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Department of Mechanical Engineering

III B.Tech II Semester
ROBOTICS

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 Day-1

Topics covered:

 Introduction
 Laws of robotics
1. Write down the advantages of Robots?
i. Raise the quality and volume of products, with a minimum of labor force employed, owing to a
decrease in the production time and reproducible performance of robots which are not subject to
fatigue; increase the life of the equipment; improve the current production processes and create
innovative high- speed production processes and equipment.
ii. Improve working conditions by relieving people of stultifying, repetitive, tedious, hazardous
tasks; increase the safety of industrial labor; decrease the loss in man-hours due to occupational
trauma and industrial diseases.
iii. Decrease labour requirements
iv. One of the main causes of the intensive development of robotics is the need to increase
productivity in manufacturing
2. Write down the basic laws of Robotics?
i. Zeroth law: A robot must not injure humanity or through inaction, allow humanity to come to
harm.
ii. First law: A robot may not injure a human being, or through inaction, allow a human being to
come to harm, unless this would violates a higher order law.
iii. Second law: A robot must obey the orders given to it by human beings, except where such
orders would conflict with higher order law
iv. Third law:A robot must protect its own existence, as long such protection does not conflict with
higher order law.
3. Define the term Robot?

Robotics Industries Association (RIA) of USA defines a robot as “a reprogrammable multifunctional

manipulator designed to move material, parts, tools or specialized devices through variable programmed
motions for the performance of a variety of tasks”.

Webster’s dictionary defines a robot as “a machine that looks like a human being and performs various
complex acts (as walking or talking) of a human being”.

4. Define the term Industrial Robots?

 Defined by International Standards Organization (ISO): “An industrial robot is an automatic, servo-
controlled, freely programmable, multipurpose manipulator, with several areas, for the handling of
work pieces, tools, or special devices. Variably programmed operations make the execution of a
multiplicity of tasks possible” (ISO 8373).
 The British Robot Association defines the industrial robot as: “A reprogrammable device with
minimum of four degrees of freedom designed to both manipulate and transport parts, tools, or

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 specialized manufacturing implements through variable programmed motions for performance of
specific manufacturing task”.

Home work:
1.Define robot and list the advantages of robot.
2.Mention the basic laws of robotics.
JNTUK Previous Questions:
1.What are the Laws of Robotics?[May 2014, set-3]
2.What are the future applications of robots.4m April 2016

Day 2 , 3
Topics covered: CAD/CAM and Robotics, Robot anatomy

1.Give the comparison of CAD/CAM and robotics.

CAD/CAM
1. It is defined as the use of computer systems 1. It is defined as a science which deals with
for planning, controlling and optimizing
designing and manufacturing activities.
2 The equipment used is heavier and less
portable.
3 Example: CNC machine
4 Machine tools are controlled by part 4
programming.
5 Less efficient system
6 Applications of CAD/CAM are computer 6
integrated manufacturing NC machine tools.
Robotics
designing and manufacturing robots suitable
for application in automated manufacturing
system.
2 The equipment used is lighter and more
portable.
3 Example: Robotic arm
Robots are controlled by guiding; teach
pendant, off-line or on-line programming.
5
More efficient system
Applications of robotics are Automated
Guided Vehicles(AGV), gantry robot etc.

2.Explain about Robot Anatomy?

The mechanical structure of a robot is like the skeleton in the human body. The robot anatomy is,
therefore, the study of skeleton of robot, that is, the physical construction of the manipulator
structure. The mechanical structure of a manipulator that consists of rigid bodies (links) connected
by means of articulations (joints), is segmented into an arm that ensures mobility and reach ability, a
wrist that confers orientation, and an end-effector that performs the required task. But robot anatomy
does not constitute the end effector as the size of it depends on the type of application and thereby it

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 affects other characteristics of the robot configuration. The arrangement of base, arm, wrist, and end-
effector is shown in Fig.

Following are the main parameters in Robot anatomy:

1. Links
2. Joints
3. Joint notation scheme
4. Degrees of freedom
5. Arm configuration
6. Wrist configuration
7. End effector
1. Links:
The mechanical structure of a robotic manipulator is a mechanism, whose members are rigid
links. They are called as rigid in design consideration point of view. Figure below shows two rigid
links, each with two holes at the ends to connect with each other or to other links.Two links are
connected together by a joint. The joint formed is called a pin joint also known as rotary joint.
Relative rotary motion between the links is possible and the two links are said to be paired. Thus a
robotic mechanical structure is formed with number of links and joints.
If more than two links join together they form the kinematic chain. Chains may be open or
closed. Chains composed of links joined by only one joint at each end, and with no connection to
another link closer to the base link, are called open chains, while chains that have links connected
back to a previous joint are called closed chains. Existing industrial robots belong to open loop
chains because of their large workspace, dexterity, lower inertia and lower cost. At the same time
they have low stiffness, low accuracy, rapid increase of inertial load along the linkage and small load
bearing capacity. Even though the closed loop chain robots have good stiffness, high accuracy and

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 high payloads, they are limited to non-industrial applications as they have less flexibility in the
movement. The open kinematic chain is shownin Fig. below

There is a common way of designation of links of joints. If the joint is numbered “i” then the input
link to ithjoint is i-1 link and output link is ith link as shown below figure.

2. Joints
Many types of joints can be made between two links. Joints can be classified into one ofthe five
types. The relative motion of the adjoining links of a joint is either rotary or linear depending on the
type of joint.
 Linear joint (L Type): The relative movement between the input link and the output link is a linear
sliding motion, with the axes of the two links being parallel.
 Orthogonal joint(O type): This is also a linear sliding motion, but the input and outputlinks are
perpendicular to each other during the move.
 Rotational joint(R Type): This type provides a rotational relative motion of the joints, with the axis
of rotation perpendicular to the axes of the input and output links.
 Twisting joint (T Type): This joint also involves a rotary motion, but the axis of rotation is parallel to
the axes of the two links.
 Revolving joint(V Type): In this joint type, the axis of the input link is parallel to the axisof rotation
of the joint, and the axis of the output link is perpendicular to the axis ofrotation.
Table below gives various types of Joints used in Robots.
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 3. Joint Notation Schemes:
The DOF of a manipulator are distributed into subassemblies of arm and wrist. The arm is used for
positioning the end-effector in space and, hence, the three positional DOF are provided to the arm.
The remaining 3-DOF is provided in the wrist, whose task is to orient the end-effector. The type and
arrangement of joints in the arm and wrist can vary considerably.
The Table below lists few typical anatomy structures of Robot manipulators with joint notation
schemes. The designation of joints will be considered from base to the end effector of the Robot.

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 4. Degrees of Freedom (DOF):
A typical robot manipulator can be divided into two sections: Body-and-arm assembly, and Wrist
assembly. There are usually 3 degrees of freedom associated with the body-and-arm, and either 1 or
2 or 3 degrees of freedom usually associated with the wrist. At the end of the manipulator‘s wrist is
an object that is related to the task that must be accomplished by the robot. The body and arm of the
robot is used to position the object and the robot‘s wrist is used to orient the object.
The kinematic chain of the manipulator is characterized by the degrees of freedom it has, and the
space its end-effector can sweep. The number of independent movements that an object can perform
in a 3-D space is called the number of degrees of freedom (DOF). Thus, a rigid body free in space
has six degrees of freedom-three for position and three for orientation.
It is known from the principles of location that to position and orient a body freely in 3Dspace, a
manipulator with 6-DOF is required. Such a manipulator is called a spatial manipulator. It has three
joints for positioning and three for orienting the end-effector. In 3Dspace the manipulator with less
than 6-DOF has constrained motion. Spatial manipulators with more than 6- DOF have surplus joints
and are known as redundant manipulators. The extra DOF may enhance the performance by adding
to its dexterity. Dexterity implies that the manipulator can reach a subspace, which is obstructed by
objects, by the capability of going around these. However, redundant manipulators present
complexities in modeling and coordinate frame transformations and therefore in their programming
and control.
5. Arm configuration:
The mechanics of the arm with 3 DOF depends on the type of three joints employed and their
arrangement. The purpose of the arm is to position the wrist in the 3D space and the arm has
following characteristic requirements.
 Links are long enough to provide for maximum range in the space.
 The design is mechanically robust because the arm has to bear not only the load of work piece but
also has to carry the wrist and the end effector.

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 According to the joint movements and arrangement of the links, four well distinguished basic structural
configurations are possible for the arm. These are characterised by distribution of three armed joints
among prismatic and rotary joints and are named according to the coordinate system employed or the
shape of the space they sweep. The four configurations are
1. Cartesian configuration
2. Cylindrical configuration
3. Spherical configuration
4. Articulated configuration
6. Wrist configuration:
The wrist subassembly movements enable the manipulator to orient the end-effector to perform the task
properly, for example, the gripper (an end-effector) must be oriented at an appropriate angle to pick and
grasp a work piece. For arbitrary orientation in 3-D space, the wrist must possess at least 3-DOF to give
three rotations about the three principal axes. The wrist has to be compact and it must not diminish the
performance of the arm. The wrist requires only rotary joints because its sole purpose is to orient the end
effector. A 3-DOF wrist permitting rotation about three perpendicular axes provides for roll, pitch, and
yaw motions.
7. End effectors:
End effectors, or end-of-arm tools, are the devices through which a robot interacts with the world around
it, grasping and manipulating parts, inspecting surfaces, and working on them. As such, end effectors are
among the most important elements of a robotic application not accessories‖ but an integral component
of the overall tooling, fixturing, and sensing strategy.
Since objects of manipulation can vary in size, shape, mass, and physical properties, the robot needs a
variety of replaceable end effectors such as hands, grippers, pickups, and tools to handle different
objects.
Home work questions:
 Explain about Robot Anatomy.
Previous JNTUK questions:
1.Sketch and explain the four basic robot configurations. [April-2016, set-1]
2.Define ‘degrees of freedom’. How do you calculate the degrees of freedom of a robot manipulator?
[April-2009,set-1]
3.Explain the degrees of freedom of a robot with sketches.[July 2012, set 4]
4.Explain the various types of joints used in robotics with sketches. [July 2012, set 4]
5.Explain Robot anatomy in detail with neat sketch. 8m April 2017

6.Differentiate CAD/CAM and robotics . 4m April 2016

Day- 4
Topics covered:
 Classification by coordinate system
1. Explain the classification of Robots by coordinate system?
i. Cartesian Robots
This is the simplest configuration with all three linear type joints, as shown in Fig. 1. It is
constructed by three perpendicular slides, giving only linear motions along the three principal axes.
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 There is an upper and lower limit for movement of each link. Consequently, the endpoint of the arm
is capable of operating in a cuboidal space, called work space.

The workspace represents the portion of space around the base of the manipulator that can be
accessed by the arm endpoint. The shape and size of the workspace depends on the arm
configuration, structure, degrees of freedom, size of links, and design of joints. The physical space
that can be swept by a manipulator (with wrist and end-effector) may be more or less than the arm
endpoint workspace. The volume of the space swept is called work volume; the surface of the
workspace describes the work envelope.
Two types of constructions are possible for Cartesian arm: a Cantilevered Cartesian, as shown in
Fig. 1.A and a Gantry type construction shown in Fig 1. (B). Gantry configuration is used when
heavy loads must be precisely moved. The Cartesian configuration gives large work volume but has
a low dexterity. The configurations LOO or OLO or OOL give similar structures.

Characteristics:
 It consists of all linear joints
 Movement along all three axes can occur simultaneously

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  Work envelope is rectangular
Advantages:
 Simple controls
 High degree of mechanical rigidity
 Good accuracy and repeatability
 Consistent payloads throughout work envelope
 Most rigid structure as it is supported at both ends.
Disadvantages:
 Limited in movement
 Require large volume to operate even though whole space is not used.

Applications:
 Assembly
 Surface finishing
 Inspection
 Reprography.
ii. Cylindrical Robot
The cylindrical robot is shown in Fig. 2. It has two perpendiculars linear joints, and a rotary type
joint. The difference from the Cartesian one is that Joint near base is replaced with a rotary type. One
typical construction is with the first joint is torsional and it may either have the column rotating or a
block revolving around a stationary vertical cylindrical column. The vertical column carries a slide
that can be moved up or down along the column. The horizontal link is attached to the slide such that
it can move linearly, in or out, with respect to the column. This results in a TLO configuration. The
arm endpoint is, thus, capable of sweeping a cylindrical space. The workspace is a hollow cylinder
as shown in Fig.2. Usually a full 360°rotation of the vertical column is not permitted due to
mechanical restrictions imposed by actuators and transmission elements.

Many other joint arrangements with two linear and one rotary joint is possible for cylindrical
configuration, for example, LTO or LTL. The cylindrical configuration offersgood mechanical

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 stiffness and the wrist positioning accuracy and resolution decreases as thehorizontal stroke
increases.It is suitable to access narrow horizontal cavities and, hence, isuseful for machine-loading
operations.
Characteristics:
 It consists of two linear joints and one rotary joint
 Work envelope is cylindrical
Advantages:
 Larger work envelope than Cartesian configuration
 Suitable for pick-and-place operations
 Linear drives are well suited to use the hydraulic drives.
Disadvantages:
 Lower mechanical rigidity, repeatability and accuracy lower in direction of rotary movement,
more sophisticated control system required than Cartesian.
Applications:
 Good access into cavities and machine openings
 Load/unload
 Conveyor pallet transfers and
 Material handling.
iii. Polar (Spherical) Robot:
The polar robot is shown in Fig. 3. It consists of a telescopic link (linear type joint) that can be raised
or lowered about a horizontal rotary type joint. These two links are mounted on a rotating base. This
arrangement of joints, known as TRL configuration, gives the capability of moving the arm end-
point within a partial spherical shell space as work volume.
This configuration allows manipulation of objects on the floor because its shoulder joint allows its
end-effectors to go below the base. Its mechanical stiffness is lower than Cartesian and cylindrical
configurations and the wrist positioning accuracy decreases with the increasing radial stroke. The
construction is more complex. Polar arms are mainly employed for industrial applications such as
machining, spray painting and so on.

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 Characteristics:
 It consists of one linear joint and two rotary joints
 Work envelope is partial spherical
Advantages:
 Larger work envelope than Cartesian or cylindrical
 Simple design
 High payloads
Disadvantages:
 Lower mechanical rigidity
 More complex control system than Cartesian or cylindrical
 Limited vertical movement
Applications:
 Injection molding
 Forging
 Machine tool loading
 Material transfer
iv. Articulated or Jointed-arm Configuration:
The articulated arm is the type that best simulates a human arm and a manipulator with this type of
an arm is often referred as an anthropomorphic manipulator. It consists of two straight links,
corresponding to the human “forearm” and “upper arm” with two rotary joints corresponding to the
“elbow” and “shoulder” joints. These two links are mounted on a vertical rotary table corresponding
to the human wrist joint. Figure.4 shows the joint-link arrangement of the articulated arm. This is
also called as vertically articulated robot.
This configuration (TRR) is also called revolute because three rotary type joints are employed. The
work volume of this configuration is spherical shaped. The arm endpoint can sweep a full spherical
space. This anthropomorphic structure is the most dexterous one, because all the joints are revolute,
and the positioning accuracy varies with arm endpoint location in the workspace. The range of
industrial applications of this arm is wide.
Characteristics:
 It is a vertically articulated robot
 Three rotary joints, horizontal movement of the arm is small relative to vertical movement,
long reach makes it suitable for painting applications
Advantages:
 Excellent mechanical flexibility
 Compatibility with other robot arms working in the same common work space
 It can rotate at higher speeds.
Disadvantages:
 Poor accuracy and resolution due to revolute joints and hence more positional errors
 Large and variable torque on the joints creating counter balancing problems
 Limited ability to avoid obstacles and
 Higher moment of inertia and gravity and hence dynamic instability

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 Applications:

 Spray painting
 Welding
 Assembly operations.
v. SCARA:
It stands for Selective Compliance Assembly Robot Arm. This is also called as horizontal articulated
robot. The SCARA configuration has vertical major axis rotations such that gravitational load,
Coriolis, and centrifugal forces do not stress the structure as much as they would if the axes were
horizontal. This advantage is very important at high speeds and high precision. This configuration
provides high stiffness to the arm in the vertical direction ,and high compliance in the horizontal
plane, thus making SCARA congenial for many assembly tasks. The SCARA configuration is
presented pictorially in Fig.5. The mini drafter that is being used by the students in class belongs to
SCARA configuration (Fig.6).

Characteristics:
 It is horizontally articulated robot
 One linear and two rotary joints, vertical movement small relative to horizontalmovement.
Advantages:
 Versatile configuration
 Larger work envelope
 Flexible reach
Disadvantages:
 Sophisticated controller
 Complex programming
 Different locations in work envelope determine accuracy, payload and repeatability
 Less stable as arm approaches maximum reach
Applications:
 Automatic assembly
 In-process inspection
 Machine vision
 Painting
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  Welding
 Works as drafting machine.

Home work questions

 Classify robots based on the co-ordinate system and control system with neat diagram.
Previous JNTUK questions
 Classify robots based on the co-ordinate system and control system with neat diagram.
[may 2014, set-4]
 Give and explain the classification of robots by coordinate system with sketches.[mar
2013, set-1]
 Explain the configurations of robot with neat sketch. 8m April 2016
Day-5
Topics covered:
 Classification by control system
 Wrist configuration
1. Explain about the classification of Robots based on control system.
The robot manipulator operates its arm, wrist and end effector in the specified work volume after
receiving signals from the controller. So the controller function resembles the brain of the human being.
These control systems fall into two general classes
a. Non servo controlled
b. Servo controlled
They are also called as open loop control system and closed loop control system respectively.
i. Non servo controlled Robots:
They move from position to position by mechanical stops, cams, limit switches, valves, relays, etc. In
sequence controlled robots multiple stops are placed along the motion path. Complex control may be
achieved using programmable logic controllers (PLC). The PLCs used originally relays to control
sequencing but gradually started using a small microprocessor.
Characteristics:
 The non-servo nature of the control implies that once the manipulator has began to move, it will
continue to do so until the appropriate end stop is reached and has no monitoring of the motion at
any intermediate points.
 Although more than one axis can be moved at a time, it is generally not possible to cause a tool
held at the end of the manipulator to move in a straight line(except if the desired line happens to
coincide with one of the robot axes).
 "Programming" a limited-sequence robot is accomplished by setting a desired sequence of moves
and adjusting the end stops for each axis accordingly.
 Limited-sequence pick-and-place control robots are generally small and pneumatic powered with
no position information feedback.
 They are relatively high speed machines because of the small size of the arm and the full power
applied to the axis actuators.
 Pick-and-place control units are sometimes referred to as low-technology control units.
 They have a repeatability of about + 0.25 mm.

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  On/Off commands are stored as valve states.
 End travel is set by mechanical stops.
ii. Servo controlled robots
Servo robots can be further classified as i) point to point and ii) continuous path. In servo control
each joint is controlled by an independent position servo drive, with joints moving from position to
position independently. The joints may be operated one at a time or simultaneously. The former
facilitates better path control.
Because servo-controlled robots generally have considerably more complex control, computer, and
mechanical structures than non-servo-controlled devices, they may be more expensive and somewhat
less reliable. As they are less reliable, they require the feedback to control them. Such situation will
not arise in Non-servo controlled system as they are highly reliable and rigid in structure.
a. Point-to-Point (PTP) Control Robot
The PTP robot is capable of moving from one point to another point. The locations are recorded
in the control memory. PTP robots do not control the path to get from one point to then next
point. The programmer exercises some control over the desired path to be followed by
programming a series of points along the path. Common applications include component
insertion, spot welding, drilling of holes, machine loading and unloading, and crude assembly
operations.
Characteristics:
 Use of closed-loop control permits the manipulator's members to be commanded to move
and stop anywhere within the limits of travel for the individual axes
 It is also possible to control the velocity, acceleration and deceleration for the various
axes between the endpoints.
 Primary programming is done by teach pendant. The manipulator is manually moved to a
sequence of desired points. The co- ordinates of each of these are stored in the robot's
memory.
 Tooling or gripper moved into position using the teach pendant and controller records the
coordinate values for the joint positions.
 The path of the robot takes when programming two consecutive points has no effect on
the final program; only end points are recorded
 Controller changes each axis at maximum rate
b. Continuous-Path (CP) Control Robot
The CP robot is capable of performing movements along the controlled path. With CP control,
the robot can stop at any specified point along the controlled path. All the points along the path
must be stored explicitly in the robot's control memory. Straight-line motion is the simplest
example for this type of robot. Some continuous path controlled robots also have the capability
to follow a smooth curve path that has been defined by the programmer.
Characteristics:
 CP robots can be used for only a limited number of tasks and are often single-task
devices (e.g., spray painting and welding).
 Number of programmed points is extremely large
 Desired path taught by physically moving the robot arm through its desired motions

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  Program button records points until destination is reached; stores points at a rate of
approximately 6 per second, or more

2. Explain about the Wrist configuration.

The wrist subassembly movements enable the manipulator to orient the end-effector to perform the task
properly, for example, the gripper (an end-effector) must be oriented at an appropriate angle to pick and
grasp a work piece. For arbitrary orientation in 3-D space, the wrist must possess at least 3-DOF to give
three rotations about the three principal axes. The wrist has to be compact and it must not diminish the
performance of the arm. The wrist requires only rotary joints because its sole purpose is to orient the end
effector.A 3-DOF wrist permitting rotation about three perpendicular axes provides for roll, pitch, and
yaw motions that are defined below. This type of wrist is called Roll-Pitch-Yaw or RPY wrist and is
illustrated in Fig. below.

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 Home work questions

 Give the classification of robots based on control system and describe their characteristic
features.

Previous JNTUK questions

 Give and explain the classification of robots by control method. [mar 2013, set-1]
 Give the classification of robots based on control system and describe their characteristic
features.[april 2009, set 3]
 Explain about wrist configuration. [may 2007, set-2]
 How do you classify robots by control system. 4m April 2017

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 Day-6 , 7

Topics covered:

 Characteristics of Robots
1. Write down the basic characteristics of Robots.
 Payload / The load carrying capacity
 Reach
 Speed of motion and cycle time
 Robot Movement and Precision (Resolution, Accuracy and Repeatability)
 Robot Work Envelope/ work volume
 Number of degrees of freedom
 Compliance
 The mobility
2. Explain about the term Pay load.
It is the total load handling capacity of its arm or arms. The load carrying capacity of a robot arm is the
highest mass of an object the arm can handle under the given conditions (at a maximum or minimum
velocity, in a fully extended arm position, etc.). These conditions are taken at the weakest position of the
robot. Payload is the weight a robot can carry and still remain within its other specifications.
3. Explain about the term Reach.
Reach is the maximum distance a robot can reach within its work envelope. Reach is a function of the
robot’s joint lengths and its configuration. Both horizontal and vertical reaches of robot have been
shown in the Fig below.

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 4. Explain about speed of motion and cycle time.
The speed of motion determines how quickly the robot can accomplish a given work cycle. This speed
would be measured at the wrist in meters per second or degrees per second. Absolutely it is the time rate
of change in position. The cycle time is the time in seconds required to carry out one complete cycle
ofoperations and return to the starting point. Typical specifications of cycle time are full extension of
arm, rotation from extreme left to extreme right, or the time required to carry out a complete task such as
picking up an object from a pallet and placing it in a pallet.
5. Explain about Robot movement and precision.
Speed of response and stability are two important characteristics of robot movement .Speed defines how
quickly the robot arm moves from one point to another. Stability refers to robot motion with the least
amount of oscillation. A good robot is one that is fast enough but at the same time has good stability.
Three basic features define the precision of robot movement are:
 Resolution
 Accuracy
 Repeatability
i) Resolution
Generally the robot will have two types of resolutions. One is spatial resolution (SR) and the other is
control resolution (CR). The spatial resolution of a robot is the smallest increment of movement into
which the robot can divide its work volume. The control resolution is determined by the robot's position
control system and its feedback measurement system.
Spatial resolution (SR) is based on the control volume defined by the robot manufacturer which
combines the control resolution with mechanical errors in the joints and links. The best performance is
obtained when the control resolution is equal to spatial resolution (SR).
ii) Accuracy
Accuracy can be defined as the ability of a robot to position its wrist end at a desired target point within
its reach. It mainly depends on the following two factors:
 Mechanical in accuracies: Backlash exists in the joints, elastic deformations and deflections in
the links due to load and bending forces result in mechanical inaccuracies. Generally they can be
tolerated up to ½ BRU.
 Computer control algorithms and system resolution: Computer control algorithms contribute
some positional errors due to round off errors in the computer. System resolution also contributes
some positional error as the displacements smaller than one basic resolution unit (BRU) can be
neither programmed nor measured. On the average, the positional error caused by computer
control algorithms and system resolution should be limited to 1/2 BRU.
iii) Repeatability

Repeatability refers to the robot's ability to position its end-effector at a point that was previously taught
to the robot.
6. Explain about Robot work Envelope and work volume.
The work envelope or work volume is the space of all points in the surrounding space that can be
reached by the robot arm or the mounting point for the end-effector or tool. Generally the work envelope
is the outer surface and the volume inside of the work envelope is the work volume. The volume
reachable by the end-effector itself is not considered part of the work envelope. It is one of the most

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 important characteristics to be considered in selecting a suitable robot because the application space
should not fallout of the selected robot's work volume.

7. Explain about Mobility.

The mobility of a robot is its ability to execute motions. By mobility, robots fall into two groups:
stationary-base robots capable of orienting and transportation motions, and moving-base (mobile)
robots, which can execute global motions along with the above motions.
8. Explain about Compliance.
The compliance of a manipulator is indicated by its displacement relative to a fixed frame in response to
an applied force (torque) exerted on it. The force may be a reaction force (torque) that arises when the
manipulator pushes (twists) the tool against an object, or it may be the result of the object pushing
(twisting) the tool.
Home work questions
 What is precision of movement of a robot? Explain the terms special resolution, accuracy and
repeatability?
 What is work envelope? Show the work envelope of i) SCARA robot ii) Cartesian robot iii)
articulated robot iv) Cylindrical robot.
Previous JNTUK questions
 What is work envelope? Show the work envelope of i) SCARA robot ii) Cartesian robot iii)
articulated robot iv) Cylindrical robot. [may 2014, set-1]
 What is precision of movement of a robot? Explain the terms special resolution, accuracy and
repeatability?[July 2012, set-2 and set-3],[mar 2013, set-2]
 What does the term compliance mean? Explain.[mar 2013, set-3]
 Relate this value to the definitions of control resolution, spatial resolution and accuracy.[mar
2013, set-3]
 Define workspace of a robot. Explain the classification of robots based on workspace. [nov 2011,
set-2]
Day - 8
Topics covered:
 Advantages, disadvantages and applications
 Types of automation.
1.Write down the advantages of Robots.
 Greater flexibility, re-programmability, adjustable kinematic dexterity
 Greater response time to inputs than humans
 Improved product quality
 Maximize capital intensive equipment in multiple work shifts
 Accident reduction
 Reduction of hazardous exposure for human workers
 Automation
 Less susceptible to work stoppages
2.Write down the disadvantages of Robots.

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  Replacement of man power
 More unemployment as perceived by the labour.
 Significant retraining costs for both unemployed and users of new technology
 Advertised technology does not always disclose some of the hidden disadvantages
 Hidden costs because of the associated technology that must be purchased and integrated into a
functioning cell will cost 3 - 10 times the cost of the robot.
2) Write down the limitations of Robotics.
 Assembly dexterity does not match that of human beings, particularly where eye-hand coordination
required.
 Payload to robot weight ratio is poor, often less than 5%.
 Robot structural configurations often constrain joint limits and thus the work volume.
 Work volumes can be constrained even further when parts of substantial size are picked up or when
tooling/sensors added to the robot.
 The robot repeatability and/or accuracy can constrain the range of potential applications.
 The closed architectures of most modern robot control systems make it difficult to configure the
robot in automated cells where a variety of devices have to be integrated.
Home work:
1.List the advantages of robots.
2.list the applications of robot.
Previous JNTUK Questions:
1. Write the present and future applications of robots used in industries. [may 2014, set-2]

2.Mention the applications of robots. 4m April 2016

Day 9
1.Explain the different types of automation?
Automation and robotics are two closely related technologies. In an industrial context, we can
define automation as a technology that is concerned with the use of mechanical, electronic, and
computer-based systems in the operation and control of production. Examples of this technology
include transfer lines, mechanized assembly machines, feedback control systems (applied to
industrial processes), numerically controlled machine tools, and robots. Accordingly, robotics is a
form of industrial automation. There are three broad classes of industrial automation:
 Fixed automation
 Programmable automation
 Flexible automation.

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 i. Fixed automation
Fixed automation is used when the volume of production is very high and it is therefore appropriate
to design specialized equipment to process the product (or a component of a product) very
efficiently and at high production rates. A good example of fixed automation can be found in the
automobile industry, where highly integrated transfer lines consisting of several dozen workstations
are used to perform machining operations on engine and transmission components. The economics
of fixed automation are such that the cost of the special equipment can be divided over a large
number of units, and the resulting unit costs are low relative to alternative methods of production.
The risk encountered with fixed automation is this; since the initial investment cost is high, if the
volume of production turns out to be lower than anticipated, then the unit costs become greater than
anticipated. Another problem with fixed automation is that the equipment is specially designed to
produce the one product, and after that product’s life cycle is finished, the equipment is likely to
become obsolete. For products with short life cycles, the use of fixed automation represents a big
gamble.
ii. Programmable automation

Programmable automation is used when the volume of production is relatively low and there are a
variety of products to be made. In this case, the production equipment is designed to be adaptable to
variations in product configuration. This adaptability feature is accomplished by operating the
equipment under the control of a “program” of instructions which has been prepared especially for
the given product. The program is read into the production equipment, and the equipment performs
the particular sequence of processing (or assembly) operations to make that product. In terms of
economics, the cost of the programmable equipment can be spread over a large number of products
even though the products are different. Because of the programming feature, and the resulting
adaptability of the equipment, many different and unique products can be made economically in
small batches.

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 iii. Flexible automation

The relationship of the first two types of automation, as a function of product variety and
production volume, is illustrated in Fig. There is a third category between fixed automation and
programmable automation, which is called “flexible automation.” Other terms used for flexible
automation include “flexible manufacturing systems,” (or FMS) and “computer-integrated
manufacturing systems.”

The concept of flexible automation has only developed into practice within the past 15 or 20 years.
Experience thus far with this type of automation suggests that it is most suitable for the mid volume
production range, as shown in Fig. As indicated by its position relative to the other two types,
flexible systems possess some of the features of both fixed automation and programmable
automation. It must be programmed for different product configurations, but the variety of
configurations is usually more limited than for programmable automation, which allows a certain
amount of integration to occur in the system. Flexible automated systems typically consist of a
series of workstations that are interconnected by a materials-handling and storage system. A central
computer is used to control the various activities that occur in the system, routing the various parts
to the appropriate stations and controlling the programmed operations at the different stations.

One of the features that distinguish programmable automation from flexible automation is that with
programmable automation, the products are made in batches. When one batch is completed, the
equipment is reprogrammed to process the next batch. With flexible automation, different products
can be made at the same time on the same manufacturing system. This feature allows a level of
versatility that is not available in pure programmable automation, as we have defined it. This means
that products can be produced on a flexible system in batches if that is desirable, or several different
product styles can be mixed on the system. The computational power of the control computer is
what makes this versatility possible.

2. Explain the role of Robotics in three automations.

Of the three types of automation, robotics coincides most closely with programmable automation.
An industrial robot is a general-purpose, programmable machine which possesses certain
anthropomorphic, or humanlike, characteristics. The most typical humanlike characteristic of
present-day robots is their movable arms. The robot can be programmed to move its arm through a
sequence of motions in order to perform some useful task. It will repeat that motion pattern over
and over until reprogrammed to perform some other task. Hence, the programming feature allows
robots to be used for a variety of different industrial operations, many of which involve the robot
working together with other pieces of automated or semi-automated equipment. These operations
include machine loading and unloading, spot welding, and spray painting.

The “official” definition of an industrial robot is provided by the Robotics Industries Association
(RIA), formerly the Robotics Institute of America (RIA): An industrial robot is a reprogrammable,
multifunctional manipulator designed to move materials, parts, tools, or special devices through
variable programmed motions for the performance of a variety of tasks. This definition reinforces
our conclusion that industrial robots should be classified as a form of programmable automation.

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 While the robots themselves are examples of programmable automation, they are sometimes used in
flexible automation and even fixed automation systems. These systems consist of several machines
and/or robots working together, and are typically controlled by a computer or a programmable
controller. A production line that performs spot welds on automobile bodies is an example of this
kind of system. The welding line might consist of two dozen robots or more, and is capable of
accomplishing hundreds of separate spot welds on two or three different body styles (e.g., sedans,
coupes, and station wagons). The robot programs are contained in the computer or programmable
controller and are downloaded to each robot for the particular automobile body that is to be welded
at each station. Owing to this feature, such a line might appropriately be considered a high-
production flexible automation system.

Today the human analogy of an industrial robot is very limited. Robots do not look like humans,
and they do not behave like humans. Instead, they are one-armed machines which almost always
operate from a fixed location on the factory floor. Future robots are likely to have a greater number
of attributes similar to the attributes of humans. They are likely to have greater sensor capabilities,
mole intelligence, a higher level of manual dexterity, and limited degree of mobility. There is no
denying that the technology of robotics is moving in, a direction to provide these machines with
more and more capabilities like those of humans.

Home work questions

 Explain the three classes of Automation.

Previous JNTUK questions

 Explain the three classes of Automation. [may 2014, set-1]

 Why robots are to be applied in industries? [may 2014, set-1]
 Explain about flexible automation. [nov 2011, set-1]
 Differentiate between fixed and flexible automation.[nov 2011, set-2]
 Mention some future applications of robots. 4m April2017

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