OSU ECE 5463 - RM-501-Robot-FA2014 (8 pages)

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RM-501-Robot-FA2014



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RM-501-Robot-FA2014

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Pages:
8
School:
Ohio State University
Course:
Ece 5463 - Introduction to Real Time Robotics Systems

Unformatted text preview:

RM 501 Robot ECE 5463 Fall 2014 Read RM 501 Manual on the Course Website Chapters 1 and 2 Main Components RM 501 5 joint robot arm Standard hand gripper or endeffector Teach box pendant for manual movement of the arm Drive unit Reside all control and power electronics Computer Use PC to output ASCII characters to a printer port to control the robot Wrist Elbow Shoulder Waist Mechanical structure Robot Unit Outer appearance 5 Degrees of freedom DOF waist shoulder elbow pitch roll Base body upper arm forearm hand attachment Wrist The robot is in articulated geometry Every joint is rotational As opposed to cylindrical or spherical Hand 2 jaw gripper which uses a DC motor to control close and open Spherical Cylindrical Interior of arm 3 parts to each joint generally motor DC permanent magnet timing belt appropriate gearing to reduce speed and increase torque limit switch Limit switch limit the travel of a joint small micro switch also used to provide a nest position Two motors for wrist Drive Unit Programs positions may be entered into the system and stored in a ROM used in subsequent playback Serial port RS232C for connection to an external computer like the usual terminal port Centronics connection standard connector for most printers External I O terminals it is usually necessary to synchronize the operation of robot with convey solenoids for part pick up Teach Box Slide switch on for teaching and off for computer mode 12 keys on right for manually operating the joints B body movement S shoulder movement E elbow movement R rotation of wrist P pitch of wrist O open hand C close hand NST ENT executing the key move to origin of the mechanical system where the limit switches are P S ENT 1 629 or 0 store the values of the joint positions where you are with an associated position number stored internally in a RAM 0 home position P C ENT delete a stored position Teach Box continued MOV ENT move to a recorded position ORG ENT move to the home position MOV 0 INC DEC ENT after



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