BITS Pilani

presentation
BITS Pilani Ashwin K P
Department of Mechanical Engineering
Goa Campus
 BITS Pilani
Goa Campus

DE ZG561 / ES ZG561/ DM ZG561

Mechanisms and Robotics
Lecture No. 1
Contents
1.1 Introduction
1.2. Robot Anatomy
1.3 Design & Control issues
1.4 Precision of Movement
1.5 Manipulation & Control
1.6 Robotics sensors
1.7 Robot specification
1.8 Robot programming & work cell control
1.9 Trends and Future Prospects
1.10 Bio-mimic robots

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Introduction

- What is the course about?

– Analysis of mechanisms and robots
– Introduction to sensing, control and programming

- What is the course not about?

– Software tools such as Robot Operating Systems
– Advanced concepts such as Machine learning and AI

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Introduction

Automation and Robotics

- Industrial Automation is defined as a technology that is
concerned with the use of mechanical, electronic and
computer based systems in the operation and control of
production.
- Fixed Automation : volume of production is very high, specially
designed equipment.
- Programmable Automation : relatively low volume of
automation, different and unique products can be made in
small batches, economical.
-Flexible Automation (Computer Integrated Manufacturing
Systems) : Mid volume production range, different products
can be made at the same time on the same manufacturing
systems.
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Introduction

Automation and Robotics

- Industrial Robot : is a general purpose programmable machine
which possesses certain anthropomorphic or human like
characteristics.
- Definition by Robotics Industries Association (RIA) : “An
industrial robot is a re programmable, multi functional
manipulator designed to move materials, parts, tools or
special devices through variable programmed motions for the
performance of a variety of tasks.
- Service robots : performs services useful to the well being of
humans and equipment

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Introduction

Robotics in Science and Fiction

- Czechoslovakian play by Karel Capek called ‘Rossum’s
Universal Robots’ (early 1920’s)
- The Czech word ‘robota’ means servitude or forced worker.

Scene from the play ‘Rossum’s Universal Robots’ source: internet

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Introduction

Robotics in Science and Fiction

- Isaac Asimov popularized robots through his ‘Robot series’ (37
science fiction short stories)
- 3 Laws of robotics by Isaac Asimov:
- A robot may not injure a human being or through inaction
allow a human to be harmed.
- A robot must obey orders given by humans except when that
conflicts with the first law.
- A robot must protect it’s own existence unless that conflicts
with the 1st and 2nd laws.
- Science fiction movies since 1950’s: The Day The Earth Stood
Still, Star Wars, The Terminator, Transformer series etc.

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Introduction

Progressive Advancement of Robotics

- George C Devol (1946) : Magnetic recording and playback of
electric signals (Programmed Article Transfer)- Foundation for
modern industrial robots.
- Joseph F Engelberger from Columbia University and Devol,
made the first prototype for ‘Unimate’, ‘The Universal Helper’
with backing from Consolidated Diesel Electric Company
- In 1962 Unimation Company was founded as a joint venture
between Consolidated Diesel Electric and the Pullman
Corporation.
- Unimate robot installed in General Motors company for
unloading a dye casting machine.

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Introduction

Progressive Advancement of Robotics

Unimate-- The grandfather of industrial robots source: internet

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Introduction

Progressive Advancement
- Pioneering work on Computer oriented Robotic languages
done at Stanford University and Stanford Research Institute.
- Shakey, first mobile robot with vision capability, made at SRI.
- 1970-- Stanford Arm developed, which was controlled by
computer and used electrical actuators

Stanford arm, source: internet

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Introduction

Progressive Advancement
- Unimationdeveloped PUMA Robot ( Programmable Universal
Machine for Assembly) in 1978
- 1st Commercial robot language VAL was then used to program
Unimation’s PUMA Robot

PUMA-- Successor of Unimate source: internet

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Introduction

Progressive Advancement
- 1978 SCARA Robot (Selective Compliance Assembly Robot Arm) was
developed in the laboratory of Professor Hiroshi Makino, at Yamanashi
University in Japan
- 1981 Direct-drive robot developed in Carnegie-Mellon University-- used
electric motors located at the manipulator joints instead of transmission
drives
- 1982 IBM introduced the programming language AML
(A Manufacturing Language) to develop a robot RS-1
- 2000 First Asimo (Advanced Step in Innovative Mobility)
robot demonstrated by Honda, which can walk

ASIMO robot (2000) source: wikipedia

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Introduction

Progressive Advancement
- Programmable robots evolved since 1950 with the
development of microprocessor.
- 1950-1970 : Simple pick and place robots controlled by large
computer with limited interaction with the environment.
- 1980-1990: Interaction with the environment using force ,
touch, vision sensors.
- 1990-2000: Intelligent robots due to high computing power,
smart actuators and sensors.
- 2000- to present: Micro nano robots, bio -robots, humanoids

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Introduction

Types and classification of robots

– Fixed or mobile
– Most older industrial robots- fixed base and consisting of links
connected by actuated joints
– Many modern robots can move on factory floors (Autonomous
Mobile Robots), uneven terrains or even walk, swim and fly

ABB IRB 1100, source: new.abb.com MI Vacuum mop, source: store.mi.com

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Introduction

Types and classification of robots

- Serial or parallel
– Serial robot-- Fixed base, links and joints connected
sequentially and ending in a end-effector
– Parallel – More than one loop. No natural end-effector

FANUC ARC Mate source: www.fanuc.eu Kawasaki Delta Robot, source: robotics.kawasaki.com

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Introduction

Types and classification of robots

- Rigid vs flexible
– Most industrial robots are built heavy and rigid for required
accuracy
– Minimizing weight for space applications, links and joints are
flexible

Soft bionic actuator source: festo.com

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Introduction

Types and classification of robots

- Control and mode of operation
– Most older industrial robots were teach and playback
- Robot is taken (manually) through the tasks and positions
recorded. During actual operation, the robot plays back the taught
sequence
- Very time consuming to teach and robot cannot react to the
change in environment
– Computer control-- inputs are given from a computer often after being
tried out in an offline programming system
– Sensor driven-- sensors are used to avoid obstacles and take
decisions
– Intelligent-- robot can “learn” about the environment using Artificial
Intelligence (AI)
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Introduction

Science of robots
– Technology changes but the underlying science/principles
change more slowly.
– Basic ingredients-- kinematics, dynamics, control, sensing and
programming
– Kinematics: Motion of an object in 3-dimensional space without
worrying about the cause
– Dynamics: Motion of links and end-effector due to the action of
external forces or movements
– Designing motion : Desired task is converted to a smooth
desired motion (trajectory planning)
– Feedback control: Controller ensures that the robot achieves
the desired motion
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Introduction

Technology of robots
– Components making up a robot undergoes constant improvement and
advancement
– Main components: Mechanical components, actuators, transmission devices,
sensors, electronics and computers
– Mechanical components: Links and joints
– Actuators: Electric, pneumatic or hydraulic
– Transmission devices: For transferring motion (gears, pulleys etc.)
– Sensors: Enable a robot to identify its state of interaction with the
environment
– Computers and software:
One or more processors to control the motion of actuators
processors for signal processing and sensing
processors for user interface, data logging, communication and other activities

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Robot Anatomy

Links, Joints and Joint Notation Scheme

- Links– Rigid bodies in 3D.
A rigid link that can be connected at most with two
other links is referred to as a Binary link.
Kinematic chain- Open and closed.

Two rigid binary links in space , source:R3 Open kinematic chain formed by the two links ,
source:R3

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Robot Anatomy

Links, Joints and Joint Notation

Scheme

- Joints – Connect two or more links,

- impose constraints on motion of links
- Types of joints:

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Robot Anatomy

Degrees of Freedom (DOF)

- Number of independent motions allowed in a body
- A body in 3D has 6 degrees of freedom – 3 positions and 3
orientations
- Two free bodies have 6+6 = 12 degrees of freedom

Representation of six degrees of freedom Two rigid bodies with 12 DOF: R3

Source: R3

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Robot Anatomy

Required Degrees of Freedom of a manipulator

- Two links connected by a hinge joint--6+1=7 DOF.

- Hinge joint imposes 5 constraints
- Independent parameters (variables)
- Number of actuators required
- Planar manipulator, spatial manipulator Constraints due to hinge joint,
- Redundant manipulators source :R3

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Robot Anatomy

Arm configuration

3-DOF Configuration
- Cartesian (rectangular) configuration PPP

Cartesian arm configuration Source: R3

Cartesian box/gantry configuration Source: R3

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Robot Anatomy

Arm configuration
3-DOF Configuration
- Cylindrical configuration RPP
- Polar (spherical) configuration RRP

Cylindrical configuration Source: R3 Spherical configuration Source: R3

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Robot Anatomy

Arm configuration

3-DOF Configuration
- Articulated (revolute / jointed arm) RRR
- Selective Compliance Assembly Robotic Arm (SCARA) PRR

Articulated configuration Source: R3

SCARA configuration Source: R3

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Robot Anatomy

Wrist Configuration

- Mutually intersecting axes

- Used to orient the tool precisely
- Pitch, yaw, roll

ABB robot wrist, source: internet

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Robot Anatomy

Human-arm characteristics
- Unique marvel and challenge to replicate
- Benchmark for manipulators
- -180º ≤ roll ≤ +90º
- -90º ≤ pitch ≤ +50º
- -45º ≤ yaw ≤ +15º
- 1 DOF Elbow joint moves forearm by approximately -5º to
+165º
- 2 DOF Shoulder joint provides approximate hemispherical
sweep to the elbow joint.
- Ratio of length of upper arm to forearm is around 1.2
- Four fingers and thumb has 4 DOF each.

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Robot Anatomy

The End-Effector: Tools and grippers

- Tools
- Spot-welding
- Arc-welding torch

KUKA ready2_spot, source: kuka.com KUKA ready2_arc, source: kuka.com

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Robot Anatomy

The End-Effector
- Spray-painting nozzle
- Machine tools

ABB IRB 2600 used for drilling holes on KUKA ready2_spray, source: kuka.com
elevator shaft, source: new.abb.com
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Robot Anatomy

The End-Effector

- Liquid cement applicators

- Heating torches
- Water jet cutting tool
- Inspection tools
- co-ordinate measurement

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Robot Anatomy

The End-Effector
-- Grippers-- for grasping and holding objects. eg.
mechanical fingers, magnets, suction cups
- Linkage actuation

Linkage type grippers, source:R2

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Robot Anatomy

The End-Effector
- Gear-and-rack
https://www.youtube.com/watch?v=3gDSoR8XRe0

Gear-and-rack gripper, source:R2

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Robot Anatomy

The End-Effector
- Screw-type gripper
https://www.youtube.com/watch?v=qKZLx1wtFCk

Screw type grippers, source:R2

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Robot Anatomy

The End-Effector
- Cam actuated

Cam actuated grippers, source:R2

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Robot Anatomy

The End-Effector
- Gripper force analysis
eg: Find the applied force Fa required to produce an actuation
force of 25 lb at the tips of the gripper?

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Robot Anatomy

- Gripper force analysis

Draw the free body diagram of distal link of the gripper

Free body diagram of distal tip, source:R2

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Robot Anatomy

- Gripper force analysis

Taking moment about the pivot, we get:

From the free body diagram of the link attached to plunger:

source:R2
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Robot Anatomy

The End-Effector
- Vacuum (Suction) cup – uses vacuum pumps or venturimeter
- flat, smooth and clean conditions are necessary
https://youtu.be/QFZMhsVn_CE?t=16
https://www.youtube.com/watch?v=vretV0jP6Jk

Vacuum gripper from robotiq, source: robotiq.com

Venturimeter, source: R2

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Robot Anatomy

The End-Effector
- Magnetic gripper
- Advantages
- Fast pickup
- Flexibility in sizing of gripper
- Ability to handle parts with holes (as opposed to vacuum)
- Single surface gripping (as opposed to fingers)
- Disadvantages
- Limited materials
- Residual magnetism
- Side slippage
- Undesirable penetration of magnetic field
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Robot Anatomy

The End-Effector

- Adhesive grippers
- Hooks, scoops and ladle
- Inflatable bladder
- Soft grippers

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Robotics Sensors

- Crucial for feedback control systems

- Measure actual values of parameters to compare with
computed values/ required values
- Desirable features in sensors are
High accuracy, high precision, linear response, large operating
range, low response time, easy to calibrate, reliable and
rugged, low cost, ease of operation
- Two types: internal and external sensors
- Internal sensors: Measure the variables of the robot
- External sensors: Measure the environmental parameters

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Robotics Sensors

Internal sensors measure variables for control

- Joint position, Joint velocity, Joint torque/force.
Joint position sensors (angular or linear)
- Incremental & absolute encoders — Optical, magnetic or capacitive.
- Potentiometers.
Joint velocity sensors
- DC tacho-generator & resolvers
- Optical encoders.
Force/torque sensors.
- At joint actuators for control.
- At wrist to measure components of force/moment being applied on
the environment.
- At end-effector to measure applied force on gripped object

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Robotics Sensors

- External sensors for detection of environment variables for robot guidance,

object identification and material handling.
- Two main types – Contacting and non-contacting sensors.
- Contacting sensors: Respond to a physical contact
- Touch: switches, Photo-diode/LED combination.
- Slip.
- Tactile: resistive/capacitive arrays.
- Non-contacting sensors: Detect variations in optical,acoustic or
electromagnetic radiations or change in position/orientation.
- Proximity: Inductive, Capacitive, Optical and Ultrasonic
- Range: Capacitive and Magnetic, Camera, Sonar, Laser range finder
Colour sensors.
- Speed/Motion: Doppler radar/sound, Camera, Accelerometer, Gyroscope.
- Identification: Camera, RFID, Laser ranging, Ultrasound.
- Localisation: Compass, Odometer, GPS.
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Robot Specifications

- Degrees of freedom: Major, minor, redundant

- Load carrying capacity and tool-tip speed
- Reach – Farthest radial distance the wrist can reach from
vertical axis about which robot rotates
- Stroke – distance (range) the wrist can travel
- Tool tip orientation (Y-P-R, R-P-Y) etc.

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Design and Control Issues

- Inherently poor in stiffness, accuracy and load carrying capacity.

- Accumulation of errors from joints in sequence.
- Position and motion of each joint is affected by motion and
position of all other joints.
- Weight of each link is carried by previous link- inertial load
- Significant centrifugal and Coriolis effect.
-Non linear system dynamics
- Obstacle detection and avoidance

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Precision of Movement

- Precision is defined as a function of 3 features: Resolution,

accuracy and repeatability
1) Spatial resolution: smallest increment of movement into
which the robot can divide it’s work volume.
-Depends on control resolution: Bit storage capacity in the
control memory
-2n number of increments, n=no.of bits in control memory
- Depends on mechanical inaccuracies such as elastic
deflection, gear backlash, stretching of pulley cables, leakage
of hydraulic fluids, mechanical imperfections.

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Precision of Movement

2) Accuracy: Ability to position wrist end at desired target point

within work volume.
- Capacity to be programmed to achieve a given target point.
- Can be defined in terms of spatial resolution.
3) Repeatability: Ability to position wrist or an end – effector
attached to the wrist at a point in space that had previously
been taught to the robot.
-Compliance: refers to the displacement of the wrist in response
to a force or torque exerted against it.
- Directional feature

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Manipulation and Control

How to manipulate and control?

- Fixing co-ordinate frames and frame transformations (mapping)

- Forward and inverse kinematics
- Workspace of a robot
- Static and dynamic force analysis for torque estimation and control
- Trajectory planning of robot
- Position control and force control

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Robot Programming and Work
Cell Control
- Robot programming started with mechanical programming using limit
switches, mechanical stops etc..
- Leadthrough programming and textual language programming.
- Leadthrough- forcing the robot arm to move through the required motion
sequence and recording the motions into the controller memory.
- Usually uses a control box ( teach pendant)
- Textual language- program instructions fed into the controller as text based
codes.
-Permit use of calculations, detailed logic flow, subroutines and efficient
use of sensors.
- Work cell : collection of robot and associated equipment such as conveyors ,
production machines , fixtures, tools and possibly human operators.
- Work cell control deals with problem of coordinating and synchronizing the
robot with other equipment in the work cell.
-Robot communicates with equipment in the work cell through signals called
interlocks.
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Trends and Future Prospects

The Robotics Trends and Future Prospects

- Robotics Market (International Federation for Robotics)

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Trends and Future Prospects

The Robotics Trends and Future Prospects

- Total number of robots

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Trends and Future Prospects

The Robotics Trends and Future Prospects

- Industrial robots by industry

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Bio-mimic Robots

Gecko robot (Stickybot III)

Asimo humanoid robot ModSnake (CMU)

Robot dog (Spot)

Sea-gull robot (SmartBird) Robot Fish (iSplash-II)
https://www.youtube.com/watch?v=_qRGIRvr06w
https://www.youtube.com/watch?v=XDeR1JYXSy0&t=24s
source: asimo.honda.com, Gao et al 2019 BITS Pilani, Goa Campus
Thank you!

Questions, Clarifications, Discussions...

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