TECHNICAL UNIVERSITY OF SOFIA Faculty of Mechanical Engineering

MANIPULATOR

KADIR SEZER Fac. No: 283210117

Supervisors: Volodya Pashov Ivo YANAKIEV

2012 2013 SOFIA

what is the manipulator?

In robotics a manipulator is a device used to manipulate materials without direct contact. The applications were originally for dealing with radioactive or biohazardous materials, using robotic arms, or they were used in inaccessible places. In more recent developments they have been used in applications such as robotically-assisted surgery and in space. It is an arm-like mechanism that consists of a series of segments, usually sliding or jointed, which grasp and move objects with a number of degrees of freedom. One of the types of manipulators is balanced manipulator type MSP-250, controlled by the operator's hand. Such manipulators are used in various industries. Where there are special requirements to protect against fire and explosion, they may be driven by compressed air.

MANIPULATORS
Robot arms, industrial robot
Rigid bodies (links) connected by joints Joints: revolute or prismatic Drive: electric, pneumatic or hydraulic End-effector (tool) mounted on a flange or plate secured to the wrist joint of robot

MANIPULATOR ANATOMY
Joint3 Link3

Manipulator consists of joints and links Joints provide relative motion Links are rigid members between joints Various joint types: linear and rotary Each joint provides a degree-of-freedom Most robots possess five or six degrees-offreedom Robot manipulator consists of two sections: Body-and-arm for positioning of objects in the robot's work volume Wrist assembly for orientation of objects

End of Arm Link2

Link1
Joint2 Joint1 Link0 Base

Power
Power = Force x Distance / Time
OR

Power = Torque x Rotational Velocity

Stress Calculations

Bending

Mc
I

Tensile F tens tens A

Shear F shear A

Where: = Bending Stress M = Moment (calculated earlier) I = Moment of Inertia of Section c = distance from Central Axis

Where: = Tensile Stress Ftens = Tensile Force A = Area of Section

Where: = Shear Stress Fshear = Shear Force A = Area of Section

Manipulator Joints
Translational motion
Linear joint (type L)

prismatic (type p)
Orthogonal joint (type O)

Rotary motion
Rotational joint (type R) Twisting joint (type T) Revolving joint (type V)

Mechanical Configurations

 Cylindrical (R2P): Cylindrical coordinate Robots have 2 prismatic joints and one revolute joint.

WRIST MOTIONS
WRIST typically has 3 degrees of freedom Roll involves rotating the wrist about the arm axis Pitch up-down rotation of the wrist Yaw left-right rotation of the wrist End effector is mounted on the wrist

Manipulator configuration Advantages and Disadvantages

Configuration
Cartesian (3 linear axes) x: base travel y: height z: reach

Advantages
- Easy to visualise - Rigid structure

Disadvantages
- Reach only to front and back - Requires a large floor space - Axes are hard to seal

- Easy off-line programming - Easy mechanical stops

- Expensive

Clyindrical (1 rotating and 2 linear axes) base rotation height z reach

- Can reach all around - Rigid y, z-axes - -axes easy to seal

Cannot reach above itself. - Less rigid 0-axis - y, z-axes hard to seal - Wont reach around obstacles - Horizontal motion is circular

Spherical (2 rotating and I linear axes) base rotation elevation angle z:reach Aritculated (3 rotating axes) base rotation elevation angle reach angle

- Can reach all around - Can reach above or below obstacles - Large work volume

- Cannot reach above itself - Short vertical reach

Can reach above or

below objects - Largest work area for least floor space.

- Difficult to program off-line - Two or more ways to reach a point - Most complex robot

Types of manipulator
A manipulator is a device used under human control to manipulate materials without direct requiring contact. The materials are often heavy, radioactive, bio hazardous or in inaccessible places. Industrial Manipulators Pneumatic Manipulators Lift Assistors Material Handling Manipulators Manipulator Arm

Industrial Manipulator Types

Telemanipulators

Telemanipulators extend the dexterous manipulative capabilities of human operators into a hazardous environment. Most Telemanipulators are custom manufactured to ensure compatibility and to suit the customer's facility. Sealed Telemanipulators completely isolate the operator from the slave-end and can be installed in vacuum chambers or inert atmosphere enclosures.

4.Industrial Applications for Manipulators Industrial Manipulators are used in many Industry Sectors. Here's a few... 4.1.Automotive Industry The Motor Industry use Industrial Manipulators for the handling of body parts and components. 4.2 .Building and Construction Industry The building and construction manufacturing industry use Industrial Manipulators for the handling of paving slabs, sewerage and drainage pipe, concrete products and other heavy and cumbersome loads. 4.3.Chemical Industry The chemical industry use Industrial Manipulators to lift and handle hazardous chemicals. 4.4.Electronics Industry The electronic industry use Industrial Manipulators for handling fragile and heavy loads such as televisions, air conditioning units, electrical appliances, refrigerators, washing machines many other delicate products.