Mechatronics and

automation
ET ZC323
BITS Pilani Lecture
Pilani Campus
Type Content Ref. Topic Title Study/HW Resource Reference

Pre CH Industrial manipulator

During Introduction R1, R2

CH Types, configuration and
specification
Selection and programming
of industrial manipulator

Post CH Chapter end problems

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 Industrial manipulator

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Timeline
• 1922 Czech author Karel Capek wrote a story called
Rossum’s Universal Robots and introduced the word
“Rabota”(meaning worker)
• 1954 George Devol developed the first programmable Robot.
• 1955 Denavit and Hartenberg developed the homogenous
transformation matrices
• 1962 Unimation was formed, first industrial Robots appeared.
Unimate was the first industrial robot, which worked on a
General Motors assembly line at the Inland Fisher Guide
Plant in Ewing Township, New Jersey, in 1961.
• 1973 Cincinnati Milacron introduced the T3 model robot,
which became very popular in industry.
• 1990 Cincinnati Milacron was acquired by ABB

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 General Commercial and Technological
Advantages of Robot Use

Unimate ,the first industrial robot

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 Industrial manipulator .. Robot
• Defined by Robotics Industry Association (RIA) as –
a re-programmable, multifunctional manipulator
designed to move material, parts, tools or specialized
devices through variable programmed motion for a
variety of tasks
• Possess certain anthropomorphic characteristics –
mechanical arm – sensors to respond to input –
Intelligence to make decisions
• ISO 8373:2012 definition an automatically controlled,
reprogrammable, multipurpose manipulator
programmable in three or more axes, which may be
either fixed in place or mobile for use in industrial
automation applications
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 Industrial manipulator .. Robot

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Industrial Robot Defined

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Evolution toward industrial robots

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Industrial applications

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Robot Classification

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Industrial Robot Applications

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Robotic Arc-Welding Cell

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Robot Anatomy

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Robot Anatomy

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Joints And Links

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Joints And Links

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Joints And Links

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Joints And Links

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Manipulator Joints

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Joint Notation Scheme

Body and arm wrist

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Common Robot Configurations

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Common Robot Configurations

Selective Compliance Assembly Robot Arm

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Polar Coordinate Body-and-Arm
Assembly

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Spherical Robot - Work Envelope

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Cylindrical Body-and-Arm Assembly

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Cylindrical Body-and-Arm Assembly

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Cylindrical Robot - Work Envelope

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Cartesian Coordinate Body-and-Arm
Assembly

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Cartesian Coordinate Body-and-Arm
Assembly

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Cartesian Robot - Work Envelope

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Jointed-Arm Robot

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Jointed-Arm Robot

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SCARA Robot

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SCARA Robot

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SCARA Robot

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Robot Configurations

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Reference Frames

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Robot Reference Frames

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Work Envelope concept

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Working Envelope

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Pure Spherical Jointed Arm - Work
envelope

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Polar Coordinate Body-and-Arm
Assembly

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Example

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Robot Accessories

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Robot Accessories

Controller Actuator Real time

system

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& Automation ET ZC323 46
Joint Drive Systems

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Joint Drive Systems

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Joint Drive Systems

Reservior Pump Valves –

Accumulator Cylinder/motor
NR/Flow/DC
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Joint Drive Systems

Storage for Cylinder

Compressor FRL Valves
compressed air /motor
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Robot Control System

Pneumatic Actuator Hyd Actuator Elec Mechanical

Actuator Actuator
System
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Robot Control System

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Robot Control Systems

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Robot Control Systems

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Robot Control Systems

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Robot Control Systems

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Wrist Configurations

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