CHAPTER ONE:-INTRODUCTION

Outlines

 History

 Laws of Robotics

 Automation and Robotics

 Subsystem of Robotics

 Classification of Robotics

 Robot specification
 why study robotics?
Because :-
 The robots’ ability to perform tireless, dangerous jobs.
 it is meant to relieve a human worker from boring,
unpleasant, hazardous, or too precise jobs.
Note: A robot is normally designed to assist a human
worker.
 Origin of the word “Robot”
• Karel Čapek (1920):
Science fiction play R.U.R. “ Rossum’s Universal Robots”
(“Rossumovi Univerzální Roboti”)

Robota (in czech) = forced laborer or slave laborer

Čapek’s play Čapek’s “Robot”

 Summary: In the play, the robots rebel against human and destroy the entire
human race, except one man, so that he can continue making robots.
 First use of the word “Robotics”
• Isaac Asimov (1920-1992)
- He used the word “robotics” (in science fiction plays)
o means “study of robots” or “robot ethics”
- Some of his books: I, Robot (1950), Robots and Empire (1985)

He wrote the so-called “robotics laws” (in science fiction):

1. A robot may not injure a human being or, through inaction,

allow a human being to come to harm.
2. A robot must obey orders given by humans, except where
such orders would conflict with the 1st law.
3. A robot must protect its own existence as long as such
protection does not conflict with the 1st or 2nd law.
 Robotics and Automation
Robotics:
 Robotics is a form of industrial automation..
Industrial automation:
 Automation is the “technology” that is concerned with the use of mechanical
, electronic and computer based systems in the operation and control of produ
ction.
 The three basic classification of industrial automation are:
 Robotics and Automation
1) Fixed automation
 High volume of production rates,
 Relatively inflexible in product variety .
2) Flexible automation.
 Medium Production rates
 Flexibility to deal with product design variation
 More suitable for batch production.
3) Programmable automation
 Lower production rates
 Flexibility & Changes in products configuration
 Continuous production of variable mixtures
of products.
 Robotics and Automation
What is a robot?

Robot Institute of America (RIA), 19791:

A robot is a reprogrammable and multifunctional manipulator designed

to move materials, parts, tools, or specialized devices through various
programmed motions for the performance of a variety of tasks.

Japanese Industrial Robot Association (JIRA)2:

A robot is a device with degrees of freedom that can be controlled.
 Robotics and Automation

International Federation of Robotics (IFR): ISO 8373:2012

 A robot is an actuated mechanism programmable in two or more

axes with a degree of autonomy, moving with its environment to
perform intended tasks.
• Remark 1: A robot includes the control system and interface of the
control system.
• Remark 2: The classification of a robot into industrial robot or service
robot is done according to its intended application.

• Autonomy: Ability to perform intended tasks based on current state

and sensing, without human intervention.
 Robotics and Automation
What is not Robotics?
i. Prosthesis: artificial device used to replace a missing or
removed part of human body.
ii. Telecheric: This is a device that allows the robot operator
to control the robot like mechanism situated at a distance.
iii. Locomotive Mechanisms: this device imitate human and
animals which ,a person sitting inside it, controls the
mechanism just like a vehicle.
iv. Exoskeleton: It is a device that may be worn by operator
to amplify human powers. E.g. carry power, speed, remove
obstacle,
 Robotics and Automation
Need for using robotics in industries:-
 Robot performance capability superior to those of human being
s ( in terms of strength, size, speed, accuracy…etc).
 Robots are better than humans to perform simple and repetitive
tasks with better quality and consistence’s.
 Robots do not have the limitations and negative attributes of hu
man works .such as fatigue, need for rest, and diversion of attent
ion…..etc.
 Improved working conditions and reduced risks.
 Robotics and Automation
Robot Generation :
i. First generation: repeating robot, non-
servo, pick and place with mechanical
sequences .
ii. Second generation: addition of sensing
devices and enabling the robot to alters its
movements in response sensory feedback.
iii. Third generation: develop human-like
robot which has intelligence.
iv. Fourth generation: not for a single
machine but for integrated machine.
v. Fifth generation: to predict the future by
using complete use of (AI)
 Sub-System of Robotics

It consists of:-
 Motion subsystem

 Recognition subsystem

 Control subsystem
 Sub-System of Robotics
1) Motion subsystem
It is the physical structure.
 Similar to human arms.

The elements are :

o Manipulator
o End-effector
o Actuator
 Sub-System of Robotics
1) Motion subsystem
a) Manipulator:-the physical(skeleton)
structure.
 It comprises of links and joints.

Link:-The manipulator is mechanism

whose members are rigid links that can be
connected to, at most, with two other links
(binary links)
1. Linear or prismatic(P) joint
Joint:- Two links are connected by joint
2. Rotary or revolute (R) joint:
 Sub-System of Robotics
a) Linear joint (type L joint)
•The relative movement between the input link and the output link is a
translational sliding motion, with the axes of the two links being parallel.

b) Orthogonal joint (type U joint)

•This also has a translational sliding motion, but the input and output links
are perpendicular to each other during the move.

c) Rotational joint (type R joint)

•This type provides rotational relative motion, with the axis of rotation
perpendicular to the axes of the input and output links
 Sub-System of Robotics
d) Twisting joint (type T joint)
•This joint also involves rotary motion, but the axis or rotation is
parallel to the axes of the two links.

e) Revolving joint (type V-joint)

•In this type, axis of input link is parallel to the axis of rotation of
the joint. Axis of the output link is perpendicular to the axis of
rotation.
 Sub-System of Robotics
1) Motion subsystem

b) End effector:-The end-effector is mounted

on the wrist and it enables the robot to perform
various tasks.

The common end effectors are:

1. Tools: the end effector will itself act as the tool.
( e.g. spot welding, spray painting nozzles, rotating
spindles etc.)
2. Gripper: to hold the object and place it at the
needed location.
The various types of grippers are:
o Mechanical gripper.
o Magnetic gripper.
o Vacuum gripper.
 Sub-System of Robotics
1) Motion subsystem
c) actuator:-
 They are like the muscles of a human arm and hand.
 Actuators are used for converting the hydraulic, electrical or pneumatic energy
into mechanical energy

Types of actuators:

 Electric Actuators: The power supply is the electricity.

 Hydraulic Actuators: The power supply is pressurized fluid.

 Pneumatic Actuators: The power supply is compressed air.

 Sub-System of Robotics
2) Recognition subsystem

The elements of recognition subsystem:-

1. Sensors:-is a device which will convert internal physical phenomenon
into an electrical signal.
 Sensors use both internal as well as external feed in robots.
• Internal feedback → Temperature, pressure and position etc.
• External feedback → Environmental feedback.
 Sub-System of Robotics
3) control subsystem
 Sub-System of Robotics
Robot is a multi-disciplinary engineering device:
 Mechanical engineering: deals with the design of mechanical
components, arms, end-effectors, and also is responsible for kinematics,
dynamics analyses of robots.

 Electrical engineering: works on robot actuators, sensors, power, and

control systems.

 Computer science/engineering: is responsible for logic, intelligence,

communication, and networking.
 Classifications of robotics

 Robot manipulators can be classified by several criteria:

• power source
• Geometry or coordinate
• method of control
• Locomotion
• application area
 Such classification is useful primarily in order to determine which
robot is right for a given task
 Classifications of robotics
1) Power source:

• Electrical Robot:-they are cheaper, cleaner and quieter.

• Hydraulic Robot:-they are used primarily for lifting heavy loads

• Pneumatic Robot:-they are inexpensive and simple but cannot

be controlled precisely.
 Classifications of robotics
2) Method of control

 Robots are classified by control method into two:

• non-servo robots:-use open-loop devices whose movement is limited

to predetermined mechanical stops, and they are useful primarily for

materials transfer.

• Servo robots:- use closed-loop computer control to determine their

motion and are thus capable of being truly multifunctional,

reprogrammable devices.
 Classifications of robotics
3) Coordinate

The majority of these manipulators fall into one of four

geometric types:

• Spherical (polar) (RRP)

• Cylindrical (RPP),

• Cartesian (PPP)

• articulate (RRR),
 Classifications of robotics
3) Coordinate

a) Cartesian(3P)
 In this co-ordinate system, three linear
motions x, y, z exist.
 The manipulator can reach any point
in a cubic volume of space or
rectangular.
 The robots with cartesian co-ordinate
system are called as rectilinear or
gantry robots.
 Classifications of robotics
3) Coordinate
b) Cylindrical (R2P)

 In this system, two linear motions and

one rotational motion.
 Work envelope is cylindrical.
 The manipulator is capable to reach any
point in a cylindrical volume of space.
 Classifications of robotics
3) Coordinate

c) Spherical (2RP)
 In this system, robot has one linear and
two angular motion.

 Polar co-ordinates are also referred as

spherical co-ordinates
 Classifications of robotics
3) Coordinate
d) articulate (3R)

 It is similar with human arm having

wrist, shoulder and elbow.

 The work envelope is spherical.

 Classifications of robotics
4) Locomotion

1. Fixed Robot

Serial Robots Parallel Robots

Accumulated error Greater rigidity
Less rigidity Higher speed
Less accurate Higher accuracy
More workspace Limited workspace
 Classifications of robotics
4) Locomotion

2. Mobile Robot
 Classifications of robotics
4) Locomotion

3. Autonomous Underwater and Unmanned Aerial Vehicle

 Classifications of robotics
5) Application

Based on application:

MANUFACTURING

NON- MANUFACTURING
 Classifications of robotics
5) Application –MANUFACURING

a) Material handling:

1. Bottle loading.

2. Parts handling.

3. Transfer of components / tools

4. Depalletizing / Palletizing.

5. Transporting components.
 Classifications of robotics
5) Application- MANUFACURING

b) Machine loading / unloading:

1. Loading parts to CNC machine tools.
2. Loading a punch press.
3. Loading a die casting machine.
4. Loading electron beam welding.
5. Loading / orientating parts to transfer
machine.
6. Loading parts on the test machine.
 Classifications of robotics
5) Application -MANUFACURING

c) Spray painting:

1. Painting of trucks / automobiles.

2. Painting of agricultural equipment.

3. Painting of appliance components.

 Classifications of robotics
5) Application -MANUFACURING

d) Welding:

1. Spot Welding

2. Arc welding.

3. Seam welding of variable width.

 Classifications of robotics
5) Application -MANUFACURING

e) Machining:
1. Drilling
2. Cutting
3. Grinding
 Classifications of robotics
5) Application -MANUFACURING

f) Assembly:

1. Mating components.

2. Riveting small assemblies.

g) Inspection:
1. In process measuring and quality control.
2. Searching of missing parts.
 Classifications of robotics
5) Application -NON-MANUFACURING

a) Mining:
1. Exploration.
2. Search and erasure.
3. Tunneling for main road ways.
4. Operation in short passage.

b) Service:
1. Fire Fighting.
2. Underground cleaning.

c) Nuclear:
 Maintenance of atomic reactors.
 Classifications of robotics
5) Application -NON-MANUFACURING

d) Space:
 Used in space vehicles.

e) Under sea:
1. Oil / mineral exploration.
2. Salvage operation.

f) Medical:
1. Surgery
3. Rehabilitation engineering for handicapped.
 Classifications of robotics
5) Application -NON-MANUFACURING

g) Others:
1. Agricultural purpose.
2. Hobby / household purpose.
3. Military applications of robot
 ROBOT SPECIFICATION:

The common robot specifications are given as below:

1. Stability
2. Spatial resolution
3. Accuracy
4. Repeatability
5. Compliance
6. Dexterity
7. payload
 ROBOT SPECIFICATION:
1. Stability:

It is associated with the oscillations which occur in the motion of

the robot tool i.e. end effector.
Less the number of oscillations in the system, more stable the
operation of the robot.

2. Spatial resolution: is the smallest increment of movement into

which the robot can divide its work volume.
 ROBOT SPECIFICATION:
The spatial resolution depends on two
factors.
a) Control resolution:-is determined by
the robot’s position control system
and its feedback measurement
system.
b) Mechanical inaccuracy: comes from
elastic deflection in structural
members and other imperfections in
the mechanical system.

3. Accuracy: ability to position its wrist end at a desired target point

within the work volume. It can be defined in terms of spatial resolution
because the ability to achieve a given target point.
 ROBOT SPECIFICATION:
4. Repeatability:
 robot’s ability to position its wrist or an end effector at a point
in space that had previously been brought.
Repeatability refers to the robot’s ability to return to the
programmed point when commanded to do so.

5. Compliance:
 Is the robot manipulator refers to the displacement of the wrist
end in response to a force or torque exerted against it.
If the robot is handling a heavy load, weight of the load will
cause the robot arm to deflect.
 ROBOT SPECIFICATION:
6. Dexterity:
 It is flexibility of robot to locate its end effector at a reachable
point with different orientations is termed as
“Manipulability” of the robot or “ Dexterity”.

7. Pay load:
 Is load carrying capacity
 It is depend on:
o size,
o configuration,
o construction and
o drive systems