ROBTICA INDUSTRIAL

INTRODUO
A robtica se aplica construo de robs, envolvendo vrias outras disciplinas como:
engenharia mecnica e eltrica, inteligncia artificial, engenharia eletrnica, fsica entre outras
mais
A pesquisa trabalha com os robs produzidos pela FANUC Robotics e solues de
automao. Os robs fabricados tm vrias aplicaes para os mercados aeroespacial,
automotivo, bens de consumo, alimentos, fabricao de metal, mdicos, farmacuticos, painel
solar, e muitas outras indstrias.
A pesquisa ser dividida pelas funes dos robs, comparando os modelos atravs de suas
caractersticas.

DESENVOLVIMENTO
FANUC Robotics America Corporation desenvolve, projeta e fabrica robs e sistemas robticos
para utilizao como soldas arco e ponto, manipulao de materiais (carga e descarga de
mquinas, encaixotamento e paletizao), remoo de materiais, montagem, pintura de
acabamento e colagem.
MONTAGEM

EMBALAGEM/ MANUTENO
PALETIZAO TRANFERNCIA
DE PARTES

REMOO DE
MATERIAIS

Robs de Soldagem a arco (Arc Welding Robots)

-ARC Mate 100iC Series
-ARC Mate 120iC Series
-ARC Mate 50iC/5L
-Arc Welding Solution Arm
-M-710iC/20L
ARC Mate 100iC Series ARC Mate 100iC Series

ARC Mate 100iC Series A ARC Mate 100iC SeriesRs

SOLDAGEM
ARCO E
PONTO

PINTURA

ARC Mate 120iC Series

ARC Mate 50iC/5L

Arc Welding Solution Arm

M-710iC/20L

Especificaes

AM100iC AM100iC/6L AM 50iC/5L

M-710iC/20L

AM120iC

EIXOS

PAYLOAD (kg)

10

20

20

10

20

MODELOS

REPETIBILIDADE (mm)

+ -0,08 + -0.1

ALCANCE (mm)

1420

1632

RAIO DE INTERFERNCIA
(mm)

262

262

FAIXA DE MOVIMENTO
(graus)

FAIXA DE VELOCIDADE
(graus/s)

MOMENTOS DO PULSO
N.m (kgf.m)

INRCIA DA CARGA DE
PULSO (kg.m2)

+ - 0.03

+ - 0.15

+ -0.8

+ -0.1

892

3110

1811

2009

358

317

317

1667

360

360

360

370

370

J2

250

250

230

225

260

260

J3

445

447

373

432

458

458

J4

380

380

380

400

400

400

240

240

J5

380/280

380/280

240

280

380/280

380/280

130

130

J6

720/540

720/540

720

900

900/540

900/540

480

480

J1

210

210

270

175

195

195

150

165

J2

190

190

270

175

175

175

160

165

J3

210

210

270

180

180

180

170

175

J4

400

400

450

350

360

400

400

350

J5

400

400

450

360

360

400

400

340

J6

600

600

720

600

550

600

520

520

J4

22 (2,2)

15,7 (1,6)

11.9 (1.21)

39 (4)

44 (4.4)

22 (2.2)

J5

22 (2,2)

10,1 (1,0)

11.9 (1.21)

39 (4)

44 4.4)

22 (2.2)

1017

1282

J6

9,8 (1,0)

5,9 (0,6)

6,7 (0.68)

19 (2)

22 (2.2)

9.8 (1.0)

J4

.63

.63

0.3

.88

1.04

0.63

J5

.63

.38

0.3

.89

1.04

0.63

J6

.15

.061

0.1

.24

0.28

0.15

250

255

todos os eixos
135

MTODO DE MONTAGEM
AMBIENTE DE
INSTALAO

29

540

TETO, CHO, NGULO E PAREDE

TEMPERATURA (C)

0 45

UMIDADE

Normalmente 75% ou menos curto prazo (dentro de um ms): 95% ou menos

sem condensao
4.9 OU
4.9 OU MENOS
0,5 OU MENOS MENOS
4.9 OU MENOS

STROKE (mm)

1373

J1

130

VIBRAO (m/s )
PAYLOAD EIXO 3
(kg)

AM
120iB/Be

340 (360
OPO)

FREIOS MECNICOS
MASSA (kg)

AM120ic/10L AM
100iB/Be

12

12

24

Abaixo, mostrado uma tabela dividindo os modelos dos robs por aplicao e em ordem de
Payload.

APLICAES

MODELOS
ARC Mate 100i C/6L

SOLDAGEM ARCO E PONTO

ARC Mate 50iC/5L

ARC Mate 100i C
ARC Mate 120i C/10L
ARC Mate 120i C

2
5
10
10
20

ALCANCE (mm) REPETIBILIDADE(mm)

1632
892
1420
2009
1811

0.1
0.03
0.08
0.1
0.08

R-1000i A/80F

80

2230

0.2

F-200i B

100

437 x 1040

0.1

R-2000i B/100P

100

3500

0.3

R-2000i B/125L

125

3005

0.2

R-2000i B/150U

150

2655

0.2

R-2000i B/165F

165

2655

0.2

R-2000i B/165R

165

3095

0.3

R-2000i B/170CF

170

1520

0.15

R-2000i B/175L

175

2852

0.3

M-900i A/200P

200

3507

0.3

R-2000i A/200EW

200

2650

0.3

R-2000i B/200R

200

3095

0.3

R-2000i B/200T

200

2207

0.3

R-2000i B/210F

210

2655

0.3

R-2000i A/165EW

165

2650

0.3

M-900i A/260L

260

3100

0.3

M-900i A/350

350

2650

0.3

M-900i A/400L

400

3625

0.5

M-900i A/600

600/700

2832

0.3

Arc Welding Solution Arm

Intelligent Robot LR Mate 200i C

704

0,08
0.02

Paint Mate 200i A

704

0.2

M-420i A and M-420i A Food

40

1855

0.5

M-421i A

50

1855

0.5

M-710i C/50

50

2050

0.07

F100i A 105S

52
52

930

0.07

F100i A 105LS

1180

0.07

M-710i C/70

70

2050

0.07

F100i A 104

F100i A 103L

75
75
75
75
100
100

R-2000i B/100P
R-2000i B/125L

F100i A 104L
F100i A 105
F100i A 105L

MONTAGEM

PAYLOAD(kg)

F100i A 103

770

0.07

1020

0.07

910

0.07

1160

0.07

77

0.07

1020

0.07

100

0.3

0.3

125

0.2

0.2

R-2000i B/150U

150

0.2

0.2

R-2000i B/165F

165

0.2

0.2

R-2000i B/165R

165

0.3

0.3

R-2000i B/170CF

170

0.15

0.15

R-2000i B/175L

175

0.3

0.3

R-2000i B/200R

200

0.3

0.3

R-2000i B/210F

210

0.3

0.3

M-1i A/0.5A (6 axes)

.5

280

0.02

M-1i A/0.5S (4 axes)

.5

280

0.02

Intelligent Robot M-10i A

10

1420

0.08

M-20i A/10L

10

2009

0.10

Intelligent Robot M-16i A

20

1885

0.08

M-20i A

20

1811

0.08

Paint Mate 200i A/5L

Intelligent Robot M-710i C/50

892

0.3

50

2050

0.07

REMOO DE MATERIAL

F-200i B

100

437 x 1040

0.1

LR Mate 200i C

704

0.02

LR Mate 200i C/5WP

704

0.02

LR Mate 200i C/5C Cleanroom

704

0.02

LR Mate 200i C/5H

704

0.02

LR Mate 200i C/5L

892

0.03

LR Mate 200i C/5LC

892

0.03

LR Mate 200i C/5F

711

0.02

LR Mate 200i C/5HS

704

0.02

M-20i A

20

1811

0.08

M-20i A/10L

10

2009

0.10

M-10i A

10

1420

0.08

M-10i A/6L

1632

0.10

M-710i C/20L

20

3110

0.15

M-900i A/200P

200

3507

0.3

M-900i A/260L

260

3100

0.3

M-900i A/350

350

2650

0.3

M-900i A/400L

400

3625

0.5

M-900i A/600

600/700

2832

0.3

R-2000i B/165F

165

2655

0.2

R-2000i B/210F

210

2655

0.3

R-2000i B/125L

125

3005

0.2

R-2000i B/175L

175

2852

0.3

R-2000i B/165R

165

3095

0.3

R-2000i B/200R

200

3095

0.3

R-2000i B/100P

100

3500

0.3

R-2000i B/170CF

170

1520

0.15

R-2000i B/150U

150

2655

0.2

R-2000i B/200T

200

2207

0.3

M-1i A/0.5A (6 axes)

M-1i A/0.5S (4 axes)

.5
.5

280
280

0.02
0.02

M 430i A/2F

900

0.5

EMBALAGEM/ PALETIZAO

LR Mate-200i B/5WP

3-5

700

0.4

LR Mate 200i C

704

0.02

LR Mate 200i C/5WP

704

0.02

LR Mate 200i C/5C Cleanroom

704

0.02

LR Mate 200i C/5H

704

0.02

LR Mate 200i C/5L

892

0.03

LR Mate 200i C/5LC

892

0.03

LR Mate 200i C/5F

711

0.02

M-10i A/6L

1632

0.10

M-3i A/6A (6 axes)

1350

0.1

M-3i A/6S (4 axes)

1350

0.1

M-10i A

10

1420

0.08

M-20i A/10L

10

2009

0.10

M-16i B/10LT

10

1735

0.10

M-20i A

20

1811

0.08

M-16i B/20T

20

1517

0.10

M-420i A Food

40

1855

0.5

M-420i A and M-420i A Food

40

1855

0.5

M-421i A

50

1855

0.5

M-710i C/50

50

2050

0.07

70
100/120

2050
2655

0.07
0.2

M-410i B/160

160

3143

0.5

M-410i B/300

300

3143

0.5

M-410i B/450

450

3130

0.5

M-2000i A/900L

900
1200

4638
3734

0.5
0.3

M-710i C/70
R-2000i B/100H

M-2000i A/1200

PINTURA E DISTRIBUIO

Paint Mate 200i A

704

0.2

Paint Mate 200i A

704

0.2

LR Mate 200i C

5 kg

0.02

LR Mate 200i C/5WP

5 kg

0.02

LR Mate 200i C/5C Cleanroom

5 kg

0.02

LR Mate 200i C/5H

5 kg

0.02

LR Mate 200i C/5L

5 kg

0.03

LR Mate 200i C/5LC

5 kg

0.03

LR Mate 200i C/5F

5 kg

0.02

LR Mate 200i C/5HS

5 kg

0.02

M-3i A/6A (6 axes)

1350

0.1

M-3i A/6S (4 axes)

1350

0.1

M-16i B/10LT

10

1735

0.10

P-250i A/15

15

n/a

0.2

P-250i A/10S

15

n/a

0.2

P-250i A/15 Elevated Rail

15

n/a

0.2

P-250i A Floor Rail

15

n/a

0.2

P-500
M-16i B/20T

15
20

2600
1517

0.5
0.10

M-710i C/50

50

2050

0.07

M-710i C/50T

50

1900

0.07

M-710i C/70

70

2050

0.07

M-710i C/70T

70

0.07

F-200i B

100

1900
437 x 1040 work
envelope

R-2000i B/100P

100

3500

0.3

R-2000i B/125L

125

3005

0.2

R-2000i B/150U

150

2655

0.2

R-2000i B/165F

165

2655

0.2

R-2000i B/165R

165

3095

0.3

R-2000i B/170CF

170

1520

0.15

R-2000i B/175L

175

2852

0.3

R-2000i B/200T

200

2207

0.3

R-2000i B/200R

200

3095

0.3

0.1

R-2000i B/210F

210

2655

0.3

P-15 Opener
P-10 Opener
M-1i A/0.5A (6 axes)

20.4
22.7
.5

2331
1932
280

N/A
N/A
0.02

M-1i A/0.5S (4 axes)

.5

280

0.02

M-10i A

10

1420

0.08

M-20i A/10L

10

2009

0.10

M-20i A

20

1811

0.08

P-200E System
Paint Mate 200i A/5L

30
5

2800
892

0.5
0.3

Paint Mate 200i A/5L

892

0.3

6
7.5

1632
1360

0.10
0.2

M-10i A/6L
P-50i A Series

MANUTENO DE MQUINAS/
TRANSFERNCIA DE PARTES

LR Mate 200i C

5 kg

0.02

LR Mate 200i C/5WP

5 kg

0.02

LR Mate 200i C/5C Cleanroom

5 kg

0.02

LR Mate 200i C/5H

5 kg

0.02

LR Mate 200i C/5L

5 kg

0.03

LR Mate 200i C/5LC

5 kg

0.03

LR Mate 200i C/5F

5 kg

0.02

LR Mate 200i C/5HS

5 kg

0.02

M-10i A/6L

1632

0.10

M-10i A

10

1420

0.08

M-20i A/10L

10

2009

0.10

M-16i B/10LT

10

1735

0.10

M-20i A

20

1811

0.08

M-16i B/20T

20

1517

0.10

F100i A 105S

52
52
75
75
75
75

F100i A 105LS
F100i A 104
F100i A 104L
F100i A 105
F100i A 105L

930

0.07

1180

0.07

770

0.07

1020

0.07

910

0.07

1160
437 x 1040 work
envelope

0.07

F-200i B

100

F100i A 103

77

0.07

F100i A 103L

100
100

1020

0.07

M-410i B/160

160

3143

0.5

M-410i B/300
M-410i B/450

300

3143

0.5

450

3130

0.5

0.1

CONCLUSO

Com a pesquisa das famlias dos robs pelo endereo eletrnico da empresa FANUC, pude
perceber o quanto difcil a escolha de um rob. Existe uma gama de modelos, de forma a
atender diversas necessidades. So muitas as especificaes. Um mesmo modelo pode ter
muitas utilidades.

REFERNCIA

FANUC Robotics< http://www.fanucrobotics.com> Acesso em 01/09/2011