Chapter-6 Robot Technology

Robot: Robot is defined as “a reprogrammable, multi-functional manipulator designed to move materials, parts, tool or specialized
device through variable programmed motions for performing variety of task”
First generation of robots Second generation of robot Third generation of robot
Dumb robot –strictly work in Clever robot – Come with sensor which Intelligent robot – Take strategic and important decision
fixed sequence take corrective action
Advantages of Robot Limitation of Robot
 Increase productivity, Safety and quality  Create economic problem for human by replacing it
 Can work in hazardous environment  Lack of capability ion responding in case of emergency
 Not experience fatigue or boredom  Robots are costly
 Repeatable precision and accuracy  Limited capability
Human Power and
Accuracy and Intelligence and Initial
System and consistency
Speed of task
interpretation
payload Reach
Investment
robotics capacity

Basic Element of Robotics

End Effector
 The end effector is the part that is connected to the
last joint of manipulator, which generally perform the
required task.
Manipulator
 Combination of mechanical linkage
 Capable of movement in various direction
Actuator
 Are drives that used to actuate the joints of
manipulator
 They are ‘muscles’ of the manipulator
Controller : Receives instructions from processor
Stores the position Initiate and Provides
and sequence terminate the motion interface
Sensor: Collects the information about the present status
Processor: Brain of robot that calculate the motion of joints
Software: Group of software for operating robot
Types of Robot joints : Degree of Freedom
Rotary joints Linear Joints  Every joints has a one degree of freedom
Joint produces the Produces the pure hence total DOFs = no of Joints
rotary joints linear motion o Three rotational
Ex: Stepper Motor Ex: Pneumatic o Three translational
cylinder

End Effectors of Robots: End effector is device that is attached to the wrist of the robot arm to perform the specific task.
Gripers : Grippers are the end effector used for holding the parts or object
Mechanical Hooks and Scoops Magnetic Griper Vacuum Griper Expandable Adhesive griper
Gripper Bladder type
 Uses mechanical  Hook: Loading Electromagnet or  Operated by  Made up of  Used for handling fabrics
fingers to grasp and unloading permanent magnet vacuum pump rubber /elastic and other light weight
an object purpose for material handling  Depends upon the material  Losses its tackiness due to
 Replaceable and  Scoop: similar to 1. Electromagnetic negative pressure  Suitable for repeated usage
interchangeable big spoon 2. Permanent created by the fragile objects
Magnetic pump

Actuators : Device that provides actual motive force for manipulator joints of robot
Linear Rotary
Rack and Pinion Recirculating Ball Screw Timing Belt Gear Pairs Harmonic Drives
Mechanical Actuator

Electric Actuators : D.C. Motors, Reversible A.C. motors, D.C. servo motor, A.C. servo motor, Stepper motor
Linear Actuators Rotary Actuators
pneumatic Actuators

Single Acting _____ Double acting ______ Gear motors Vane Motors Piston Motors
Hydraulic and

Cylinder cylinder
 Robot Vision
CAMARA

Sensing & Digitizing

A/D Convertor

Frame Grabber

Processing
Image
Computer Processor

Robot Controller

Activation
Robot
Rabot Manipulator

Cartesian Co-ordinate system Cyllindrical Coordinate system

Classification
of Robot
Robot Coordinate System
Axes of robot remain in Axes of robot remain
controlled motion in controlled motion

Servo Non-Sevo
Controlled Controlled
Spherical Coordinate system Revolute coordinate system
 The end effector moves from
one point to another point
Point-to- along straight line
Point  Used in loading and unloading

 Moves along the predefined

continuous path
Continous  Used for welding and painting
Path
Basic Configuration of Robot
Cartesian Configuration Cyllindrical Configuration Spherical Configuration Articulated Configuration System
Revolute SCARA
(Selective Compliance Assembly Robot Arm)

Use of Limit switch and Mechanical Stops to control limited sequence and low technology robot
Method Of Programming

Mechanical Programming
Use of Toggle switch to
control end effector
teach pendant

Leadthrough Programming
Manually hold and
direct the end effector
Forcing the end effector to move Manual Programming
in definite path and the path is
recorded in controller memory Combination of Teach
pendant and Command
First Generation Statement

Can accomplish complex

Textual Language Programming Second Generation motion by arithmetic
computation during
operation

Uses robot language to

Without use of
establish sequence and logic Teach Pendant
Future Generation
of work cycle