This robot is a more classically designed industrial robot. Designed as a healthy compromise between dexterity and strength this robot was one of the ground breakers, in terms of success, in factory environments. However, while this robot was a success in industry its inflexible interfacing system makes it difficult to use in research.
This robot is used most heavily by students taking Dr. Delbert Tesar’s “Robotics and Automation” course (ME 372J) from the Mechanical Engineering Department of the University of Texas at Austin.
Robot Cincinnati Milacron T3 726
Load capacity: 14 lbs
Axes: 6
Drive system: DC Motor
Horizontal reach: 41 inches
Power requirement: 460 VAC 3 PH
Hours on meter: 7900
This unit was working as a welding robot and developed trip out problem. All cables are with the unit.
Price: $ 1,000.0
The word robot originated from the Czech word robota, meaning work. Webster’s dictionary defines robot as “an automatic device that performs functions ordinarily ascribed to human beings.” A definition used by the Robot Institute of America gives a more precise description of industrial robots: “A robot is a reprogrammable multi-functional manipulator designed to move materials, parts, tools, or special-variety of tasks.” In short, a robot is a programmable general-purpose manipulator with external sensors that can perform various assembly tasks. With this defination, a robot must possess intelligence, which is normally due to computer algorithms associated with its control and sening systems. (Robotics: Control, Sensing, Vision, and Intelligence page1)
Robots are the general-purpose, computer-controlled manipulator consisting of several rigid links connected by joints into an open kinematic chain. Joints are typically rotary (revolute) or linear (prismatic). A revolute joint is like a hinge and allows relative rotation between two links. A prismatic joint allows a linear relative motion between two links. The convention (R) is used to represent revolute joint and convention (P) is used to denote prismatic joints. The joints are shown in the figure. Each joint represents the interconnection between two links, li li+1. Similarly, the axis of rotation of a revolute joint, or the axis along which a prismatic joint slides is represented by zi if the joint is the interconnection of links i and i+1. The joint variables, denoted by (theta)i for a revolute and ‘d’ for a prismatic joint, represent the relative displacement between adjacent links.The number of joints of a manipulator determnes the degrees-of-freedom (DEO) of the manipulator. Typically manipulator should possess at least six DOF: three for positioning and three for orientation. A manipulator having more than six links is referred to as a kinematically redundant manipulator.
The workspace of a manipulator is the total volume swept out by the end-effector as the manipulator executes all possible. There are two types of workspace: a reachable workspace and a dextrous workspace.
Cincinnati Milacron T3 robot arm. (b) PUMA 560 series robot arm
Mechanically, a robot is composed of an arm (or mainframe) and a wrist subassembly plus a tool. 
It is designed to reach a workpiece located within its work volume. The work volume is the sphere of influence of a robot whose arm can deliver the wrist subassembly unit to any point within the sphere. The arm subassembly generally can move with three degrees of freedom. The combination of the movements positions the wrist unit at the workpiece. The wrist subassembly unit usually consists of three rotary motions. The combination of these motions orients the tool according to the configuration of the object for ease in pickup. These last three motions are often called pitch, yaw, and roll; as shown in the figure. Hence, for a six-jointed robot, the arm subassembly is the position mechanism, while the wrist subassembly is the orientation mechanism. These concepts are illustrated by the Cincinnati Milacron T robot and the Unimation PUMA robot arm as shown in the figure.
- Robots are expensive insturment and complicated design. It is very important for every individual to take maximum efficiency out of each robot. Singularity is one of the major porblems in the movement of robot manipulators. Once robot reach singularity configuration, it stops its movement and the system should be started again. This will result in waste of time and energy, and expence as well. So, determination of singularity configuration in robot movement and its avoidance is of importance in robotic industry. If we encounter singularity configuration then immediately we can choose the alternative path for robot movement.This project also gives a basis to the fact that any robot can be controlled by the users from any part of the world through the means of today’s growing technology of Internet and World-Wide-Web, with the condition that both user and robot are connected with server / system.
This project also provieds basis to rapidly growing and popular distance-learning program in the field of Robotics thrgouth the Internet.
