Struktur&Klasifikasi. Nuryono S.W. UAD TH22452 ROBOTIKA 1

Transkripsi

1 Struktur&Klasifikasi Nuryono S.W. UAD TH22452 ROBOTIKA 1

2 Sistem Robotika TH22452 ROBOTIKA 2

3 Bagian Utama Sistem Robotika TH22452 ROBOTIKA 3

4 Bagian Manipulator End Effector Pergelangan Lengan Joint Base TH22452 ROBOTIKA 4

5 TH22452 ROBOTIKA 5

6 Joint / Sendi Joint/sendi adalah Sambungan antar bagian robot yang memungkinkan adanya pergerakan Tersusun dari hubungan antar bagian yang disebut link Link Masukan: Link yg terdekat dengan dasar dalam rangkaian Link Keluaran: Link yg melakukan gerakan terhadap link masukan TH22452 ROBOTIKA 6

7 Jenis Sendi(Konvensi lama) TH22452 ROBOTIKA 7

8 Jenis Sendi(Konvensi baru) Sendi Prismatik/ Sendi Linear (P) Hubungan yang memungkinkan gerakan garis lurus Sendi Revolusi (R) Hubungan yang memungkinkan adanya gerakan putar TH22452 ROBOTIKA 8

9 End Effector Bagian yg tersambung dengan joint terakhir/tangan dari manipulator, yg digunakan untuk menangani obyek, menyambungkan dengan mesin lain, atau melakukan tugas yg diperlukan Bisa berupa Gripper(Mechanical, Vacuum, Magnetized, Adhesive, welding torch, spray gun,atau glue laying device TH22452 ROBOTIKA 9

10 Orientasi Pergelangan/ Orientasi Tool TH22452 ROBOTIKA 10

11 Roll, Pitch, Yaw Roll: Gulungan,putaran pergelangan tangan Pitch: Anggukan,putaran ke atas atau bawah dari pergelangan, pembengkokan pergelangan Yaw: Gelengan, putaran ke kanan atau ke kiri dari pergelangan TH22452 ROBOTIKA 11

12 Klasifikasi Robotika Ada 3 cara klasifikasi Metode Gerak Metode Kendali&Pemrograman Geometri Robot/ Struktur manipulator TH22452 ROBOTIKA 12

13 Metode Gerak Ada 2 metode gerak Point to Point : Robot bergerak menuju posisi tertentu, berhenti, end effector bekerja, bergerak lagi dst.(a sequence of discrete points) Continous Path : End effector bekerja saat robot bergerak.(follow a prescribed path, controlled-path motion) TH22452 ROBOTIKA 13

14 Penggunaan PTP Spot Welding Pick & Place Loading & Unloading TH22452 ROBOTIKA 14

15 Penggunaan CP Spray Painting Arc Welding Gluing TH22452 ROBOTIKA 15

16 Metode Kendali Ada 2 macam Open Loop : output tidak mempengaruhi input, tidak ada umpan balik Closed Loop : output mempengaruhi input, ada umpan balik TH22452 ROBOTIKA 16

17 Open Loop TH22452 ROBOTIKA 17

18 Close Loop TH22452 ROBOTIKA 18

19 Metode Pemrograman On line (Lead through)teach-by by-showing the desired motion Manual and Powered Off line ( doesn t t interrupt production) TH22452 ROBOTIKA 19

20 Typical Programming Modes A typical industrial robot is mostly programmed in one of the following modes: Physical Setup Mode is typical programming method for very simple pick-and-place manipulators, where programmable logic controllers (PLC's), proximity and limit switches and timers are used to perform cyclic operation of the manipulator for a desired task. Lead Through or Teach Mode is typical programming mode of a manipulator with positional control capability. Manipulator is moved to the desired positions by the aid of a teach pendant (a control keypad), and the desired positions are stored into program memory in the desired sequence. After teaching is accomplished, controller is set to playback mode, in which the controller moves the manipulator point to point to the desired positions. TH22452 ROBOTIKA 20

21 Continuous Walk-Through Mode is an elaborated teach mode. The operator teaches the manipulator which way to move by forcing the manipulator to move in the desired way. It is conveniently used for painting and assembly robots Software Mode is off-line program writing mode using a text editor or graphical interface. Programming in software mode requires knowledge on operating system and robot languages. Sensor information is easily included to the programming, and computer-aided-design (CAD) database. It is the most sophisticated, and the most versatile way of programming a robot. Most industrial robots have more than one programming modes, and, the most convenient programming mode depends to the task to be programmed. TH22452 ROBOTIKA 21

22 Geometri Robot Ada 5 Geometri Cartesian Cylindrical Spherical Articulated/Anthromorphic SCARA(Selective Compliance Assembly Robot Arm) TH22452 ROBOTIKA 22

23 Cartesian (PPP) TH22452 ROBOTIKA 23

24 Cartesian (PPP) TH22452 ROBOTIKA 24

25 Silindris (RPP) TH22452 ROBOTIKA 25

26 Silindris TH22452 ROBOTIKA 26

27 Polar/Spherical (RRP) TH22452 ROBOTIKA 27

28 Articulated (RRR) TH22452 ROBOTIKA 28

29 Articulated TH22452 ROBOTIKA 29

30 SCARA TH22452 ROBOTIKA 30

31 SCARA TH22452 ROBOTIKA 31

32 SCARA TH22452 ROBOTIKA 32

33 Cartesian TH22452 ROBOTIKA 33

34 Cylindrical & Spherical TH22452 ROBOTIKA 34

35 Articulated TH22452 ROBOTIKA 35

36 Daerah Kerja/Work Space Ruang di mana robot mampu mengantarkan/ menggerakkan ujung pergelangan Dipengaruhi Konfigurasi Fisik Robot Ukuran Komponen Robot Batas Gerakan Sendi Robot TH22452 ROBOTIKA 36

37 Reach & Stroke Perkiraan kasar dari ukuran Workspace Stroke <= Reach Horizontal Reach: Jarak terjauh yg bisa dicapai ujung link/pangkal pergelangan dari sumbu vertical putaran robot Horizontal Stroke: Jarak pergerakan horizontal pergelangan Vertical Reach: Ketinggian maximum dari bidang kerja link Vertical Stroke: Jarak vertical yang bisa ditempuh pergelangan TH22452 ROBOTIKA 37

38 Reach&Stroke TH22452 ROBOTIKA 38

39 Daerah Kerja TH22452 ROBOTIKA 39

40 Cylindrical Work Space Sesuai Namanya maka volume kerja robot ini berbentuk Silindris/tabung. TH22452 ROBOTIKA 40

41 Spherical Work Space Volume kerja robot ini adalah berupa potongan bola/spheris TH22452 ROBOTIKA 41

42 TH22452 ROBOTIKA 42

43 Degree of Freedom(DOF) Derajat Kebebasan The number of independent position variables which would have to be specified in order to locate all parts of the mecanisme Jumlah variable posisi independen yang harus ditentukan untuk menunjukkan lokasi semua bagian dari rangkaian mekanisme Lengan manusia 7 DOF Agar bisa menuju satu titik dengan orientasi tertentu butuh 6 DOF TH22452 ROBOTIKA 43

44 Degree of Freedom(DOF) Derajat Kebebasan Degrees Of Freedoms (DOF) Minimum number of independent axes which define the mechanical motion DOF =6 for general purpose robot DOF<6 for deficient robot DOF> 6 for redundant robot TH22452 ROBOTIKA 44

45 Referensi Yoram Koren, Robotics for Engineers, McGrawHill International halaman Saeed B Niku, Introduct. To Robotics Analysis, Systems, Appl., Prentice Hall halaman 1-27 R.J. Schilling, Fundamental of Robotics Analysis & Control, Prentic Hall halaman 1-12 TH22452 ROBOTIKA 45