The Research and Design of Industrial Robot Introduced into Pint-sized Robot Teaching

  http://dx.doi.org/10.14257/ijca.2014.7.1.23

The Research and Design of Industrial Robot Introduced into

Pint-sized Robot Teaching

  1

  2 Zhao Dan and Kang Yingjian

1 Department of Electrical Technology, College of Automation Engineering

  

Beijing Polytechnic, Beijing 100176, P.R. China

2 Department of Computer Technology, College of Telecommunications Engineering

  

Beijing Polytechnic, Beijing 100176, P.R. China

Abstract

  The application of industrial robots is an important symbol of a nation's industrial

automation level. While domestic universities robot teaching is mostly on pint-sized robot.

This paper introduces how combine the pint-sized robot teaching with the industrial robot

practical operation. Through the pint-sized robot simulating industrial robot, realizing the

manipulator operation, the student further to get more knowledge, learn the method to

analyze and solve problems, and get effectively training and all-round development in

innovation ability.

  Key words: Pint-sized Robot; Industrial Robots; Innovation Ability 1.

   Introduction

  China's manufacturing industry is facing to the great challenge of high-end, undertaking international advanced manufacture and participating in the international division of labor. To speed up the development of industrial robots, is one of the main ways to seize the historic opportunity in China. But as industrial robots are usually large volumes, high cost, having certain risk on operation, and most of the industrial robot belongs to the type of teaching and reappearing on software programming, it is not conducive to school daily teaching and students' innovative research. By using pint-sized robot simulate industrial robot, realizing the manipulator operation, which can make students have a preliminary understanding to the operation of the industrial robot, improve the innovation ability, further to get more knowledge, learn the method to analyze and solve problems, and get effectively training and all-round development in innovation ability.

2. Industrial Robots Overview A. What is the industrial robots

  Industrial robot is important modern manufacturing automation equipment, which combines mechanical, electronic, control, computer, sensors, artificial intelligence, bionics and other multidisciplinary advanced technology in a body. Industrial robot consists of manipulator (main body), controller, servo drive system and detection sensor device, is a kind

ISSN: 2005-4297 IJCA

  of mechanical and electrical integration of automation production equipment, which has humanoid operation, automatic control, can repeat programming, and make all kinds of assignments in three-dimensional space. It is s imilar people’ walking, waist, arm, forearm, wrist and hand claw parts, so is also referred to as "manipulator".

  According to the actuator movement control method industrial robot is divided into two kinds, Point to Point (PTP) and continuous Path (CP). PTP only control and perform industrial robot mechanism from the point to another point of accurate positioning, suitable for spot welding, general handling, loading and unloading, etc. CP can control actuators move according to the given trajectory, suitable for continuous welding and coating, etc.

B. The industrial robot Application and development

  Abroad have extensive use of industrial robot automation production line in automotive industry, electronic industry, engineering machinery and other industries, to ensure product quality, improve production efficiency, and avoid a lot of industrial injury accident. In many countries around the world, nearly half a century of industrial robot operation practice shows that the popularity of industrial robots is the effective means to realize the automation of production, improve the efficiency of social production, and promote enterprise development and social productivity.

  The application of industrial robots is an important symbol of a nation's industrial automation level. Using manipulator in production can improve the automation level of production, reduce labor intensity, ensure product quality, and achieve safe production. Especially in high temperature, high pressure, low temperature, low pressure, dust, explosive, toxic gas and radioactive and other harsh environments, it is of great significance to instead of people to carry on the normal work. Therefore, in the machining, stamping, casting, forging, welding, heat treatment, electroplating, painting, assembly, and light industry, transportation, etc., the robots get more and more widely quoted. China's manufacturing industry is rapidly into the era of robots.

  SUN Bailin recently said in Beijing instruments exhibition that industrial robots have become important equipment and means in advanced manufacturing, and the emergence of robot workstation, especially robot automatic production line, significantly increase the competitiveness of the enterprises, and brings obvious benefit for the user.

  The rapid development of industrial robots will bring strong impact to China's labor market. As well as computer and network technology, the widely use of industrial robots is increasingly changing the human production and way of life. After introduction of industrial robots, production process and management mode of manufacturing will be made adaptive adjustment with it. The low-skilled workers in manufacturing enterprises first line, even some skilled workers will be replaced by industrial robots, and technical position of debugging, maintenance and controlling industrial robot will be relatively increased. At the industry level, with high-end industries, especially the development of high-end manufacturing, it will increase the demand of the knowledge-type employees; will accordingly drive the increase of the productive service industry practitioners. In other words, the introduction of industrial robots will make employment structure high-end. In the long run, the future intelligent industrial robots will also put forward higher demand to talent.

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Figure 1. Motoman industrial robot

3.

   The Teaching pint-sized robot summary

  The robot in our school teaching and innovation is "BIOLOID" suite. "BIOLOID" like toy block, the universal robot suit with that users can make anything they want. While general toy block can only make the structure users wants, BIOLOID not only can make the structure users want, also can realize the movement users want. The word "BIOLOID" is formed of "Bio" + "all" + "oid", which means that people can use it to make anything.

  Through the BIOLOID, students can play creativity and assemble the robot in their mind by taking advantage of the modular robot suit, learn the scientific way of thinking, and solve the difficulties by themselves from the process of assembly, plan different robot behavior models and improve their ability of logic judgment by behavior control software and motion editor software. BIOLOID reads multiple information from the sensors and joints, and uses these to realize automatic motion. Students can learn about the use of sensors and its programming control method from these. For example, students can make a robot dog, let it stand up when heard a loud clap, sit down when heard two loud clap, make a robot, it would bowing when people near it, make a robot who can avoid obstacles or play ball, or control the robot by remote control. As long as using the software with the robot, even if there is no robot knowledge background users can also be easily programming to realize the above all kinds of robot motion. For advanced users, they can use C language to edit the robot all kinds of motion algorithm, and achieve more complicated control. Can also be bold to try DIY, and add some electronic products, to the robot, such as PDA, CCD, PDA, etc. Stimulate the operation ability, innovation ability, cooperation ability, comprehensive ability, and enterprising spirit, understand their pluralistic intelligence and ability structure, establish a

  Copyright ⓒ 2014 SERSC systematic plan to construct their ability specialty.

  At present, many colleges and universities introduce the pint-sized robot course, but more of them are based on humanoid robot, such as 17 degrees of freedom robot, 21 degrees of freedom robot, and focus on the sensors and visual aspects. These are towards intelligent and far from industrial production or automation equipment. Our school belongs to the vocational college, and focus on cultivating students' professional ability. So with the modifications based on a pint-sized robot, we simulate and realize the function of industrial manipulator, It can not only implement the study of point-to-point movement trajectory for industrial manipulator, more suitable for students to learn and use in class, in the assembly and operability, but also reduces the risk of the students in the learning process. After all, the traditional industrial manipulator torque is large, easy to out of danger. And mechanical voltage of 380v, the potential risk is higher. Meanwhile it is high to the requirement of test site. Because of BIOLOID ’ characteristics of free assembly at the same time, it also give students a chance to independent design and innovation.

  

Figure 2. The BIOLOID suite

4.

   Pint-sized Robot Simulating Industrial Robot Project Introduction

  BIOLOID suite ’s hardware can be roughly divided into the following four.

A. The hardware part

   CM-5

  CM-5 is BIOLOID control equipment, acting as a brain of the robot. It can control 28 AX-12+ and 10 AX-S1 at the same time. Has the buttons for input, and can realize

  Copyright ⓒ 2014 SERSC 262 remote control. It also has a built-in rechargeable battery. 

  AX-12 AX-12 is the dedicated robot servo motor, used as the robot's joints. Which can control the robot's speed and displacement, and also with the detection functions of temperature and load. In infinite rotation mode, it can be used as the wheel. 

  AX-S1 AX-S1 is the sensor, act as eyes and ears of the robot. Which has the distance sensor, brightness sensor, heat sensor, sound sensor, and other functions, with infrared remote control receiver, and also has the voice function. 

  Assembly Assembly includes structure, wires, and wheels, etc. which can be used to connect the CM-5, AX-12+, AX-S1, etc., by the screws and nuts provided.

B. The software part BIOLOID offers three programming software as follow.

   Behavior Control Programmer

  It is the make robot software which can let the robot to realize some rules of recognition, judgment, action, etc.

  

Figure 3. Behavior Control Programmer

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   Motion Editor

  Motion editor is the software which can easily design a complex robot motion. The motion designed in here will be called out and used in the behavior control program.

  

Figure 4. Motion Editor

   Robot Terminal This is the software used in the management of the robot, mainly used by advanced users.

  It is a kind of serial communication terminal, when users want to convey data to the robot or view the data robot feedback.

  

Figure 5. Robot Terminal

C. The project introduction The flow chart of pint-sized robot simulating industrial robot program is as follows.

   The flow chart The project flow chart is as follows.

  

Figure 6. The project flow chart

  Main process in the program is the assembled "manipulator" imitating the industrial manipulator action effect through two actions, the grip and the release. The entire program realizes the repeating operation, the grip and the release, through loop. On the basis of the main process, students can play to their ability to innovate, the integrated use of knowledge, and make the program improvement of innovative. For instance, before grasping object the manipulator can determine whether there is an object ahead, and take corresponding measures. After grasping object the manipulator can also determine whether the task is completed, and it needs to add some delay in order to hold the object. At the same time, whether it needing to handle or adjusting the position, etc., these can let students to independent design and research. Cultivate their flexible use of knowledge, the ability to find and solve problems, and innovative thinking and innovative ability.

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   Part of the program

  Part of the program is as follow

  

Figure 7. Part of the program

   Plan to show

  Plan 1: Two arms simulating manipulator Running effect of the plan is that the “manipulator” detects the object by sensors, closes its two arms, and clamps the object, then the user control the manipulator

  ’s operation direction or loosen the arms by the buttons. The product picture as follows.

  

Figure 8. The picture of two arms simulating manipulator

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  Plan 2: Three arms simulating manipulator Running effect of the plan is that the “manipulator” detects the object by sensors, closes its three arms, and clamps the object, then loosen the arms after a delay. The product pictures as follows.

  

(a) (b)

(c)

  

Figure 9. The picture of three arms simulating manipulator

  Through this kind of transplantation, students can not only use the knowledge more efficiently and more practically, but also understand the principle and structure of industrial robots for the future work. Meanwhile it broaden students ’ thinking, exercise their independent design and innovation ability, and they also pay more attention to life. As the Plan 2, three arms simulating industrial manipulator just is the students modified and innovate from the grasping toy machine in the street

5. Conclusion

  Industrial robot and pint-sized robot are two different thoughts. The commonest manipulator is a typical type of teaching and reappearing equipment, usually uses FlexPendant to carry on the teaching and demonstration, Students cannot improve the appearance design, just adapt and design the program. And now through this simulation teaching design, we can integrate industrial robot, especially the manipulator operation， with pint-sized robot in teaching. Student not only understand the composition, trajectory and the related principle of the industrial manipulator, prepare for the next step of the industrial robot study, but also further understand the design process, better master the pint-sized robot software and hardware knowledge, exercise the programming ability. Learn knowledge of

  Copyright ⓒ 2014 SERSC computer, C language, sensor, automatic control, machinery and electronics, etc, generate strong interest in these, and lay the foundation of professional course learning and career development later. At the same time, student can combine with the actual life, observe, discover, use the knowledge they have learned, and independent design and innovate, then exercise their ability in design, operation and innovation.

  Acknowledgements This project comes from our school ’s teaching reform project. Thanks the comrade of the

teachers working on the first line for the technical help and support. Thanks all the teachers and

relevant people that give us help in this project.

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Authors

Zhao Dan

  Zhao Dan received her M.S. degree in software engineering from Beijing university of Posts and Telecommunications in Beijing, China. She is currently a lecturer in the College of Automation Engineering at Beijing Polytechnic. Her research interest includes Computer Software, Mechanical and Electrical Integration. She has published several research papers in scholarly journals in the above research areas and has participated in several books.

  Kang Yingjian

  Kang Yingjian received her M.S. degree in computer science from Tianjin University in Tianjin, China. She is currently a senior lecturer in the College of Telecommunications Engineering at Beijing Polytechnic.

  Her research interest is mainly in the area of Computer Software, Mobile and Network. She has published several research papers in scholarly journals in the above research areas and has edited or participated in nearly more than ten books.

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