Contenido

Existen seis tipos de robots industriales.[3]​.

Articulated robots

Articulated robots[3]​ are the most common industrial robots.[4]​ They resemble a human arm, which is why they are also called a robotic arm or manipulator arm.[5]​ Their joints with several degrees of freedom "Degree of freedom (physics)") allow articulated arms a wide range of movements.

Cartesian coordinate robots

Cartesian robots,[3]​ also called rectilinear robots, gantry robots and x-y-z robots[4]​ have three prismatic joints" for the movement of the tool and three rotating joints for its orientation in space.

In order to move and orient the effector organ in all directions, a robot of this type needs 6 axes (or degrees of freedom). In a two-dimensional environment, three axes are enough, two for displacement and one for orientation.[6]​.

Cylindrical coordinate robots

Cylindrical coordinate robots[3]​ are characterized by their rotating joint at the base and at least one prismatic joint that connects their links.[4]​ They can move vertically and horizontally by sliding. The compact design of the effector allows the robot to reach tight work spaces without loss of speed.[4]​.

Spherical coordinate robots

Spherical coordinate robots only have rotating joints.[3]​ They are one of the first robots that have been used in industrial applications.[4]​ They are commonly used for feeding machines in die casting, injection and plastic extrusion, and for welding.[4]​.

SCARA Robots

SCARA[3]​ is the acronym for Selective Compliance Assembly Robot Arm.[7]​ SCARA robots are recognized by their two parallel joints that provide movement in the X-Y plane.[3]​ The rotary axes are placed vertically on the effector.

SCARA robots are used for jobs that require precise lateral movements. They are ideal for assembly applications.[4]​.

Delta Robots

Delta robots[3]​ are also called parallel link robots.[4]​ They consist of parallel links connected to a common base. Delta robots are especially useful for direct control tasks and highly maneuverable operations (such as rapid pick-and-place tasks). Delta robots take advantage of four-bar or parallelogram link systems.

Additionally, industrial robots can have a series or parallel architecture.

Serial manipulators

Serial architectures, also known as serial manipulators, are the most common industrial robots and are designed as a series of links connected by motor-driven joints that extend from a base to an end effector. The SCARA and Stanford manipulators are typical examples of this category.

Parallel architecture

A parallel manipulator is designed so that each chain is typically short, simple, and can thus be rigid against unwanted movement, compared to a serial manipulator. closed loop rigidity which makes the global parallel manipulator rigid relative to its components, unlike the series chain which becomes progressively less rigid with more components.

A full parallel manipulator can move an object with up to 6 degrees of freedom (DoF), determined by 3 translation coordinates 3T and 3 rotation coordinates 3R for full mobility 3T3R. However, when a manipulation task requires less than 6 DOF, the use of lower mobility manipulators, with less than 6 DOF, can provide advantages in terms of simpler architecture, easier control, faster movement and lower cost. For example, the Delta 3 DOF robot has a lower mobility 3T and has proven to be very effective for rapid pick-and-place translational positioning applications. The workspace of less mobile manipulators can be decomposed into "movement" and "restrictions" subspaces. For example, 3 position coordinates constitute the motion subspace of the 3 DOF Delta robot and the 3 orientation coordinates are in the constraints subspace. The motion subspace of lower mobility manipulators can in turn be decomposed into independent (desired) and dependent (concomitant) subspaces: constituted by 'concomitant' or 'parasitic' movement which is the unwanted movement of the manipulator.[8]​ The debilitating effects of concomitant movement must be mitigated or eliminated in the satisfactory design of lower mobility manipulators. For example, the Delta robot has no parasitic motion, since its end effector does not rotate.

Robots have varying degrees of autonomy.

Some robots are programmed to faithfully perform specific actions over and over again (repetitive actions) without variation and with a high degree of precision. These actions are determined by programmed routines that specify the direction, acceleration, speed, deceleration, and distance of a series of coordinated movements.

Other robots are much more flexible in terms of the orientation of the object on which they operate or even the task that must be performed on the object itself, which the robot may even have to identify. For example, for more precise guidance, robots often contain machine vision subsystems that act as their visual sensors, connected to powerful computers or controllers.[9] Artificial intelligence is becoming an increasingly important factor in the modern industrial robot.

People's safety is of great importance in robotics. Back in the 1950s, Isaac Asimov established three Laws of Robotics in his science fiction novels, which basically state that a human should not be harmed by a robot or its inaction. Today, it is laws (in Europe, the Machinery Directive 2006/42/EC "previously 98/37/EC) and international standards (e.g. ISO EN 10218 formerly DIN EN 775) that define the safety standards for machines and therefore also for robots.

The dangers posed by robots consist of complex movement patterns and strong accelerations, often completely unpredictable to humans, combined with enormous forces. Working alongside an unsafe industrial robot can quickly become fatal.

Therefore, the first protection measure usually consists of separating the movement area of ​​people and industrial robots using protective grilles with safety doors or light barriers. If the safety door is opened or the light barrier is interrupted, the robot stops immediately. In special operating modes in which the human must enter the danger zone of the robot (for example, during programming or teaching), an enable button must be pressed to explicitly allow the robot's movements. At the same time, the speed of the robot must be limited to a safe level.

The most recent developments (assistive robots) are in the direction of the robot recognizing the approach of a foreign object or a human being in time using sensor technology and automatically slowing down its movement, stopping it or even moving back. In the future, this will make it possible to work together with the robot in its immediate vicinity.

All control circuits with functions for personal safety are usually designed and monitored redundantly, so that even a failure, such as a short circuit, does not cause a loss of safety.

A hazard analysis makes it possible to determine the hazards emanating from the robot or additional systems and to design a suitable protective device for them. All devices connected in the safety circuit must correspond to the selected category.

Contenido

Existen seis tipos de robots industriales.[3]​.

Articulated robots

Articulated robots[3]​ are the most common industrial robots.[4]​ They resemble a human arm, which is why they are also called a robotic arm or manipulator arm.[5]​ Their joints with several degrees of freedom "Degree of freedom (physics)") allow articulated arms a wide range of movements.

Cartesian coordinate robots

Cartesian robots,[3]​ also called rectilinear robots, gantry robots and x-y-z robots[4]​ have three prismatic joints" for the movement of the tool and three rotating joints for its orientation in space.

In order to move and orient the effector organ in all directions, a robot of this type needs 6 axes (or degrees of freedom). In a two-dimensional environment, three axes are enough, two for displacement and one for orientation.[6]​.

Cylindrical coordinate robots

Cylindrical coordinate robots[3]​ are characterized by their rotating joint at the base and at least one prismatic joint that connects their links.[4]​ They can move vertically and horizontally by sliding. The compact design of the effector allows the robot to reach tight work spaces without loss of speed.[4]​.

Spherical coordinate robots

Spherical coordinate robots only have rotating joints.[3]​ They are one of the first robots that have been used in industrial applications.[4]​ They are commonly used for feeding machines in die casting, injection and plastic extrusion, and for welding.[4]​.

SCARA Robots

SCARA[3]​ is the acronym for Selective Compliance Assembly Robot Arm.[7]​ SCARA robots are recognized by their two parallel joints that provide movement in the X-Y plane.[3]​ The rotary axes are placed vertically on the effector.

SCARA robots are used for jobs that require precise lateral movements. They are ideal for assembly applications.[4]​.

Delta Robots

Delta robots[3]​ are also called parallel link robots.[4]​ They consist of parallel links connected to a common base. Delta robots are especially useful for direct control tasks and highly maneuverable operations (such as rapid pick-and-place tasks). Delta robots take advantage of four-bar or parallelogram link systems.

Additionally, industrial robots can have a series or parallel architecture.

Serial manipulators

Serial architectures, also known as serial manipulators, are the most common industrial robots and are designed as a series of links connected by motor-driven joints that extend from a base to an end effector. The SCARA and Stanford manipulators are typical examples of this category.

Parallel architecture

A parallel manipulator is designed so that each chain is typically short, simple, and can thus be rigid against unwanted movement, compared to a serial manipulator. closed loop rigidity which makes the global parallel manipulator rigid relative to its components, unlike the series chain which becomes progressively less rigid with more components.

A full parallel manipulator can move an object with up to 6 degrees of freedom (DoF), determined by 3 translation coordinates 3T and 3 rotation coordinates 3R for full mobility 3T3R. However, when a manipulation task requires less than 6 DOF, the use of lower mobility manipulators, with less than 6 DOF, can provide advantages in terms of simpler architecture, easier control, faster movement and lower cost. For example, the Delta 3 DOF robot has a lower mobility 3T and has proven to be very effective for rapid pick-and-place translational positioning applications. The workspace of less mobile manipulators can be decomposed into "movement" and "restrictions" subspaces. For example, 3 position coordinates constitute the motion subspace of the 3 DOF Delta robot and the 3 orientation coordinates are in the constraints subspace. The motion subspace of lower mobility manipulators can in turn be decomposed into independent (desired) and dependent (concomitant) subspaces: constituted by 'concomitant' or 'parasitic' movement which is the unwanted movement of the manipulator.[8]​ The debilitating effects of concomitant movement must be mitigated or eliminated in the satisfactory design of lower mobility manipulators. For example, the Delta robot has no parasitic motion, since its end effector does not rotate.

Robots have varying degrees of autonomy.

Some robots are programmed to faithfully perform specific actions over and over again (repetitive actions) without variation and with a high degree of precision. These actions are determined by programmed routines that specify the direction, acceleration, speed, deceleration, and distance of a series of coordinated movements.

Other robots are much more flexible in terms of the orientation of the object on which they operate or even the task that must be performed on the object itself, which the robot may even have to identify. For example, for more precise guidance, robots often contain machine vision subsystems that act as their visual sensors, connected to powerful computers or controllers.[9] Artificial intelligence is becoming an increasingly important factor in the modern industrial robot.

People's safety is of great importance in robotics. Back in the 1950s, Isaac Asimov established three Laws of Robotics in his science fiction novels, which basically state that a human should not be harmed by a robot or its inaction. Today, it is laws (in Europe, the Machinery Directive 2006/42/EC "previously 98/37/EC) and international standards (e.g. ISO EN 10218 formerly DIN EN 775) that define the safety standards for machines and therefore also for robots.

The dangers posed by robots consist of complex movement patterns and strong accelerations, often completely unpredictable to humans, combined with enormous forces. Working alongside an unsafe industrial robot can quickly become fatal.

Therefore, the first protection measure usually consists of separating the movement area of ​​people and industrial robots using protective grilles with safety doors or light barriers. If the safety door is opened or the light barrier is interrupted, the robot stops immediately. In special operating modes in which the human must enter the danger zone of the robot (for example, during programming or teaching), an enable button must be pressed to explicitly allow the robot's movements. At the same time, the speed of the robot must be limited to a safe level.

The most recent developments (assistive robots) are in the direction of the robot recognizing the approach of a foreign object or a human being in time using sensor technology and automatically slowing down its movement, stopping it or even moving back. In the future, this will make it possible to work together with the robot in its immediate vicinity.

All control circuits with functions for personal safety are usually designed and monitored redundantly, so that even a failure, such as a short circuit, does not cause a loss of safety.

A hazard analysis makes it possible to determine the hazards emanating from the robot or additional systems and to design a suitable protective device for them. All devices connected in the safety circuit must correspond to the selected category.