Lecture 2 Types of working bodies of robotic manipulators

Introduction to the online course on industrial robotics programming created for university students in collaboration with companies from the industry. The course is developed by an integrator of industrial robots named Vladimir Koli Vin.

Industrial robots have two types of working organs: grippers and devices that perform auxiliary technological operations related to moving objects or performing specific tasks. Grippers are used for holding and manipulating objects, while auxiliary devices like milling tools, painting equipment, welding torches serve different technological purposes such as milling, painting, welding. Robots equipped with pneumatic grippers hold the workpiece while side-mounted MIG-MAG torches ensure the welding process.

Key Properties of Working Organs in Industrial Robots The book 'Fundamentals of Industrial Robots' by Ozere and Fuga highlights the common properties among various types of working organs. A working organ possesses a specific design with elements for attachment to the robot's flange, ensuring secure fastening. It includes structural components like frames for overall rigidity and one or more drives.

Actuators and Sensors Integration in Working Organs Working organs may feature different actuators such as hydraulic, electromechanical, or servo drives to control operations efficiently. Sensors integrated into the working organ allow monitoring its current state and enable precise control over actions like opening or closing grips. These sensors enhance a robot's responsiveness to surrounding conditions in performing technological tasks effectively.

Optimizing Tool Construction for Efficient Manipulation Construction requirements for working tools involve matching the technological process they are designed for, ensuring precise positioning and firm grip without damaging the workpiece surface. The tool must correspond to the robot manipulator's characteristics in terms of load capacity and size, made from lightweight yet strong materials like magnesium alloys.

Ensuring Safety and Maintenance Efficiency The design of a working tool should prioritize safety by preventing damage to surrounding equipment during operation. Quick repairability with interchangeable parts is essential while considering potential emergencies such as power outages or sudden stops.

Enhancing Versatility Through Automated Tool Changes Working tools need to be versatile in application, accommodating various sizes and shapes of objects efficiently. Automatic tool changing systems enhance productivity by allowing robots to switch between different instruments seamlessly with high precision and repeatability.

Types of Gripping Devices Exploring two types of gripping devices: mechanical fixating and vacuum grips. Mechanical grips mechanically secure objects for manipulation, while vacuum grips attract objects through air pressure or magnetic force.

Varieties of Grips Examining different grip examples such as mechanical grippers designed for delicate objects with silicone pads. Vacuum grips often use vectors to create suction, allowing the handling of various items like food products without damage.

Unique Magnetic Grip Design Introducing a unique electromagnet-based grip that manipulates magnetized materials efficiently. This specialized grip mimics lizard feet's adhesion principle, enabling vertical movement on surfaces like glass with minimal residue left behind.

Advanced Pneumatic Gripping System Showcasing a complex pneumatic gripping system featuring sensors for precise control and multiple finger positions. These versatile grippers are commonly used in intricate industrial operations requiring careful handling and positioning accuracy.

Programming Industrial Robots Across Industries The online course focuses on programming industrial robots across various industries. It delves into different types of technological processes and familiarizes viewers with various gripping mechanisms and tools used in robotics.

Categorizing Robotic Technological Complexes The lecture covers the categorization of robotic technological complexes, showcasing a variety of process categories seen on screen. The importance lies in understanding the diverse range of instruments that serve as robot manipulator's working organs, matching the complexity of technological processes involved.