AUTOMATION
Selecting the Right Kinematic Solution
A handful of considerations will provide good direction in selecting the correct robot. First and foremost, what is the payload requirement for the robot? Frequently people only consider the products that are being handled. However it is important to also consider the tooling solution or end of arm tool (EOAT).
Evaluating the motion requirements is also critical. Not only the simple motion of picking and placing but also what interferences exist between the robot, its linkages as well as other items that may be in dynamic motion within the cell.
Consideration must also be given to how parts are produced and throughput requirements. How repeatable does the robot need to be? It’s also important here to recognize that robot manufacturers tend to speak in terms or repeatability while engineers and designers tend to look at it from the standpoint of
good understanding of a process’s requirements in combination with the capabilities of a given robotic solutions requires careful evaluation.
Do your processes require special environmental considerations? Do you require a robot designed to eliminate the generation of particulates that might degrade the product? Or does the robot need to be protected from process specific elements like slurry in ingot processing.
Major Robot Types
Robot kinematics can be divided into four major categories. The four groups are Cartesian, SCARA, Articulated and delta/parallel.
Cartesian
accuracy. A robot’s
repeatability outlines the
machine’s ability, once taught, to return to that taught position. Accuracy, references the ability to input a given location digitally and have the robot move to that point in space “accurately”. This encompasses offsets and other digitally inputted motion parameters and often varies within a given mechanical unit’s work envelope. Thus, a
The Cartesian kinematic solution is highly configurable as the platform includes everything from a single degree of freedom or unidirectional travel to numerous axis of motion. Given the simplicity of this kinematic, adjusting strokes or lengths and configuration is relatively easy when compared to this model’s counterparts. Multiple drive trains exist which are optimized to provide high through put or precise motion as characterized by whether the drive might be a ball screw or a belt driven mechanism. Platforms exist that accommodate small part assembly to extremely large part transfer such as overhead cranes that might be observed overhead in a manufacturing facility.
13
www.solar-pv-management.com Issue II 2010
Page 1 |
Page 2 |
Page 3 |
Page 4 |
Page 5 |
Page 6 |
Page 7 |
Page 8 |
Page 9 |
Page 10 |
Page 11 |
Page 12 |
Page 13 |
Page 14 |
Page 15 |
Page 16 |
Page 17 |
Page 18 |
Page 19 |
Page 20 |
Page 21 |
Page 22 |
Page 23 |
Page 24 |
Page 25 |
Page 26 |
Page 27 |
Page 28 |
Page 29 |
Page 30 |
Page 31 |
Page 32 |
Page 33 |
Page 34 |
Page 35 |
Page 36 |
Page 37 |
Page 38 |
Page 39 |
Page 40 |
Page 41 |
Page 42 |
Page 43 |
Page 44 |
Page 45 |
Page 46 |
Page 47 |
Page 48 |
Page 49 |
Page 50 |
Page 51 |
Page 52 |
Page 53 |
Page 54 |
Page 55 |
Page 56 |
Page 57 |
Page 58 |
Page 59 |
Page 60 |
Page 61 |
Page 62 |
Page 63 |
Page 64 |
Page 65 |
Page 66 |
Page 67 |
Page 68 |
Page 69 |
Page 70 |
Page 71 |
Page 72 |
Page 73 |
Page 74 |
Page 75 |
Page 76 |
Page 77 |
Page 78 |
Page 79 |
Page 80 |
Page 81 |
Page 82 |
Page 83 |
Page 84 |
Page 85 |
Page 86 |
Page 87 |
Page 88 |
Page 89 |
Page 90 |
Page 91 |
Page 92 |
Page 93 |
Page 94 |
Page 95 |
Page 96 |
Page 97 |
Page 98 |
Page 99 |
Page 100 |
Page 101 |
Page 102 |
Page 103 |
Page 104