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Struktur&Klasifikasi

Nuryono S.W. – UAD

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Sistem Robotika

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Bagian Utama SistemRobotika

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Bagian Manipulator

• End Effector

• Pergelangan• Lengan

• Joint• Base

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Joint / Sendi

• Joint/sendi adalah Sambungan antarbagian robot yang memungkinkan adanyapergerakan

• Tersusun dari hubungan antar bagianyang disebut link

• Link Masukan: Link yg terdekat dengandasar dalam rangkaian

• Link Keluaran: Link yg melakukangerakan terhadap link masukan

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Jenis Sendi(Konvensi lama)

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Jenis Sendi(Konvensi baru)

• Sendi Prismatik/ Sendi Linear (P)Hubungan yang memungkinkan

gerakan garis lurus• Sendi Revolusi (R)

Hubungan yang memungkinkanadanya gerakan putar

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End Effector

• Bagian yg tersambung dengan joint terakhir/tangan dari manipulator, ygdigunakan untuk menangani obyek, menyambungkan dengan mesin lain, ataumelakukan tugas yg diperlukan

• Bisa berupa Gripper(Mechanical, Vacuum, Magnetized, Adhesive, welding torch, spray gun,atau glue laying device

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Orientasi Pergelangan/ Orientasi Tool

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Roll, Pitch, Yaw

• Roll: Gulungan,putaran pergelangantangan

• Pitch: Anggukan,putaran ke atas ataubawah dari pergelangan, pembengkokanpergelangan

• Yaw: Gelengan, putaran ke kanan atau kekiri dari pergelangan

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Klasifikasi Robotika

Ada 3 cara klasifikasi• Metode Gerak• Metode Kendali&Pemrograman• Geometri Robot/ Struktur manipulator

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Metode Gerak

Ada 2 metode gerak• Point to Point : Robot bergerak menuju

posisi tertentu, berhenti, end effectorbekerja, bergerak lagi dst.(a sequence of discrete points)

• Continous Path : End effector bekerjasaat robot bergerak.(follow a prescribed path, controlled-path motion)

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Penggunaan PTP

• Spot Welding• Pick & Place• Loading & Unloading

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Penggunaan CP

• Spray Painting• Arc Welding• Gluing

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Metode Kendali

Ada 2 macam• Open Loop : output tidak mempengaruhi

input, tidak ada umpan balik• Closed Loop : output mempengaruhi

input, ada umpan balik

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Open Loop

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Close Loop

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Metode Pemrograman

•• On line (Lead On line (Lead through)teachthrough)teach--byby--showing showing the desired motion the desired motion ‘‘ Manual and PoweredManual and Powered’’

•• Off line ( doesnOff line ( doesn’’t interrupt production)t interrupt production)

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Typical Programming Modes

A typical industrial robot is mostly programmed in one of the following modes:

Physical Setup ModePhysical Setup ModePhysical Setup ModePhysical 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 ModeLead Through or Teach ModeLead Through or Teach ModeLead 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 .

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Continuous WalkContinuous WalkContinuous WalkContinuous Walk----Through ModeThrough ModeThrough ModeThrough 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 ModeSoftware ModeSoftware ModeSoftware 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 .

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Geometri Robot

• Ada 5 Geometri• Cartesian• Cylindrical• Spherical• Articulated/Anthromorphic• SCARA(Selective Compliance Assembly

Robot Arm)

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Cartesian (PPP)

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Cartesian (PPP)

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Silindris (RPP)

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Silindris

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Polar/Spherical (RRP)

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Articulated (RRR)

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Articulated

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SCARA

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SCARA

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SCARA

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Cartesian

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Cylindrical & Spherical

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Articulated

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Daerah Kerja/Work Space

• Ruang di mana robot mampumengantarkan/ menggerakkan ujungpergelangan

Dipengaruhi• Konfigurasi Fisik Robot• Ukuran Komponen Robot• Batas Gerakan Sendi Robot

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Reach & Stroke

• Perkiraan kasar dari ukuran Workspace• Stroke <= Reach• Horizontal Reach: Jarak terjauh yg bisa dicapai ujung

link/pangkal pergelangan dari sumbu vertical putaranrobot

• Horizontal Stroke: Jarak pergerakan horizontal pergelangan

• Vertical Reach: Ketinggian maximum dari bidang kerjalink

• Vertical Stroke: Jarak vertical yang bisa ditempuhpergelangan

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Reach&Stroke

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Daerah Kerja

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Cylindrical Work Space

• Sesuai Namanyamaka volume kerjarobot ini berbentukSilindris/tabung.

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Spherical Work Space

• Volume kerja robot iniadalah berupapotongan bola/spheris

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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 harusditentukan untuk menunjukkan lokasi semuabagian dari rangkaian mekanisme

• Lengan manusia 7 DOF

• Agar bisa menuju satu titik dengan orientasitertentu butuh 6 DOF

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Degree of Freedom(DOF)Derajat Kebebasan

• Degrees Of Freedoms (DOF) Minimum number of independent axes which define the mechanical motionDOF =6 for general purpose robotDOF<6 for deficient robotDOF> 6 for redundant robot

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Referensi

• Yoram Koren,”Robotics for Engineers”, McGrawHill International halaman 23-50

• Saeed B Niku, Introduct. To Robotics Analysis, Systems, Appl.”, Prentice Hall halaman 1-27

• R.J. Schilling, Fundamental of Robotics Analysis & Control”, Prentic Hall halaman1-12