ROBOTICS and automation

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 HISTORY

 The term "robot" was first used in

1920 in a play called "R.U.R." Or
"Rossum's universal robots" by the
Czech writer Karel Capek.

 The word “Robot”comes from the

word “Robota”,meaning,in
Czech”,forced labour,drudgery.
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 Robotics Terminology
Robot - Mechanical device that performs
human tasks, either automatically or by remote
control.
Robotics - Study and application of robot
technology.
Telerobotics - Robot that is operated remotely.

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 Definition
What is the Definition of a Robot?

A reprogrammable multifunctional
manipulator designed to move material, parts,
tools or specialized devices through various
programmed motions for the performance of a
variety of Tasks.
Robot Institute of America.

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 Laws of Robotics
 Asimov proposed three “Laws of Robotics”

 Law 1: A robot may not injure a human being or

through inaction, allow a human being to come to
harm.
 Law 2: A robot must obey orders given to it by
human beings, except where such orders would
conflict with the first law.
 Law 3: A robot must protect its own existence as long
as such protection does not conflict with the first law.

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 The robot control loop
Speech, Vision
Acceleration, Task planning
Temperature Plan Classification
Position ,Distance Learn
Touch, Force Process data
Magnetic field ,Light Path planning
Sound Motion planning
,PositionSense
Sense Think

Act

Output information Move, Speech

Text, Visuals Wheels Legs
Arms Tracks
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 Types of Robots

Industrial Robots –
–materials handling
–welding
–inspection
–improving productivity
–Laboratory applications

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 Types of Robots
Mobile Robots-
–Robots that move around on legs,
tracks or wheels.
Eg-
In 1979 a nuclear accident in
the USA caused a leak of
radioactive material which led to
Production of special robot –which
Can handle the radioactive materials.
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 Types of Robots
 Educational Robots – Robotic kits
Are used extensively in education.
Eg-Robolab,Lego and
RoboCup Soccer
Domestic Robots–2 types–those
designed to perform household tasks
and modern toys which are
programmed to do things like talking,
walking and dancing,etc.
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 Robot Components
1. Manipulator or Rover: Main body of robot
(Links, Joints, other structural element of the
robot)
2. End Effecter: The part that is connected to the
last joint hand) of a manipulator.
3. Actuators: Muscles of the manipulators
(servomotor, stepper motor, pneumatic and
hydraulic cylinder).
4. Sensors: To collect information about the
internal state of the robot or To communicate with
the outside environment.

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 Robot Components…
5. Controller: It controls and coordinates the
motion of the actuators.
6. Processor: The brain of the robot. It
calculates the motions and the velocity of the
robot’s joints, etc.
7. Software: Operating system, robotic
software and the collection of routines.

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 Classification of Robots
• Robot classification by Coordinate System
– Cartesian
– Cylindrical
– Spherical or Polar
– Articulated or Jointed -arm

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Cartesian Configuration:
uses three perpendicular slides
Other names are
-xyz
-rectilinear
Ex: IBM Rs-1
 Cylindrical Robot

• It Uses a vertical column and a slide that can

move up or down along the column.
• The robot arm is attached to the slide so that
it an move radially w.r.t the column.
• By rotating the column , the robot is capable
of achieving the workspace that approximates
a cylinder.
 Polar/Spherical configuration
• It uses a telescoping arm that can be raises or
lowered about a horizontal pivot.
• The pivot is mounted on a rotating base.
• These various joints provide the robot to
move its arm within in a spherical space

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 Jointed-arm Robot
• It is similar to that of human arm
• It consists of two straight components,
corresponding to a human fore arm and upper
arm, mounted on a vertical pedestal.
• These components are connected by two
rotary joints corresponding to the shoulder
and elbow.
• A wrist is attached to the end of the forearm,
thus providing several additional joints.
 Robot classification by Actuating
system
1.Electric Actuator robot
2. Pneumatic Actuator Robot
3. Hydraulic Actuator robot

 Today the most common drive method is electric with various

types of motors
e.g Stepper, DC servo, and brushless AC Servo
 Pneumatic robots are used in light assembly or packing work
but not usually suitable for heavy duty tasks or where speed
control is necessary
 On the other hand, hydraulic robots are used in heavy payload
applications because of their high power to size ratio.
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Robot classification by control method
• Open loop control robots
• Closed loop control Robots
• Path control robots

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 Robot Subsystems
Recognition subsystem

Motion Subsystem

Computer

Control Subsystem

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Motion Subsystem

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 Motion Subsystem
The elements of motion subsystems are
• 1. Manipulator
• 2. End-effector
• 3. Actuator
• 4. Transmission
– Belt and chain drives
– Gears
- Link Mechanism

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Manipulator
Joints

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End Effector

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 Actuators

Electric Actuators

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Transmission
- It transmit the motion from actuator to links of a manipulator
Typical transmission elements are as follows
- Belt
- Chain
- Gears
- Link mechanism
Belt Drive Chain Drive

Synchronous Belt Chain drive

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Gears

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Linkage Mechanism

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1. SENSORS

2. ADC

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 Performance characteristics
1. Work Envelope

2. Load carrying capability

3. Speed of Response
4.Repeatability
5. Accuracy
6. Stability

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 END
OF
MODULE-1
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