Content
              Robot Systems
               • Industrial robots drive chain
               • Servo drives
               • Position transducers
               • Clutches
               • Power transmission systems
               • Storage
               • Overall design 
        TEMPUS IV Project: 158644 – JPCR                                       ROBOTICS     2
        Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
                           Robot Systems
        External                                                            Environment
         Sensors
         Robot              Drive            Robot             End-             Object
         Control            chain          Segments         Effectors
         Internal                                                             Periphery
         Sensors
        TEMPUS IV Project: 158644 – JPCR                                       ROBOTICS     3
        Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
         Industrial robots drive chain 
        Generation
      the trajectory 
          Robot              Servo-             Servo-          Coupling          Transmission
          Control           Amplifier           Actuator
                        Tachometer-
                          generator                                                 Storage
                           Positioning
                              system                                                Segment
         TEMPUS IV Project: 158644 – JPCR                                            ROBOTICS     4
         Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
                                        Servo Drives
      Drive principle      Scope                             Benefits                   Disadvantages
                                                             •                          •
      Pneumatic            Passive Elements,                   Cheap                      Compressibility of 
                           Auxiliary devices                 • Low weight               the air 
      Hydraulics           Manipulators with very            • High Dynamics            • Necessary
                           high load capacity and            • High-power               Directions:
                           very large working space          • Weight ratio             Pump, hoses,
                                                                                        Servo Valves
                                                                                         "Dirty"
                                                                                         Maintenance
                                                                                         Low efficiency
                                                                                         Warming 
                                                             •                          •
      Electric             Standard for Industrial robot      High Dynamics              Necessary gear 
                                                             •                          transmission
                                                              Very generally 
                                                             favorable opportunity
                                                                                        •
                                                             •                           Warming 
                                                              High performance
                                                             Relationship
                                                             •
                                                              High Speed Ratio 
           TEMPUS IV Project: 158644 – JPCR                                                          ROBOTICS         5
           Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
                            Pneumatic drives 
       •
         Cheap                                                Pneumatic working cylinder 
       •
         Simple construction
       •
         Low weight
       •
         Clamp movement
       •
         Point-to-point movement 
       (stop)
       •
         Control ► scheme difficult
       •
         Low Positioning
        (Compressibility of the air)
       •
         Expensive energy 
                                                                                        Pneumatic 
                                                                                        valve 
          TEMPUS IV Project: 158644 – JPCR                                                       ROBOTICS        6
          Development of Regional Interdisciplinary Mechatronic Studies - DRIMS