Power Supply

• The power supply used in a robot often

depends on what the robot does, its working
environment, and what is readily available.
Potentially, any power source we can harness
could power a robot, but the main sources
used for modern robotics are electric,
hydraulic, and pneumatic power. As we look
closer at each power source, we will discuss
the pros and cons of each.
Electric Power

• Electricity, as previously discussed, is the flow

of electrons from a place of excess electrons
to a place of electron deficit. We route these
electrons through connected systems of
components, known as circuits, to perform
some type of work. In an electrical system,
voltage is a measurement of the potential
difference or imbalance of electrons between
two points and the force that will cause
electrons to flow.
Example 1
If we connect three batteries in parallel that have 5 amp-
hours of energy each, what would be the total amp-hours
available?

+ + +

- - -

Total amp-hours = battery 1 + battery 2 + battery 3

Total amp-hours = 5 + 5 + 5 = 15 amp-hours
Example 2
What would be the total voltage supplied by three AA batteries
connected in series?

Total voltage = battery voltage 1 + battery voltage 2 + battery

voltage 3
(Note: Remember that AA batteries have a voltage of 1.5V each.)
Total voltage = 1.5V + 1.5V + 1.5V = 4.5V
Example 3
What would be the total voltage supplied by three AA batteries
connected in series with the last battery placed in backward or
negative to negative?

Total voltage = battery voltage 1 + battery voltage 2 - battery voltage 3

Total voltage = 1.SV + 1.SV - 1.SV = 1.SV
Example 4
What would be the total voltage and amp-hours of a system that
has five parallel groups or cells consisting of three 12V batteries
connected in series, when each battery has 100 amp-hours of
electricity?
Total voltage = battery voltage 1 + battery
voltage 2 + battery voltage 3
Total amp-hours = battery 1 + battery 2 +
battery 3
Total voltage = 12V + 12V + 12V = 36V
Total amp-hours= 100Ah + 100Ah + 100Ah
+ l00Ah + 1 00Ah = 600Ah
Hydraulic Power
Also called Fluid Power, power transmitted by
the controlled circulation of pressurized fluid, usually
a water-soluble oil or water–glycol mixture, to a
motor that converts it into a mechanical output
capable of doing work on a load. Hydraulic power
systems have greater flexibility than mechanical and
electrical systems and can produce more power than
such systems of equal size. They also provide rapid
and accurate responses to controls.
Pneumatic Power
A pneumatic system is a collection of
interconnected components using compressed air to
do work for automated equipment. Examples can be
found in industrial manufacturing, a home garage or
a dentist office. This work is produced in the form of
linear or rotary motion. The compressed air or
pressurized gas is usually filtered and dried to
protect the cylinders, actuators, tools and bladders
performing the work. Some applications require a
lubrication device that adds an oil mist to the closed
pressurized system.
CONTROLLER
Controller is a part of robot that coordinates all
motion of the mechanical system. It also receives an
input from immediate environment through various
sensors. The heart of robot's controller is a
microprocessor linked with the input/output and
monitoring device. The command issued by the
controller activates the motion control mechanism,
consisting of various controller, actuators and
amplifier.
How does the controller execute the process of
control, and what are the various methods used
in this process?
Robot axis- An axis in robotic terminology represents a degree of
freedom (DOF). For example, if a robot has three degrees of freedom, it can
operate in the x, y, and z planes.
 Vertical axis waist (1) horizontal axis shoulder (2) and then the
axes are perpendicular (3), parallel (4), perpendicular (5) and
parallel (6) with the previous link.

Robots are ideal for repetitive operations and can significantly

improve manufacturing productivity and capacity as well as the
health and safety of workers.
Traditional 6 axis robots have one limitation however, they are
usually mounted in a fixed position, such as being bolted to the floor
or mounted on a pedestal. This limits their reach and potential
orientation to an operation and therefore limits their application.
Motion transfer devices
Mobile robot - is a robot that is capable of
learning multiple tasks so it can assist human beings.
In contrast, autonomous robots are hard-coded to
repeatedly perform one task, work independently
and remain stationary.
ROBOT CONTROL LEVELS
Robot control may be divided into three levels
which make up the control hierarchy. The levels are
as follows:
1. Actuator control, or the control of each robot axis on a
separate basis. This is the lowest level of control. (Level 1.)
2. Path control, or the control of the robot arm with
coordination between the axis to form the required path.
This is the intermediate level of control. (Level 2.)
3. Control of the motion of the arm in coordination with the
environment. This is the highest level of control. (Level 3.)
Teach Pendants

Industrial robots are sophisticated machines capable of

handling numerous manufacturing processes, even ones once
thought only possible through human labor. In order for a robot to
be capable of performing an application it first must be
programmed. Robotic teach pendants are the most common
device use to program industrial robots. Teach pendants are a vital
component of a robotic system.
EXAMPLE OF TEACH PENDANTS
 Abb Teach Pendant - A teach pendant is one
of the main components of any industrial robot.
Teach pendants are the handheld devices that are
part of the control system of the ABB 2400 and
other ABB robots. ABB teach pendants are used as
the primary programming method for their robots.
 Fanuc Teach Pendant - Teach pendants are an
essential component of any FANUC robotic system.
They are the handheld devices that are part of a
FANUC robot controller. FANUC teach pendants are
the most common programming method for FANUC
robots.
 Kuka Teach Pendants - One of the key steps
for successfully automating an application with
a KUKA robot is programming. Robotic programs are
sets of application specific instructions written in
code in which the KUKA robot control system can
interpret. Application programs are often relayed to
KUKA robots through teach pendants.
 Manipulator, Degree of Freedom
and Axis Numbering
Manipulator - is a device used to manipulate materials
without the direct physical contact by the operator. It is also
defined as an equipment consisting of a set of mechanical,
electrical and electronic components that are programmed to
perform repetitive tasks automatically.
Degrees of freedom (DOF) - is the number of
independent variables that define the possible positions or
motions of a mechanical system in space. DOF measurements
assume that the mechanism is both rigid and unconstrained,
whether it operates in two-dimensional or three-dimensional
space. The number of degrees of freedom is equal to the total
number of independent displacements or aspects of motion.
 Degrees of freedom applies to two types of motion:
translational and rotational. Translational motion refers to
movement that is both linear and non-rotational. Rotational
motion is just the opposite. An unconstrained, rigid mechanism
in two-dimensional space (planar space) can potentially have
three independent degrees of freedom: two translational and
one rotational.
 Figure 1 shows a block in a planar space. The block, which
can represent any rigid, unconstrained mechanism, can move
linearly forward and backward along the x-axis, or it can move
left or right along the y-axis. Both types of movements are
considered translational motion. The block can also rotate
around the z-axis, which means that it also supports rotational
motion. However, the block cannot rotate around the x-axis or
y-axis, nor can it move linearly up and down the z-axis.

A mechanism in three-dimensional space can support up

to six degrees of freedom: three translational and three
rotational. Figure 2 shows the same block in a three-
dimensional space, but it now includes one more translational
motion and two more rotational motions.
Because it is in a three-dimensional space, the block can move linearly along all
three axes, and it can rotate around all three axes.
The block can move forward or backward along the x-axis, and it can rotate
around the x-axis. In nautical terms, these motions are referred to as surge and
roll, respectively.
The block can move left or right along the y-axis, and it can rotate around the
y-axis. In nautical terms, these motions are referred to as sway and pitch,
respectively.
The block can move up or down the z-axis, and it can rotate around the z-axis.
In nautical terms, these motions are referred to as heave and yaw, respectively.
Axis – each part of the robot that has controlled movement. Each axis of the
robot gives the robot a degree of freedom or one way that the robot can move.
Base Types
The two broad categories for bases are solid mount and
mobile.
Solid-mount bases - a non-mobile base to which a robot is
attached with bolts and other fasteners and from which it
works. These involve mounting the robot firmly to the floor or
other structures using bolts and fastening systems. A solid
mount allows the system to maintain a very specific coordinate
base to work from, which in turn allows industry to make full
use of the precision of robotic systems.
 This example shows two ABB robots: the one on the right
is mounted parallel to the floor, and the one on the left is
mounted to the side of the pedestal on a wall-type mount.
Mobile bases - A mounting system that gives the robot
mobility options, often wheeled or tracked in nature. Mobile
bases are systems used to move the manipulator to various
location so that it can perform its functions. Some of these are
restricted to liner rails that allow the robot to move back and
forth over a finite area, while others give the system a great
range of mobility and freedom.