UTTARANCHAL INSTITUTE OF TECHNOLOGY

ASSIGNMENT No. - 01
SUBJECT NAME - ROBOTICS: Mechanics & Control
Name- Parakh Gautam
Class- B.Tech (Mechanical), 4th year Roll
No- 12

Question 01: What is a Robot? What do you understand by the term, the robotics?
Answer 01: A robot is a programmable machine with a mechanical structure, actuators for
movement, sensors for perception, and a controller for decision-making. It can autonomously
or semi-autonomously perform tasks, from basic actions to complex operations, making it a
versatile tool in various industries and applications. Advances in technology are enhancing
robots with artificial intelligence, propelling them towards more intelligent and adaptive
functionalities.
Robotics involves designing and building machines, called robots, capable of performing tasks
and interacting with the environment autonomously or semi-autonomously. It combines
mechanical and electrical engineering, computer science, and artificial intelligence to create
intelligent and versatile machines. These robots can undertake a wide array of functions
across diverse industries, from simple actions to complex operations, contributing to efficiency
and progress.

Question 02: What are the Laws of the robotics?

Answer 02: Position Control Law - In robotics involves regulating the robot's movement along
a specified path or to reach specific positions accurately. It employs a control strategy where
the robot's actuators, like motors, are continuously adjusted based on feedback from encoders
and sensors. This adjustment ensures that the robot attains the desired position, making it
crucial for tasks requiring precise movement and accurate positioning, such as pick-and-place
operations, assembly lines, and welding.

Force Control Law – It governs how a robot responds to external forces or torques. This
strategy uses sensors to measure the forces or torques acting on the robot, allowing the
control system to adjust the robot's actuators to maintain a specific force or torque in response
to external perturbations. Force control is essential for tasks like delicate object handling,
where maintaining a controlled force is crucial to prevent damage or for applications involving
interaction with various surfaces. A combination of both position and force control is often
utilized in complex tasks to ensure efficient and adaptive performance in diverse operational
environments.

Question 03: What are various types of sensors used in the robotics?
Answer 03: In robotics, sensors play a critical role in enabling robots to perceive and interact
with their environment. They provide essential data that helps robots make informed decisions
and execute tasks accurately. Here are various types of sensors commonly used in robotics:
Infrared Sensors: Used to detect infrared radiation, often employed for proximity sensing, line
following and obstacle detection.

Ultrasonic Sensors: Utilize ultrasonic waves to measure distance from the sensor to an object,
crucial for obstacle avoidance, navigation, and mapping.

Laser Range Finders: Use laser beams to measure precise distances, widely used for mapping,
localization, and obstacle detection in complex environments.

Camera and Vision Sensors: Cameras capture images or videos, enabling robots to perceive
and analyse their surroundings, recognize objects, navigate, and perform tasks like object
tracking and facial recognition.

LiDAR (Light Detection and Ranging): Employ laser light to measure distances and create
detailed 3D maps of the environment, essential for localization, mapping, and autonomous
navigation.

Force Sensors: Measure forces and torques exerted on the robot's end-effector or other parts,
enabling delicate and precise interaction with objects and compliance with external forces.

Tactile Sensors: Detect and measure pressure or touch, enabling robots to grasp objects with
appropriate force and finesse, vital for safe interaction and manipulation.

Gyroscopes and Accelerometers: Gyroscopes measure angular velocity, while accelerometers

measure linear acceleration, providing data for orientation, balance, and motion control of
robots.

Encoder Sensors: Track the position, speed, and direction of motors or joints, facilitating
precise control of movement, navigation, and kinematic calculations.

Proximity Sensors: Detect the presence or absence of an object within a certain range,
commonly used for obstacle detection, safety, and navigation.
Temperature Sensors: Measure temperature variations, important for monitoring and
controlling the thermal aspects of the robot and its surroundings.
Pressure Sensors: Measure pressure changes in gases or liquids, valuable in applications like
robotic grippers, fluid level monitoring, and pressure-sensitive tasks.

Humidity Sensors: Measure moisture levels in the air, important for environmental monitoring
and controlling humidity-sensitive operations.

Gas Sensors: Detect the presence and concentration of gases, useful for environmental
monitoring, safety, and detecting leaks.

The combination and integration of these sensors allow robots to perceive their environment
accurately, make informed decisions, and execute tasks with precision in various applications,
from manufacturing and healthcare to autonomous vehicles and beyond.

Question 04: What are industrial robots? Explain the various types of Industrial robots?
Answer 04: Industrial robots are automated machines programmed to perform precise tasks
in industries, from welding and assembly to painting and material handling. They operate
autonomously, following instructions to enhance productivity, ensure quality, and bolster
workplace safety. By taking on repetitive, hazardous, or complex tasks, they optimize
manufacturing processes, adapting quickly and working efficiently at high speeds. Industrial
robots are vital components of modern industry, driving automation and revolutionizing how
we produce goods.
Various types of industrial robots:-

Cartesian Robots:
Description: Move along orthogonal X, Y, and Z axes, offering precise linear movements.
Applications: Well-suited for pick-and-place operations, material handling, and tasks requiring
accurate linear motion.
Spherical Robots:
Description: Movement described using spherical coordinates, providing flexibility in
orientation.
Applications: Suitable for tasks requiring a spherical workspace and versatile orientation,
often seen in certain assembly applications.

Cylindrical Robots:
Description: Movement best described in cylindrical coordinates, typically involving rotational
and linear motion.

Applications: Ideal for applications like arc welding and tasks where a combination of rotation
and linear movement is required.
Anthropomorphic or Articulate Robots:
Description: Resemble a human arm in structure, with multiple joints providing flexibility and
mobility.
Applications: Versatile and widely used for a range of industrial applications, mimicking the
movement of a human arm.
SCARA Robots (Selective Compliance Adaptive Robot Arm):
Description: Based on a folding door design, with parallel horizontal joints and a prismatic
joint for vertical movement.
Applications: Particularly well-suited for assembly tasks due to their parallel and articulated
structure.
Serial Manipulators:
Description: Have a series of joints forming a sequence, with a fixed and a free end
(endeffector or tool).
Applications: Commonly used for various industrial tasks, with wrist joints enabling
positioning and orientation.
Parallel Manipulators:
Description: Include closed loops and multiple end-effectors, known for high stiffness and
precision.
Applications: Used in applications requiring precise and stable movements, often in high
precision industries.
These types of industrial robots have distinct structures and characteristics, making them
suitable for different applications within the industrial and manufacturing sectors. They
provide a wide range of capabilities and functionalities, catering to diverse task requirements
in modern industries.

Define the followings

a) Proximity Sensor- A proximity sensor is a device that detects the presence or absence
of an object or its distance from the sensor without physical contact. It works by emitting a
field or beam and then detecting the changes in that field caused by the presence or absence
of an object.

b) Inductive proximity sensor- An inductive proximity sensor detects metallic objects

without physical contact. It uses the principle of electromagnetic induction to detect changes
in an electromagnetic field caused by the presence of a conductive (usually metallic) object in
close proximity to the sensor.

c) Capacitive proximity sensor- A capacitive proximity sensor detects the presence of both
metallic and non-metallic objects without physical contact. It operates based on changes in
capacitance when an object, even a non-metallic one, comes close to the sensor. The sensor
uses the electrical properties of the target material to detect its presence.

d) Photoelectric type sensor- A photoelectric sensor uses light (usually a laser or infrared
beam) to detect the presence or absence of an object. It works by emitting light and then
measuring the amount of light received after it reflects off or passes through the object. There
are various types, such as through-beam, retro-reflective, and diffuse reflection photoelectric
sensors.

e) Ultrasonic type sensor- An ultrasonic sensor uses ultrasonic waves to measure the
distance between the sensor and an object. It emits ultrasonic pulses and measures the time
it takes for the pulses to bounce back after hitting the object. By calculating the time it takes
for the sound waves to return, the sensor can determine the distance to the object.

f) Touch and Tactile sensor-Touch and tactile sensors are designed to detect physical
touch or pressure applied to a surface. They can be used in various applications, such as touch
screens, input devices, and robotics.
Tactile sensors are capable of sensing not only touch but also variations in pressure or force,
providing information about the intensity or manner of contact with the surface.

Question 04: Figure 2.6 shows a frame {B} that is rotated relative to frame {A} about Z by
30 degrees. Here, Z is pointing out of the page.