Experiment 2
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EXPERIMENT 2 PROGRAMMING PICK AND DROP PROCEDURES APPARATUS: •
Robot Assembly
•
Cylinder
•
Teach Pendent
THEORY: The robot is programmed to go through sequence of points in space which are defined with the help of a teach pendent. The theory is already explained in the first experiment and it applies equally here. Robots for simple pick and drop in industrial applications involve pneumatically operated robots and controlled by limited sequence. Robot has profound applications in material handling. The robot moves parts from one place to another. To accomplish the transfer, the robot is equipped with a gripper type end effector. The gripper must be designed to handle the specific part or parts that are to be moved in the application. In material transfer primary purpose of the robot is to pick up parts at one location and place them at a new location. In man y cases, reorientation of the part is accomplished during the relocation. The basic application in this category is the relatively simple pick and place operation, in which robot picks a part and places it at a new location. Only two, three or four joints are required for most of the time. Pneumatically powered robots are often employed.
The robot used in this experiment has the following characteristics: Configuration: TRR (Jointed Arm Robot) Control System: Point to point with playback Robot Name: Gryphon PROCEDURE: •
Place the cylinder at the desired location for the robot to pick it and specify the location where it has to be dropped
•
With the help of teach pendent reach for the cylinder and record this point in the software
•
Grasp the object with the help of gripper and record it into the software
•
Move the robot arm in any desired direction recording the path simultaneously
•
Take the end effector to the point where the cylinder has to be dropped
•
Implement this with by opening the gripper
•
Series of points are obtained at the end of the move displaying x y and z directions
•
Playback these points using Run command by placing the cylinder in its initial position
Robot Assembly
•
Cylinder
•
Teach Pendent
THEORY: The robot is programmed to go through sequence of points in space which are defined with the help of a teach pendent. The theory is already explained in the first experiment and it applies equally here. Robots for simple pick and drop in industrial applications involve pneumatically operated robots and controlled by limited sequence. Robot has profound applications in material handling. The robot moves parts from one place to another. To accomplish the transfer, the robot is equipped with a gripper type end effector. The gripper must be designed to handle the specific part or parts that are to be moved in the application. In material transfer primary purpose of the robot is to pick up parts at one location and place them at a new location. In man y cases, reorientation of the part is accomplished during the relocation. The basic application in this category is the relatively simple pick and place operation, in which robot picks a part and places it at a new location. Only two, three or four joints are required for most of the time. Pneumatically powered robots are often employed.
The robot used in this experiment has the following characteristics: Configuration: TRR (Jointed Arm Robot) Control System: Point to point with playback Robot Name: Gryphon PROCEDURE: •
Place the cylinder at the desired location for the robot to pick it and specify the location where it has to be dropped
•
With the help of teach pendent reach for the cylinder and record this point in the software
•
Grasp the object with the help of gripper and record it into the software
•
Move the robot arm in any desired direction recording the path simultaneously
•
Take the end effector to the point where the cylinder has to be dropped
•
Implement this with by opening the gripper
•
Series of points are obtained at the end of the move displaying x y and z directions
•
Playback these points using Run command by placing the cylinder in its initial position
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