refinery operations
Barnes drilling machine had 4 spindles for automatic
tool changing
AN/FSQ-7 Sage (Semi-Automatic Ground
Environment) computer delivered for NORAD
combat centers (25K tubes, 30,000 sq. ft., 32 bits,
175 tons, 1500 KW power)
Wallace E. Brainard developed automatic tool
changer for Kearney and Trecker Milwaukee
Matic maching center
LISP and Cobol developed
Ferranti developed a coordinate measuring machine
using linear diffraction gratings
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Robotics
1959
1960
1960
1961
1961
1961
1961
1961
1962
1963
1963
1963
1963
1963
1964
1965
1965
1966
1967
Planet introduces a commerical pick-and-place robot
controlled by limit switches and cams
Unimate robot installed at Ford Motor to tend diecasting machine
AMF introduces VERSATRAN commercial robot
Unimation introduces servo-controlled industrial
robot
Gordon Moore and Robert Noyce form INTEL
Collins prosthetic hand developed
Ernst arm, a teleoperator slave arm equipped with
touch sensors, is connected to a computer at
MIT’s Lincoln Laboratory
General Motors installs Unimate robot on a
production line
Ivan Sutherland developed Sketchpad (MIT) - a
CRO driven by a Lincoln TX2 - beginning of
computer graphics
Coon include APT in computer graphics functions
American Airlines developes SABRE reservation
system for IBM 7090 computer
American Machine and Foundry Versatile Transfer
developed (Prab)
Roehampton arm development begun
Edinburg arm developed
GM announced DAC-1 (Design Augmented by
Computer) console installed on IBM 7094
computer (Dr. Harranty)
Expert system DENDRAL developed by Edward
Fiegenbaum at Stanford
Bell Lab announced GRAPHIC 1 remote display
system
IBM Component Division implemented a system to
aid A.C. module design for sytem 360
Freeman worked out a hidden-line algorithm
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Robotics
1968
1968
1969
1969
1969
1970
1970
1970
1970
1970
1970
1971
1972
1972
1973
1973
1974
1974
1974
1975
1976
Stanford Reserach Institute develops Shakey, a
mobile robot with vision
Kawasaki Heavy Industries negotiates license from
Unimation
General Electric develops experimental walking
truck for U.S. Army
Unix
Williamson developed a flexible manufacturing
system in the Molins System 24
Stanford Arm with camera and computer stacks
colored blocks
First National Symposium on Industrial Robots
Unimate robot used for die casting at GM
Japanese National Railways placed seven lathes
under simultaneous control, introducing DNC
(direct numerical control)
Ted Codd proposed relational database management
200 robots in use worldwide
Japan Industrial Robot Association formed
RCA announced GOLD system for I.C. layout
Geometrical modelling systems PADL were
developed at the University of Rochester
Richard Hohn of Cincinnati Milacron introduces T3
(The Tomorrow Tool) minicomputer-controlled
industrial robot that tracks objects on a moving
conveyor
Chasen justified the CAD system (Lockheed)
Scheinman forms Vicarm to market version of
Stanford Arm with minicomputer control for
industrial applications
ASEA introduces electric drive industrial robot
3500 robots in use worldwide
Robot Institute of America formed
Viking II lands on Mars
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Robotics
1977
1977
1977
1978
1978
1979
1979
1980
1980
1980
1981
1982
1982
1983
1984
1985
1988
1990
1990
1992
ASEA Brown Boveri Robotics Inc. introduces two
sizes of micocomputer controlled electric drive
industrial robots
British Robot Association formed
6500 robots in use worldwide
Unimation with G.M. help and Vicarm technology
develops the PUMA (Programmable Universal
Machine for Assembly) robot
HP's microporcessor-based raster scan display
GM, Boeing described how to bridge gap between
CAD and CAM
Visicalc spreadsheet introduced on Apple computers
Fujitsu Fanuc Company of Japan develops
automated factory
MAZAK flexible manufacturing factory is built in
Florence, KY
14,000 robots in use worldwide, 4000 robots in use
in US
Robotics International/SME formed
Microbot and Rhino introduce first educational
robots
27,000 robots in use worldwide, (table 1-1)
Heath introduces Hero1 robot
Adept Corp. introduces electric direct-drive robot
arms to eliminate need for gear or chain drives
68,500 robots in use worldwide
Richard S. Muller invents micromachine at Berkeley
150,000 robots in use worldwide
ASEA Brown Boveri Robotics, Inc. purchases
robotics division of Cincinnati Milacron
William Barger employs Robodoc, a robotic arm, in
hip-replacement surgery
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Robotics
Definition of a Robot
Generic types of robots
Industrial - "An industrial robot is a reprogrammable, multifunctional manipulator designed to move material, parts,
tools, or specialized devices, through various programmed
motions for the performance of a variety of tasks" examples: Cincinatti Milacron, Asea, Unimate
Educational - Hero
Entertainment - C3PO, R2D2
Human-like - (droid)
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Robotics
Robot Capabilities
Motion
- Axes of motion/degrees of freedom
- Work envelope
- Coordinate system
Power/Precision/Repeatability
Speed
Sensing
- Sight (vision) / light
- Sound (acoustic)
- Proximity (range)
- Touch
- Force
Output
- Speech
- Computer Signals
- Displays
What robots can do (Table 2-1)
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Robotics
Robot Classification
Cartesian (or rectangular) Robots - 3 linear axes, supported from a
base
Gantry Robots (also rectangular)- 3 linear axes, supported from a
gantry
Cylindrical Robots - 2 linear axes, 1 rotary axis
Spherical (or polar) Robots - 1 linear axis, 2 rotary axes - a fading
breed
Articulated (jointed arm, revolute) Robots - 3 rotary axes - major
offering of robotics industry
SCARA Robots - (Selective Compliance Assembly Robot Arm) more than 3 axes, combination of articulated (with rotary
axes mounted vertically) and cylindrical - allows some
floatation at final position for parts insertion - becoming
quite popular
Work Envelope (Figures 2-1 and 2-2)
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Robotics
Additional Axes of Motion
Robots, in addition to the three major axes of motion, can have
both minor axes of motion and an additional major axis of
motion
An additional major axis of motion can be obtained by mounting
the entire robot on a traverse track on the floor or
overhead. Sometimes this axis of motion is not
programmable
Minor axes of motion of a robot are contained in a wrist assembly,
mounted to the end of the robot arm. An additional 1 to 3
axes of motion are provided. Names used for these axes of
motion are pitch, yaw, roll, bend, and swivel. As the
names imply, these are generally all rotary axes.
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Robotics
Robot Control
Non-servo point-to-point robots
low technology - about 10% of U.S. market
"pick and place," "limited sequence," "bang-bang"
more human intervention needed to re-program (adjust stops)
$4000 to $35000
pneumatic or hydrolic control (no electric)
payload from ounces to 75 lbs (because of decelleration)
no jointed arms available
Servo-controlled point-to-point robots
medium technology - about 80% of U.S. market
general purpose robots
use servomechanisms capable of stopping the robot at any
point along any axis of motion
$13,500 to $220,000
electric, hydrolic, or (rarely) pneumatic control
payload from ounces up to tons - all types of arms available
Servo-controlled continuous path robots
about 10% of U.S. market, 90% of which used in spray
painting
specialized designs based on intended use
intermediate as well as endpoint data stored on a time basis,
frequently programmed by leading it through the pattern
$55,000 to $225,000 - usually hydrolic control, jointed arm
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Robotics
Robot Tradeoffs
Payload - specified at 100% (or 75%) or arm extension - can be
tons
vs.
Velocity - can be in excess of 200 inches/second
vs.
Repeatability - how close it comes to previous location
Accuracy - how close it comes to desired location
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Robotics
Robot Applications
Application
1980
1990
Spot Welding
Arc Welding
Painting/Finishing
Materials Handling (machine
load/unload)
Assembly
Other
41%
4%
11%
29%
3%
14%
5%
31%
6%
9%
37%
10%
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Robotics
Comparison Points When Choosing A Robot
Degrees of freedom
Cost
Drive type
Software available
Kinematic construction
Closed loop/open loop
Payload in grams
How many I/O ports
Repeatability
Operational radius
Movement limited or wide in all axes
Speed
Multiple vs. single speed
Teach pendant
On-line with host
I/O
External communications protocol
Hard home
Sensing via gripper
Transmission
Feedback
Off-line programming
Courseware availability/curriculum
Number of program lines allowed
XYZ program
Design of work cell
Program parameters
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Robotics