Addis Ababa Science and Technology University

(AASTU)

Industrial Automation and Introduction to Robotics

Chapter-1: Introduction to Robotics
1 Definition of Robot
2 Types of Robot
3 Main Components of Industrial Robot
Links and Joints
End Effector
Actuators
Sensors
Internal Sensors
External Sensors
Controller
4 Common Kinematic Arrangements of Manipulators
5 Robot Workspace
6 Industrial Robot Applications
 Definition of Robot

Definition
A robot is a reprogrammable multifunctional manipulator designed
to move material, parts, tools, or specialized devices through variable
programmed motions to perform a variety of tasks.

A robot is a machine capable of physical motion to interact with

the environment which include manipulation, locomotion, and any
other tasks changing the state of the environment or the state of
the robot relative to the environment.

Why industrial robots are important?

Robots can substitute humans in hazardous work
environments
Robots are Consistent and accurate which is not attainable by
humans
 Types of Robot

Types of Robots

In terms of mobility we can classify robots into two

Industrial robots
Mobile robots

Industrial robot mobile robot

] ]
More-or-less stationary and Capability to move around the
attached to a fixed surface. environment and are not fixed to
one physical location.
 Main Components of Industrial Robot

Main Components of Industrial Robots

Robots can be made in many ways and most robots share a great
deal in common. The most common elements that are used in
constructing robots are.

Links and Joints

End Effector
Actuators
Controller
Sensors
 Main Components of Industrial Robot
Links and Joints

Link and Joints

Links are the sections between joints.

Basically there are two types of joints

Prismatic Joint: Reperesented by either P or T
Linear, No rotation involved (pneumatic or hydraulic cylinder)
Revolute Joint: Represnted by R
Rotary (electrically driven with stepper motor or servo motor)
 Main Components of Industrial Robot
End Effector

End Effector

The hands of a robot that directly interact with objects/environment

is referred as end effector.

Most robots arms are replaceable effectors, each allowing them to

perform some small range of tasks. Some have a fixed manipulator
which cannot be replaced, while a few have one very general purpose
end effector.

A gripper at the end of a robotic arm is a common end-effector.

Others include spikes, lights, hammers, and screw-drivers. Medical
robots have their own specialized effectors, such as tools for cutting
in surgery.
 Main Components of Industrial Robot
Actuators

Actuators
An actuator is a component of a robot that is responsible for moving
links into their designated positions.

Industrial robot arms generally use one of the following types of

drives:
1 Hydraulic
It gives a robot great speed, strength and applicable for large
robots to move heavy payloads
2 Electric Motor (Servo/Stepper)
It provides a robot with less speed, strength, high accuracy
and repeatability. It used for assembly of electronic devices
3 Pneumatic
It is the cheapest and used for smaller robots.
Robot payload is the weight a robot arm can lift. It includes the
weight of the end of arm tooling (EOAT).
Main Components of Industrial Robot
Actuators

Electrically actuated systems are widely used in robotic systems be-

cause they are easy to interface.
Steper motors and dc servo motors are the most common electrical
actuators used in robotics to control position and speed precisely

Lead screw is used to convert rotational motion to linear motion

Main Components of Industrial Robot
Actuators

A pneumatic actuator converts energy (typically in the form of com-

pressed air) into mechanical motion. The motion can be rotary or
linear, depending on the type of actuator.

A Pneumatic actuator mainly consists of a piston or a diaphragm

which develops the motion power.
Main Components of Industrial Robot
Actuators

Hydraulic Actuators employ hydraulic pressure to drive an output

member. These are used where high speed and large forces are
required.
The fluid used in hydraulic actuator is highly incompressible so that
pressure applied can be transmitted instantaneously to the member
attached to it.
 Main Components of Industrial Robot
Sensors

sensors

Sensors allows a robot to gather information about its environment.

Why we need sensors?

To guide the robot’s behavior
To keep two robots that work closely together from bumping
into each other
To assist end effectors by adjusting for part variances
To construct a visual representation of its environment

Basically they are two types

Internal
External
 Main Components of Industrial Robot
Sensors

Internal Sensors

This sensor gives information about the robot itself

The most common internal sensors are postion sensor, speed sensor
and acceleration sensor
 Main Components of Industrial Robot
Sensors

External Sensors

Sensors which interact with the environment

Touch or Tactile sensors
Proximity or Range detectors
Vision: Camera
 Main Components of Industrial Robot
Sensors

Touch or Tactile sensors

Tactile sensing is the process of detecting and measuring a given
property of a contact event in a predetermined area

Tactile sensors are sensitive to touch, force or pressure.

When there is contact with the surface of the touch sensor, the
circuit is closed inside the sensor and there is a flow of current.
When the contact is released, the circuit is opened and no current
flows.
 Main Components of Industrial Robot
Sensors

Proximity or Range detectors

Proximity sensors detect the presence or absence of objects using
electromagnetic fields, light, and sound.

There are four fundamental types of proximity sensors: inductive,

capacitive, ultrasonic and optical proximity sensors
Main Components of Industrial Robot
Sensors

Vision sensor (camera) allow a robot to construct a visual represen-

tation of its environment.

This allows the robot to determine attributes of the environment,

such as shape, color, size and distance of objects.

For example: Camera allow a pick and place robot to differentiate

between items to choose and items to ignore.
 Main Components of Industrial Robot
Controller

Controller

Controller is a part of robot that coordinates all motion of a robotic

system based on the information coming from various sensors.
Example: microprocessor, microcontroller (arduino)
 Common Kinematic Arrangements of Manipulators

Common Kinematic Arrangements of Manipulators

Depending on the configuration we can classify robots into:

Cartesian/Rectangular/gantry (PPP)
Applicable for high payloads and with good repeatability.
Cylindrical (RPP)
Suitable for loading/unloading operations.
Spherical (RRP)
A gripper can enter in restricted areas without generating
mechanical interference.
Articulated/Anthropomorphic (RRR)
This type of robots are able to reach objects located far from
their basis.
Common Kinematic Arrangements of Manipulators
 Robot Workspace

Workspace

The workspace of robot is defined as the set of points that can be

reached by its end-effector

It depends on the kinematic configuration, the links’ dimension, the

joints’ range of motion
 Industrial Robot Applications

Applications

1 Material handling applications

Involve the movement of material or parts from one location
to another,which include part placement,
palletizing/depalletizing, machine loading/unloading
2 Processing operations
Requires the robot to manipulate a special process tool as the
end effector,which include spot welding, arc welding, spray
painting, machining, metal cutting, grinding
3 Assembly and inspection
Involve part-handling manipulations of a special tools and
other automatic tasks and operations
Industrial Robot Applications

Assembly welding
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loading spray painting

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