Looking for a Tutor Near You?

Post Learning Requirement »
x

Choose Country Code

x

Direction

x

Ask a Question

x

x
x
For better view click here
x
Hire a Tutor
DISCOVER

Robotics Unit I

Loading...

Published in: Robotics
6,151 Views

Presentation on Robotics

Trinity A / Chandigarh

year of teaching experience

Qualification:

Teaches: Indian National Mathematical Olympiad (INMO), Mental Maths, Olympiad Exam Preparation, Regional Mathematical Olympiad (RMO), Advanced Excel, Basic Computer, MS Office, School Level Computer, Mathematics, Statistics, Science, Social Studies, B.Tech Tuition, Drawing, Mechanical, AutoCAD Training, French, German, Study in Germany

Contact this Institute
  1. 1. 2. 3. Course Objectives To understand working and construction of hydraulic and pneumatic circuit To understand, diagnose an automated system. Familiarize with the PLC functionally features etc.
  2. Chapter 1 — Introduction to Industrial Automation
  3. 1.1 Industrial Automation - Machines Storage Systems Handling Systems Assembly Lines — Assembly Cells Machines Actuators , Sensors Production Lines — Production Cells Machines Actuators , Sensors
  4. 12 Automated System Periodic Worker Examples: Automated machine tools Transfer lines Automated assembly systems Industrial robots Automated System Transformation Process Z-/Z-/Z-/ZY Automated material handling and storage systems Automatic inspection systems for quality control
  5. 1. 2. 3. 1.3 Automation Principle Understand the existing process Input/output analysis Value chain analysis Charting techniques and mathematical modeling Simplify the process Reduce unnecessary steps and moves Automate the process Ten strategies for automation and production systems Automation migration strategy
  6. Three Automation Types Programmable Automation Variety xible Automation ed Automation Quantity
  7. Fixed Automation Sequence of processing (or assembly) operations is fixed by the equipment configuration Typical features: Suited to high production quantities High initial investment for custom-engineered equipment High production rates Relatively inflexible in accommodating product variety
  8. Programmable Automation Capability to change the sequence of operations through reprogramming to accommodate different product configurations Typical features: High investment in programmable equipment Lower production rates than fixed automation Flexibility to deal with variations and changes in product configuration Most suitable for batch production Physical setup and part program must be changed between jobs (batches)
  9. Flexible Automation System is capable of changing over from one job to the next with little lost time between jobs Typical features: High investment for custom-engineered system Continuous production of variable mixes of products Medium production rates Flexibility to deal with soft product variety
  10. 1. 2. 3. 4. 5. 6. 7. 8. 9. 1.4 Reasons for Automating To increase labor productivity To reduce labor cost To mitigate the effects of labor shortages To reduce or remove routine manual and clerical tasks To improve worker safety To improve product quality To reduce manufacturing lead time To accomplish what cannot be done manually To avoid the high cost of not automating
  11. 1.5 Basic elements of an automated system - Basic elements of an automated system: 1. Power to accomplish the process and operate the system. 2. A program of instructions to direct the process. 3. A control system to actuate the instructions.
  12. Elements of Automated system 1. Power source: An automated system is used to operate some process and power is required to drive the process as well as controls. There are many sources of power available, but the most commonly used power is electricity. The actions performed by automated systems are generally of two types: (a)Processing (b)Transfer and positioning In the first case, energy is applied to accomplish some processing operation on some entity. The process may involve shaping, moulding or Loading and unloading. All these actions need power to transfer the entity from one state or condition into more valuable state or condition. The second type of actions-transfer and positioning. In these cases, the product must generally be moved from one location to another during the series of processing steps.
  13. 2. Program of instructions: The actions performed by an automated process are defined by a set of instructions known as process. The programmed instructions determine the set of actions that is to be done automatically by the system. The program specifies what automated system should do and how its various components must function in order to accomplish the desired results. 3. Control system: The control element of the automated system executes the program of instructions. The controls in an automated system can be: (a)Closed loop (b)Open loop. (b) Closed loop control system: It is also known as a feedback control system. In this system the output variable is compared with an input parameter and any difference between the two is used to drive the output into agreement with input.
  14. 1. 2. 3. 1.6 Advanced Automation Functions Safety monitoring Maintenance and repair diagnostics Error detection and recovery
  15. 1.7 Safety Monitoring Use of sensors to track the system's operation and identify conditions that are unsafe or potentially unsafe Reasons for safety monitoring — To protect workers and equipment Possible responses to hazards: — Complete stoppage of the system Sounding an alarm Reducing operating speed of process Taking corrective action to recover from the safety violation
  16. 1.8 Maintenance and Repair Diagnostics Status monitoring — Monitors and records status of key sensors and parameters during system operation ' Failure diagnostics — Invoked when a malfunction occurs — Purpose: analyze recorded values so the cause of the malfunction can be identified ' Recommendation of repair procedure — Provides recommended procedure for the repair crew to effect repairs
  17. l. 2. Error Detection and Recovery Error detection — functions: Use the system's available sensors to determine when a deviation or malfunction has occurred Correctly interpret the sensor signal Classify the error Error recovery — possible strategies: Make adjustments at end of work cycle Make adjustments during current work cycle Stop the process to invoke corrective action Stop the process and call for help
  18. Automation Strategies Specialization of operations 1. Combined operations 2. Simultaneous operations 3. Integration of operations 4. 5. Increased flexibility 6. Improved material handling and storage On-line inspection 7. Process control and optimization 8. Plant operations control 9. 10. Computer-integrated manufacturing
  19. Levels of Automation The degree to which a task is automated is referred to as levels of automation (LOA). The manufacturing industries make the product out of materials using machines/robotics. Some of these manufacturing industries include textile and clothing, glass and ceramic, food and beverages, paper making, etc. New trends in manufacturing systems have been using automation systems at every stage such as material handling, machining, assembling, inspection and packaging. With the computer-aided control and industrial robotic systems, the manufacturing automation becomes very flexible and efficient.
  20. Levels of Automation Production Planning and Scheduling Monitoring Order Tracking Shop Fleet Oata Collection & Supervisory Control Group a Group Control Oat' Coltectiee•c Signal Check & Control Sensing Actuating Devices manufaetvtinqAutomation SvstemHietarchv Factory Level Shop Lovel Shop Floor Level/ Centrol Level Level Control Level
  21. Levels of Automation Machinery Level: In this level various sensing and actuating devices controls the manufacturing process. It is an instrumentation level of machine control. Tasks of this level include data collection, signal check and machine control. Cell or Group Level: This is another automation level at which operation of a group of machines within a manufacturing cells are co-ordinated. Various automated controllers like PLCs are employed for such control of machines. Shop Floor Level: It is a supervisory automated level where supervision and coordination of several manufacturing cells are carried out. Plant Level: This automation level performs the activities of production monitoring, control and scheduling, etc. HMIs employed at this level facilitate to control all the manufacturing process variables remotely. Enterprise Level: This level does all the management related activities such as production planning and scheduling, etc.
  22. 1,10 Low Cost Automation Low cost automation is a technology that creates some degree of automation around the existing equipment, tools, methods, people etc. using mostly standard component available in the market. A wide range of activities such as loading, feeding, clamping, machining, welding, forming and packing can be subjected to low cost automation Low cost automation is very useful for process industries, manufacturing, chemical, oil or pharmaceuticals. Many operations in food processing can also be done by low cost automation system.
  23. Benefits of Low Cost Automation Benefits: 1. Reduce manual controls without changing the basic set up. 2. Low investment 3. Increased labor productivity 4. Consistent quality 5. Better utilization of material.
  24. Advantages of Automation The main advantages of automation are: 'Increased throughput or productivity. 'Improved quality or increased predictability of quality. 'Improved robustness (consistency), of processes or product. 'Increased consistency of output. 'Reduced direct human labor costs and expenses.
  25. Disadvantages of Automation The main disadvantages of automation are: Security Threats/Vulnerability: An automated system may have a limited level of intelligence, and is therefore more susceptible to committing errors outside of its immediate scope of knowledge (e.g., it is typically unable to apply the rules of simple logic to general propositions). Unpredictable/excessive development costs: The research and development cost of automating a process may exceed the cost saved by the automation itself. High initial cost: The automation of a new product or plant typically requires a very large initial investment in comparison with the unit cost of the product, although the cost of automation may be spread among many products and over time.
  26. 1. 2. 3. 4. 5. References https://books.google.co.in/books/about/lndustrial Automation and Robotics. http://nptel.ac.in/courses/108105063/pdf/L- http://nptel.ac.in/courses/Webcourse- contents/IIT%20Kharagpur/Industrial%20Automation%20control/New index 1 .html http://textofvideo.nptel.iitm.ac.in/108105062/1ec1 .pdf http://paginas.fe.up.pt/—asousa/sind/acetat/IA Stutg/ia 01 what is IA.pdf
  27. 1. 2. 3. 4. FAQs How can automation help an industry to achieve its goals? Is automation applicable to all kinds of industries? When do we prefer flexible automation? What are the points to be taken care of while implementation of automation?
  28. Chapter 2 — Fluid Power Control and Hydraulic, Pneumatic Circuits
  29. 1.11 What is Fluid Power? ' Fluid power is energy transmitted and controlled by means of a pressurized fluid, either liquid or gas. The term fluid power applies to both hydraulics and pneumatics. Hydraulics uses pressurized liquid, for example, oil or water; ' Pneumatics uses compressed air or other neutral gases. ' Fluid power can be effectively combined with other technologies through the use of sensors, transducers and microprocessors.
  30. How does Fluid Power Work? Pascal's Law expresses the central concept of fluid power: "Pressure exerted by a confined fluid acts undiminished equally in all directions. ' alaæ Pascal 1 623 - 1662
  31. 1 12 Fluid Power Applications Mobile — Backhoes — Graders — Tractors - Truck brakes — Suspensions — Spreaders — Highway maintenance vehicles
  32. Fluid Power Applications ' Industrial — Metalworking equipment — Controllers — Automated manipulators — Material handling — Assembly equipment
  33. Fluid Power Applications Aerospace — Landing gear — Brakes — Flight controls — Motor controls — Cargo loading equipment
  34. 1,13 Fluid Power System : Components A typical fluid power system includes the following components: Hydraulic pump or air compressor Cylinder or motor Valves Filters, regulators and lubricators Manifolds, hose, tube, fittings, couplings, etc., Sealing devices Accumulators and rese r VO i r S Instruments, such as pressure switches, gauges, flow meters, sensors and transducers
  35. 1.14 Pneumatic and Hydraulic Control Pneumatic Control Is: > Clean > Intrinsically Safe > Overload Safe Comparison Hydraulic Control: > Is Infinitely Controllable > Produces Extremely Large Forces > Requires High Pressures > Requires Heavy Duty Components > Inexpensive for Individual Components
  36. Differences in Symbols Hydraulic Pump Pumps and Motors differ only by filling in the direction arrow or leaving it white. Supply and Pilot arrows are also filled in or left white. Hydraulically Actuated and supplied 3/2 Pilot Spring Compressor Pneumatically Actuated and supplied 3/2 Pilot Spring
  37. Differences in Symbols Cylinders and other actuators also differ with respect to supply and direction arrows. Hydraulic Double Acting Cylinder Pneumatic Double Acting Cylinder Many symbols do not change, for example the Filter symbol. Hydraulic Filter Pneumatic Filter Remember however that the physical construction is completely different. For example, hydraulic filters can be either Suction Strainers (suction side of the pump), Pressure Filter (pressure side of the pump) or Return Filter (in the return to tank line). Each filter requires different properties.
  38. Differences in Principles and Properties Pneumatic systems rely on a supply of Compressed air flowing through Pipes to Actuators. The Force for work is produced due to the Pressure of the Air acting on the Area of the actuator. Air is Compressible. Gas laws such as Boyle's and Charles's Laws govern medium behaviour Actuator demand is measured in m3 per hour or operation Compressor output is measured in m3 per hour Free Air Delivery (FAD) Hydraulic systems rely on a supply of incompressible fluid flowing through Hoses to Actuators. The Force for work is produced due to the Pressure of the Oil acting on the Area of the actuator. Oil is considered Incompressible. Bernoulli's and other Fluid Flow Laws govern medium behaviour Actuator demand is measured litres per minute for a specific speed Pump output is measured litres per minute Both Hydraulics and Pneumatics are described with Pascal's Law and F=PA
  39. Differences in Construction The hydraulic Power Pack contains the Pump, (Reservoir), Tank Filters and commonly a Relief Valve for protection of the system. The unit is usually local to the machine that is using it. Hydraulic pumps are Positive usually Displacement devices which means they displace all the oils they pump. ECOAIR/Ø» e o 3 The Pneumatic Compressor installation usually includes a Dryer and Receiver. The unit is usually remote from the machine that is using it.
  40. Differences in Application c, VOGEL-BAU Hydraulic systems are used where large forces are required such as in earth moving heavy equipment, cutting, Pressing and Clamping Pneumatic systems are used for relatively light moving, Clamping and Process operations
  41. Directional Control Valves Hydraulic Control Valves Flow Control Valve Pressure Control Valves
  42. 1,15 Directional Control Valves Directional control valves fall into one of two categories: Shear Action Lapped Spool Packed Spool Packed Bore Bonded Spool Poppet Metal Face Bonded
  43. 1,16 Pressure Control Valves A pressure control valve can be used : I-TO limit the maximum pressure 2-To set a back pressure 3-To pass a signal when a certain pressure is reached 4- To protect the pump from over pressure
  44. 2-Way Valves in a Circuit The 2-way DCV is used here to isolate fluid flow from the 4- way DCV until needed. The current condition shows no flow going to the 4-way DC Vs.
  45. 3-Way Valves in a Circuit x In the circuits above, each cylinder has something to push it back. The ram on the left has the weight of the ram and gravity to return it to the starting position. On the left, a spring returns the rod to its starting point. 3-way valves have other functions as well.
  46. 4-Way Valves in a Circuit Whether in a hydraulic circuit or a pneumatic circuit, 4-way DC Vs function the same. The two triangles at the bottom represent the supply source, hydraulic on the left and pneumatic on the right. The direction of the cylinder in both cases is determined by the envelope chosen. Envelopes are shifted by an "operator."
  47. 1,17 Valve Operators Push Button Hand Lever Hydreulic Pilot Pedal or Treadle Air Pilot Mechanically Actuated Symbol Manual operators such as the push button, hand lever, and foot pedal, use human power for actuation. Mechanical operators use a machine component to contact a roller or ball bearing. Pilot operators use a fluid to move the spool. A solenoid uses electro-mechanical force to move a spool or poppet.
  48. Pneumatic Valves Exhaust Center Pressure Center Blocked Center The operating principles of pneumatic valves are identical to the ones used in hydraulics but there does exist a difference in the schematic symbology. First, you may notice that the arrows are "canted" or at an angle. This serves only to Distinguish them from hydraulic DC Vs and nothing more. Second, these valves are often referred to as 4-way valves although they have 5 ports. The reason is that there is an additional exhaust port, usually not found in hydraulic valves.
  49. 1,18 Basics of Control Chain The contrd chan is a categorised representation of a control system, from amongst dt•er thirgs, the svgnal drectim can be &terminad. Command execubon "nai output Svgnal prtxesslng Signal input Signal flow Power component Adjusting rocesstng component Control element Signalfing element Classification Of With the circuit desigrq the system breakdown produces a separa- tion of signal input. signal processirq, signal output and command exe• cution. In gactco. tt•as separation can be In the case of irstalldions. the mntrd sectim is generalFy in a separate to that of power section.
  50. Course Outcome Student now able to understand the meaning of automation and various types of automation system. An ability to design the pneumatic circuit and hydraulic circuit for automation.
  51. 1. 2. 3. 4. References http ://hydraulicspneumatics.com/other-technologies/chapter-5- pneumatic-and-hydraulic-systems http://www.nitc.ac.in/dept/me/jagadeesha/mev303/Chapter2 Hydraul ics control in machine tools.pdf http://machinedesign.com/linear-motion/what-s-difference-between- pneumatic-hydraulic-and-electrical-actuators https://www.faa.gov/regulations policies/handbooks manuals/aircraf t/amt airframe handbook/media/ama ch12.pdf
  52. 1. 2. 3. 4. 5. FAQs Why Do Directional Control Valves Have Different Flow Paths? What is twin pressure valve? Why end cushions are used in cylinders? What is meant by interlock contacts? How do you select hydraulic pipes for a hydraulic system?

Need a Tutor or Coaching Class?

Post an enquiry and get instant responses from qualified and experienced tutors.

Post Requirement

Related PPTs

Upload PPTs

If you have your own PowerPoint Presentations which you think can benefit others, please upload on LearnPick. For each approved PPT you will get 100 Credit Points and 100 Activity Score which will increase your profile visibility.

Upload Now
Home > PowerPoint Slides > Robotics Unit I