Robotics and Mechatronics

Objective:

1. To learn the basics of a robot (ABB IRB 120)
2. To learn about the robot controller.
3. To learn to teach points.
4. To write a simple program.

Introduction

The IRB 120 is one of ABB Robotics generation of 6-axis industrial robots designed specifically for manufacturing industries that use flexible robot based automation. The robot has an open structure that is especially adapted for flexible use, and can communicate extensively with external systems.

Requirements: 1. Create a simple program as described in the handout. Test your program for robotic calibration in XYZ coordinate.

2. Gently but firmly mount a pencil or marker on the robot gripper. Jog the robot to a position in which the pencil point touches a corner point of a square 50mm x 50mm. Move the robot to all the corner points (actual) using FlexPendant. Record the positions (X, Y, Z) the robot moves.

3. Try four different speeds: 125, 250, 500, and 1000 mm/s with Zone = 0 for running the program and record the cycle time for each test.

4. Plot a graph of cycle time vs. speed (mm/s).

5. Address the difference between the actual cycle time and the calculated cycle time.

Attachment:- Robotics and Mechatronics Lab.pdf