Module - 3.

2
ROBOT TECHNOLOGY

Ranjith K
Assistant Professor
Dept. of Mechanical Engineering, VVCE Mysuru

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 1

 Contents
❖ Robot Technology:
✓ Introduction
✓ Robot anatomy
✓ Joints and links
✓ Common robot configurations
✓ Robot control systems
✓ Accuracy and repeatability
✓ End effectors, sensors in robotics
✓ Robot programming methods: on-line and offline
methods.
✓ Robot industrial applications: material handling,
processing and assembly and inspection.

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 2

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 3
Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 4
 Introduction
• "An industrial robot is a programmable, multifunctional
manipulator designed to move materials, parts or tools through a
variable programmed motions for the performance of variety of
tasks."

• A manipulator is a mechanical element that consists of series

of joints and links

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 5

• A robot in an industry is a general purpose programmable machine
possessing some anthropomorphic i.e. human like
characteristics.

• The most typical anthropomorphic characteristic of a robot is its

arm.

• The arm together with the robot’s capacity to be programmed

make it ideally suited for variety of production tasks such s
machine loading, spot welding, assembly operations etc.

• The most essential or important feature of an industrial robot is

its mechanical arm or manipulator.
Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 6
 Robot Anatomy

Fig. Components of a Robot

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 7

• Robot anatomy is concerned with the physical construction of the
body, arm and wrist of the machine.

• Most of the Robots used in the industries are mounted on a base

which is fastened to the floor.

• Body of the Robot is attached to the base .

• Arm assembly of the robot is attached to the body

• Arm assembly consists of a series of links and joints.

• The members of the robotic manipulator are called as links.

• Joints are mainly responsible for the relative motion between two

links.

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 8

• At the end of the arm assembly wrist is attached.

• The Body, arm and wrist assembly is called as Manipulator.

• A Hand is attached at the end of the wrist, and is called as end

effector.

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 9

 Joints and links
• The relative motion between the links are mainly due to joints.

• Depending on the relative motion between the two adjacent Links,

Joints are classified into four types

1. Prismatic joints (linear and orthogonal)

2. Rotational joints
3. Twist joints
4. Revolute joints

• Nearly all industrial robots have mechanical joints that can be

classified into one of the above types of joints

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 10

1. Prismatic joints
• Relative motion between two links of a prismatic joint is linear

• Two links are joined such that they can slide with respect each
other.

• There are two types of prismatic joints

(a) Linear joints

(b) Orthogonal joints

• Linear type prismatic joints are denoted by ‘L’.

• Orthogonal type prismatic joints are denoted by ‘O’.

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 11

 Fig: Linear type Prismatic joint

Fig: Orthogonal type prismatic joint

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 12
2. Rotational joint
• Relative motion between two links of a rotational joint is Rotary

• Rotational joints are denoted by "R".

Fig: Rotational joint along with, its symbolic representation

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 13
3. Twist joint
• If the two links are in a straight line and if there is a twisting
motion between the two links, then the joint is called as twist joint
• Twist joints are denoted by “T”.

Fig: Twist joint along with, its symbolic representation

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 14

4. Revolute joint
• If the two links are perpendicular to each other and if one link
revolves around another link, then the joint is called as "Revolute
joint".
• Revolute joints are denoted by “V”.

Fig: Revolute joint along with, its symbolic representation

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 15
 Common robot configurations
• Robot configuration specifies the possible movements provided
by different robots.

• Majority of the commercially available robots possess one of the

following four basic configurations

1. Cartesian Configuration
2. Cylindrical Configuration
3. Polar (or Spherical) Configuration
4. Jointed arm Configuration
5. SCARA (Selective Compliance Assembly Robot Arm)

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 16

 1. Cartesian Configuration

Fig. Cartesian co-ordinate configuration

• Consists of three perpendicular slides arranged in x, y and z

directions
• Arm of the robot is designed to move parallel to the x, y, and z-axis
of a Cartesian coordinate system as shown in figure
Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 17
• By moving these three slides relative to one another the robot is
capable of operating within a rectangular work area

• Cartesian co-ordinate robot is also called as xyz robot,

Rectilinear robot or Box configuration robot or gantry robot.

• This configuration robot consists of one Linear prismatic joint (L)

and two orthogonal prismatic joints (O) and also called as L-O-O
configuration robot

• Example: IBM RS-1

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 18

Advantages
• Simple controls due to linear movements, and also easy to
visualize.
• High degree of mechanical rigidity, accuracy and repeatability.
• Can carry heavy loads.
• Since movement can start ·and stop simultaneously along all three
axis, motion of the wrist end is smoother.

Disadvantages
• The arm movement is limited to a small rectangular work space.
• Robots designed with this configuration occupy large area, thereby
giving a low ratio of robot size to operating volume.

Applications Typical applications of robots with Cartesian

configuration include: assembly, welding, machine
loading and unloading, surface finishing,
inspection,Ranjithetc.
K Dept. of Mechanical Engg. VVCE Mysuru 19
 2. Cylindrical Configuration

Fig. Cylindrical co-ordinate configuration

• Consists of a vertical column and a slide which can be moved up

or down along with the column.

• Arm movement of the robot is designed to move according to the

cylindrical coordinate system as shown in figure
Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 21
• The robot arm is attached to the slide so that it can move radially
with respect to the column

• By rotating the column, the robot can be able to achieve the

workspace similar as cylinder

• Consists of one Twist joint (T), one orthogonal prismatic joints (O)
and one linear prismatic joint (L) and hence is also called as T-L-O
configuration.

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 22

Advantages
• Larger work space (envelope) than Cartesian configuration.
• Robot is relatively easy to program

Disadvantages
• Overall mechanical rigidity is reduced, because robots with a
rotary axis must overcome the inertia of the object when rotating
• Robots repeatability and accuracy is also reduced in the direction
of rotary movement.
• Cylindrical configuration requires a more sophisticated control
system that the Cartesian configuration

• Applications: Typical applications of robots with polar

configuration include: pick and place operations, machine
loading and unloading, investment casting, forging
operations, conveyor pellet transfers, assembly, coating
applications, etc.
Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 23
 3. Polar Configuration

Fig. Polar co-ordinate configuration

• Uses a telescopic arm that can be raised or lowered about a
horizontal joint.
• Consists of a rotary base and a pivot that can be used to raise and
lower a telescoping arm similar to the formation of an arc
movement
Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 25
• These joints provide the robot with the capacity to move its arm in
a spherical space and hence this robot is sometimes called as
spherical co-ordinate robot.

• Consists of one Linear prismatic joint (L), a rotational joint (R) and
a Twist joint (T), and hence is also called as T-R-L configuration

• Most of the commercially available robots ·possess polar

configuration

• Example: UNIMATE 2000 Series, MAKER 110.

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 26

Advantages
• These robots can generate large working envelope compared to
cartesian or cylindrical configuration.
• Configuration is simple in design and hence easy to program.
• Provides good weight lifting capabilities.
Disadvantages
• Robots based on polar configuration has reduced mechanical
rigidity
• Need for more sophisticated control system compared to
cartesian or cylindrical configurations.
• Limited vertical movement

Applications Typical applications of robots with polar configuration

include: Die casting, injection moulding, Forging, Machine tool
Press loading/unloading, Dip coating, Material transfer
applications, etc.
Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 27
 4. Jointed Arm Configuration

Fig. Jointed arm configuration

• Jointed Arm configuration is similar to human arm.

• It consists of two straight components that corresponds to

human fore arm and upper arm.
Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 29
• These components are connected by two rotary joints
corresponding to the shoulder and elbow of a human.

• A wrist will be attached at the end of the arm.

• The workspace within which this robot can move its arm is
irregular.

• Jointed arm configuration consists of two Rotary joints (R) and

one Twist joint (T) and hence is also called as T-R-R
configuration

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 30

• Example: SCARA, Milacron T3

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 31

Advantages
• Most flexible configuration that enables the robot arm to
move in all directions.
• Large working envelope (space).
• Versatile configuration.

Disadvantages
• Requires complex programming.
• Control actions are difficult.
• Less stable as the arm approaches maximum reach.

Applications Typical applications of robots with jointed arm

configuration include: painting, welding, automatic assembly,
welding, pick and place operations involving light parts, etc.
Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 32
 5. SCARA
(Selective Compliant Assembly Robot Arm)

Fig. SCARA ROBOT

• The term SCARA is an acronym that stands for Selective Compliant
Assembly Robot Arm. 34
Ranjith K Dept. of Mechanical Engg. VVCE Mysuru
• It is ideal for high-speed assembly, packaging, and other material
handling applications.

• The SCARA arm behaves somewhat like the human arm.

• A wrist will be attached at the end of the arm.

• However, the SCARA arm has limited motion at the wrist; it can
rotate but it cannot tilt.

• The limited motion of the wrist is advantageous for many types of

assembly operations, such as pick-and-place, assembly, and
packaging applications.

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 35

❖ Advantages of Industrial Robot
• Suitable for Hazardous (or) Uncomfortable working conditions.
• Performs repetitive tasks.
• Low material usage.
• Can operate for longer periods.
• Robots can perform the operations with a very high accuracy.
• Robots can be reprogrammable.
• Reduces inspection time.
• Reduces human error.
• Performs multiple tasks.

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 36

 ❖ Disadvantages of Industrial Robot
• High initial investment & also requires regular maintenance
resulting in increased costs
• Robots cannot handle task outside of their predefined
programming
• Robots cannot move easily as human beings do. They have
some degrees of freedom defined by axis to move their joints.
• Robots require considerable human intervention to perform
some complex tasks.
• Increased use of robots may lead to increase in unemployment.

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 37

 Robot Industrial applications

• Industrial Robot Applications can be divided into:

• Material-handling Applications
• Processing Operations Applications
• Assembly and Inspection Applications

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 38

• Material handling Applications
• In material handling, robots move parts between various
locations by means of a gripper type end effector.

• Material transfer:
• The application involves Pick and place operations, Part re-
orientation, Palletising, de-palletising, Stacking and Insertion
operations

• Machine loading and/or unloading:

• Here the chief purpose is to transfer parts into or out of a
production machine.
• The three possible cases are:
• Machine loading: where the robot loads the machine only
• Machine unloading: where the robot unloads the machine only
• Machine loading and unloading: where the robot performs
both actions. 39
Ranjith K Dept. of Mechanical Engg. VVCE Mysuru
• Machine loading and/or unloading is used in the following
processes:
• Die casting
• Plastic moulding
• Metal machining operations
• Forging
• Press-working
• Heat treating

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 40

• Processing operations applications:

• In processing operations, the robot performs some processing

actions such as grinding, milling, etc. on the work part.

• The end effector is equipped with the specialised tool

required for the process.

• The tool is moved relative to the surface of the work part.

Robot performs a processing procedure on the part.

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 41

• Industrial robot applications in the processing operations include:
(1) Spot welding
(2) Continuous arc welding
(3) Spray painting
(4) Metal cutting and deburring operations
(5) Various machining operations like drilling, grinding, laser
and waterjet cutting and riveting.
(6) Rotating and spindle operations
(7) Adhesives and sealant dispensing

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 42

• Assembly and Inspection applications:

• The applications involve both material handling and the

manipulation of a tool.

• They typically include components to build the product and to

perform material handling operations.

• One of the well suited area for robotics assembly is the insertion
of electronic components.

• Used for identifying flaws in raw materials and finished parts.

• Inspection probe can be attached to the wrist of the robot.

(Worked as a Tool, a classification of End effector)

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 43

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 44
 ROBOT SPECIFICATIONS
• The Robot is mainly specified according to the type of drive
system, work volume and type of control system.

• The other characters which are used to specify the Robots are: ,
✓ Number of Axes
✓ Operating environment
✓ Capacity
✓ Performance Parameters.
✓ Speed
✓ Work volume
✓ Reach and Stroke

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 45

 Performance Parameters
• The performance of Robot is measured in terms of Precision of
Robot's movement

• The Robot's precision can be defined as the function of three

important factors

(a) Spatial Resolution

(b) Accuracy
(c) Repeatability

• Spatial Resolution
It refers ·to the smallest possible movement which a Robot can
move in its work volume

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 46

 Accuracy and Repeatability

• Accuracy
The ability to position the wrist end at a desired target with in
Robots work volume is called as Accuracy.

• Accuracy will be less when the robots links are in fully

extended position
• Accuracy will be very less when load carrying capacity is very
high and when speed is very high.
• Higher the resolution, higher the accuracy.

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 47

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 48
 Accuracy and Repeatability
• Repeatability
• The ability to position the wrist of the robot at the same point
again and again is called as Repeatability.

• Repeatability error will be very high when the wrist end of the robot
is very far from the centre of the Robot.
Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 49
 End effectors in Robotics

• In Robotics, the term end effector is used to describe the tool that
is attached to the wrist

• End effector makes a general-purpose robot to perform a

particular operation.

• End effectors are mainly classified into two types:

1. Grippers 2. Tools

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 50

• Grippers as end effectors

• The function of a gripper is mainly to translate some form of

power into grasping action of the fingers.

• The power input is either supplied by pneumatic, Hydraulic or

Electric means.

• Grippers include applications like Machine loading and

unloading, picking the parts from the conveyor, arranging the
parts on the pallet and so on.

• Grippers are classified as Mechanical grippers and Non

mechanical grippers

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 51

• Mechanical grippers uses mechanical fingers which are used to
grasp the object.

• The fingers are also called as Jaws.

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 52

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 53
• Non-mechanical grippers do not possess jaws to handle the
objects, but are used to handle specific shapes of work parts

• The different types of Non-mechanical grippers are Vacuum cup

grippers, Adhesive grippers, Magnetic grippers, Hooks and so
on.

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 54

• Tools as end effectors
• Some of the tools used as end effectors in robot applications
include:

• Spot-Welding tools

• Arc Welding torch

• Spray painting Nozzle

• Drilling operations

• Grinding

• Water jet cutting tools

• Heating torches
Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 55
 Sensors in Robotics
• The interaction of the robot with the environment needs certain
mechanisms known as sensors.

• Robot sensors performs several functions like

• Identification of objects
• guiding the robot without obstruction
• Identification of path
• Object avoidance and so on

• There are basically two types of sensors

1. Internal sensors
2. External sensors

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 56

• Internal sensors are used to provide the information like joint
position, velocity, acceleration, Orientation, speed etc.

• External sensors provides the information about the external

environment surrounding the robot.

• External state sensors are used for Robot navigation, Object

identification, Object handling and many other functions.

• There are two types of external sensors

1. Contact sensors
2. Non-Contact sensors

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 57

• During its function, Contact sensors will have physical contact with
the object (or) surroundings before providing the information

• Non-contact sensors will not have any physical contact with the
objects (or) surroundings.

• The different types of contact sensors are:

(a) Touch sensors
(b) Slip sensors
(c) Force and Torque sensors

• The different types of Non-contact sensors are:

(a) Range sensors
(b) Proximity sensors
(c) Vision sensors Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 58
(a) Touch Sensors

• Used to indicate whether a contact has been established with the

object or not.

• Indicates the presence of the object within the fingers of the end
effector.

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 59

• Array of Touch Sensors

• The touch sensors can be systematically arranged in a array and is

referred as tactile array of touch sensors

• The tactile sensors also provide additional information like size,

shape, type of material of the objects.

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 60

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 61
(b) Slip Sensors
• Slip sensors are arranged at the outer surface of the Robot.

• These sensors are used to specify the contact made by the

external objects and also determines the force of contact.

Fig: Slip Sensor

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 62
• These sensors, also called as Touch slip sensors are used to
measure the force acting tangentially.

• This sensor-consists ·of a dimpled ball which is attached with a

thin rod.

• If there is any tangential force, the ball will rotate and deflects
the plunger.

• Due to this deflection, the plunger makes electrical contact with

the contact plates.

• The voltage produced due to these contacts will be proportional

to the tangential force applied

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 63

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 64
(c) Force and Torque Sensors
• Primarily used for measuring the reaction forces developed at
the joints and wrists.
• These sensors are also called as wrist sensors

• These sensors consist of strain gauges.

• Any deflections in the robot are recorded by using these strain

gauges and the force can be determined.
Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 65
Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 66
(d) Range sensors
• Used to measure the distance between a reference point on the
robot and the objects present in its workspace.

• Range sensors are mainly used for navigation and obstacle

avoidance.

• Object is illuminated by narrow beam of light

• Detector is used to sense the light reflecting from the object

• The distance between the object and the robot is found by simple
formula.

d=b*tanθ
Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 67
Fig: Range sensor (Triangulation method)

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 68

Infrared Distance Sensors

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 69

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 70
Ultrasonic Distance Sensor

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 71

(e) Proximity sensors

• used to indicate the presence of an object within a specified

distance/ interval without having a physical contact with the
object.

• There are different types of proximity sensors:

• Inductive sensors
• Ultra sonic sensors
• Hall effect sensors
• Photoelectric sensors

• Inductive sensor works on the principle of inductance to

determine the presence of the object.

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 72

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 73
Fig: Working principle of Inductive sensor (proximity sensor)
Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 74
Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 75
(f) Vision sensors

• Used to recognize the three dimensional object in the form of

picture

• These sensors are also called as robot vision, Machin vision,

(or) Artificial vision

• It is one of the important sensor technology with many

applications in industrial operations

• Machine vision is concerned with sensing of image data and its

interpretation by computers

• A typical vision system consists of a camera, a digitizing

hardware, a digital computer and a hardware and software which
are necessary to interface them
Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 76
Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 77
 Robot Control Systems

• The actuation of the individual joints must be controlled in a

coordinated fashion for the manipulator to perform as desired.

• Micro-processor-based controllers are regularly used to

perform this control action.

• Each joint has its own feedback control system and a

supervisory controller coordinates the combined actuation of
the joints according to the sequence of the robot programme.

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 78

• Controller is organised in a hierarchical fashion, as illustrated in Figure

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 79

• Robot control systems are classified into the following FOUR
categories:
1. Limited sequence control
2. Playback with Point to Point control
3. Playback with continuous path control
4. Intelligent control

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 80

• Limited Sequence Control:

• This is the most elementary control type.

• It is used for simple motion cycles, such as pick and place

operations.

• It is implemented by fixing limits or mechanical stops for each

joint and sequencing the actuation of joints to accomplish
operation.

• Feedback loops may be used to inform the controller that the

action has been performed, so that the programme can move to
the next step.

• Many pneumatically driven robots are this type.

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 81
• Playback with Point to Point Control:

• This method represents a more sophisticated form of control

than limited sequence robots.

• The controller has a memory to record the sequence of

motions in a given work cycle, associated locations and other
parameters and then plays back the work cycle during programme
execution.

• It is this playback feature that gives the control type its name.

• In Point to Point (PTP) control, individual positions of the robot

arm are recorded in the memory.

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 82

• These positions include both mechanical stops for each joint
and the set of values that represent locations in the range of
each joint.

• Feedback control is used to confirm that the individual joints

achieve the specified locations in the programme.

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 83

• Playback with Continuous Path Control:

• Continuous path robots have the same playback capability as that

of PTP control.

• Continuous path control refers to a control system capable of

continuous simultaneous control of two or more axes.

• It has a Greater storage capacity - the number of locations that

can be stored is greater than compared to point to point.

• Interpolation calculations may be used, especially linear and

circular interpolations.

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 84

• Intelligent Control:
• An intelligent robot is one that exhibits behaviour that makes it
seem intelligent.
• Some of the characteristics that make a robot appear intelligent
include the capacity to:
• Interact with its ambient surroundings
• Make decisions when things go wrong during the work cycle
• Communicate with humans
• Make computations during the work cycle
• Respond to advanced sensor inputs.

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 85

• In addition, robots with intelligent control possess the playback
capability for both PTP or Continuous path control.

• These features require a high level of computer control and an

advanced programming language to input the decision-making
logic and other ‘intelligence’ into the memory.

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 86

 Robot programming methods
• Robot programming defines the path followed by the robot
manipulator along with its peripherals to perform a specific
work.

• There are four types of programming methods through which

robots can be programmed.

1. Manual Method
2. Walk through Method (OR) Manual lead through
3. Lead through Method (OR) Powered lead through (OR) ON-line
method
4. Off-Line Programming

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 87

1. Manual Method :

• This method is used only for small robots and for simple
applications.

• This method involves in setting up the machine rather than

actual programming

• This method is accomplished by setting limit switches,

Mechanical stops Cams (or) relays to control the robot motions.

• This method is mainly employed for low technology robots with

short work cycles.

• Ex : Pick and place robots.

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 88

 2. Walk through Method (OR) Manual lead through
Method
• This method is employed for programming the robots with
continuous path controls.

• In this method the programmer / operator manually move the

arms of the robot through a motion sequence

• Each movement will be recorded in the memory for subsequent

play back during production.

• Used to program the robots performing spray painting and arc

welding applications.

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 89

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 90
 3. Lead through Method (OR) Powered Lead through
Method (OR) On-Line Programming Method
• Used to program robots with point to point control.
• A hand held control box called as teach pendent is used to drive
the robot through its motion sequence.

• A teach pendent is a small, hand held device consisting of

various switches and dials to control various movements of the
robot.
• Each movement is recorded in robots control memory for future
play back. Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 91
• Advantages of Lead Through Programming :
• This method is relatively easy and simple
• No special programming skills (or) training is required to
perform this method.

• Disadvantages of Lead Through Programming :

• This method cannot be used for large and heavy robots
• Complex movements like curves cannot be accurately
achieved through this programming.
• This method requires lot of memory to store the data.

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 92

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 93
 4. Off-Line Programming

• This type of programming is not accomplished on the shop floor.

• Off line programming is performed on a computer, and after the

program has been prepared, it is entered to the robot memory.

• The advantage of such programming is that the production time of

the robot will not be lost, as in case of other types of
programming.

• This type of programming can be integrate with various CAD/

CAM systems.

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 94

Ranjith K Dept. of Mechanical Engg. VVCE Mysuru 95
 Academic File- Present Format
The capacity to learn is a Gift;
The ability to learn is a Skill;
The willingness to learn is a Choice.
-Brian Herbert