viii
TABLE OF CONTENTS
Declaration ii
Approval iii
Abstract iv
Abstrak v
Dedication vi
Acknowledgements vii
Table of Contents viii
List of Figures xiii
List of Tables xvi
List of Abbreviations, Symbols, Specialized Nomenclature xvii
1. INTRODUCTION
1 1.1
Background of project 1
1.2 Problem Statements
2 1.3
Objectives 3
1.4 Scope of study
3
2. LITERATURE REVIEW
4 2.1
Introduction 4
2.2 Robot Technology Fundamental
5 2.2.1
Classifications of Robots 5
2.2.2 Cylindrical robot
7 2.2.3
Spherical Robot 8
2.2.4 Scara Robot
9 2.2.5
Articulated robot 10
ix 2.2.6
Parallel Robot 11
2.3 Robot End Effectors
12 2.4
Robot Anatomy 13
2.4.1 Mechanical linkage
13 2.4.2
Actuators 13
2.4.3 Sensors
14 2.4.4
Controller 14
2.4.5 User Interface
15 2.4.6
Power Conversion Units 15
2.5 Robot Control Systems
15 2.5.1
Limited Sequence Control 16
2.5.2 Playback With Point-to-Point Control
16 2.5.3
Playback with Continuous Path Control 17
2.5.4 Intelligent control
18 2.6
Simulation And Offline Programming 18
2.6.1 WORK SPACE v5
19 2.6.2
FANUC Robo Guide v2.3.1 20
2.7 Robot Modeling Analysis
20 2.7.1
Forward kinematics 20
2.7.1.1 Homogeneous Transformations
23 2.7.1.2
D-H transformation Matrices 26
2.7.1.3 Forward Kinematics Solutions
27 2.7.1.4
Denevit-Hartenberg Algorithm 28
2.7.2 Inverse Kinematics
28 2.8
Trajectory Planning 31
2.9 Arc Welding
33 2.9.1
Basic Welding Circuit 33
2.9.1.1 Gas Tungsten Arc Welding GTAW
33 2.9.1.2
Gas Metal Arc Welding GMAW 34
2.10 Considerations of Using Welding Robot
35 2.11
Technology of Welding Robot 37
2.12 Conclusion
40
x
3. METHODOLOGY
41 3.1
Introduction 41
3.2 Information resources
48 3.2.1
Book 48
3.2.2 Journal
48 3.2.3
Internet 48
3.2.4 Software
49 3.3 Data Collection Case Study
49 3.4 Choosing Of Robot and Tools
49 3.5 Programming
50 3.6 Manipulator Kinematics Analysis
50 3.7 Simulation
50 3.8 Conclusion
51
4. DESIGN
52
4.1 Introduction
52 4.2
Workstation Design Consideration 53
4.3 Muffler
54 4.4
Work Station Design 56
4.5 Robot Arc Welding Operation
64 4.6
Conclusion 67
5. RESULT AND ANALYSIS
68
5.1 Introduction
68 5.2
Analysis 68
5.2.1 Forward Kinematics For Welding Robot
69 5.2.2
Forward Kinematics For Positioner Robot 73
5.3 Path Planning
77
xi 5.4
Simulation 81
5.5 Programming
90 5.5.1
Arc Weld Torch Class Module 90
5.5.2 Gripper Behavior Class Module
92
6. DISCUSSION
