i ii i i Preface Industrial Robotics Fundamentals: Theory and Applications is an introductory text that explores many aspects of robotics in a basic and easy-to-understand manner. The key concepts are discussed using a “big picture” or systems approach that greatly enhances student learning. Many applications and operational aspects of equipment and robotic systems are discussed. We continually considered the needs of both students and instructors while prepar- ing this comprehensive text. Several additions have been made to this edition to make this text even more comprehensive, including: • Updated content. The content of the text has been revised and reorganized, with new topics added to refl ect changes in the field fl of robotics technology. The text has fi been continually updated through quality checks to ensure technical accuracy. • Chapter summary and analysis. Each chapter ends with a summary of the chapter content. Following the Review Questions and Learning Extensions, a series of Advanced Analysis questions have been added to help students think critically about chapter content. • Activities. Hands-on activities have been added to the end of many chapters to give students the opportunity to apply chapter content to real-world situations. The development of the computer created what some experts have called the “Second Industrial Revolution.” Many consider robots to be the prime movers of this revolution. It is more important than ever to have more than a basic knowledge of robots and robotics technology. This text is a comprehensive approach to learning the technical aspects of robotics. It is divided into four units, covering broad areas of robotic principles, power supplies and movement systems, sensing and end-of-arm tooling, and control systems. Unit I is devoted to the basic principles of robotic technology. Chapter 1 discusses I the development and use of industrial robotics in the area of automation. Chapter 2 prepares a solid foundation for understanding the characteristics and fundamentals of robotics, including basics components and operation. Chapter 3 provides a general safety overview for use in any laboratory setting. Chapter 4 provides an overview of f programming languages and techniques used to program industrial robots. Chapter 5 explores the many applications for industrial robots. Unit II addresses robotic power supplies and movement systems. Chapter 6 provides I an overview of the electromechanical systems used with robots. Chapter 7 presents fl uid power systems. fl Unit III presents robotic sensing systems and end-of-arm tooling. Chapter 8 discusses I the various sensors commonly used by robots to gain information about the external environment. Chapter 9 provides information about various end effectors and tools used to move workpieces from one location to another within a robot’s work envelope. Unit IV covers robotic control systems, basic maintenance, and implementation plan- V ning. Chapter 10 presents the basics of digital electronics, which includes information on microcomputers and microprocessors. Chapter 11 explains how the robot controller communicates with peripheral equipment found in robotic workcells, including vision systems. Chapter 12 provides an overview of maintenance procedures. Chapter 13 dis- cusses some of the major factors to consider when using robotic systems in an industrial environment. Chapter 14 presents the use of robots outside the factory, artificial intel- fi ligence and expert systems, and suggested coursework and training related to the field fi of robotics. Chapter 15 helps give examples of how to build smaller robots.