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Industrial Robotics

Acknowledgment

There is no doubt that working smarter and harder are the best way to reach
any target needed,and that we has followed in our technical project under
the instructions of a good leading Doctor, and we must be in gratitude of
their precious efforts and time for guiding us to get the experience of
technical work that is oneof the most important tool today for progress
and that we must be characterized by. We must introduce our gratitude
to our instructor Dr.Mohamed Osama for choosing, as far as we are
concerned, that sectionto teach. As each mechanical engineer must be
awarded by technical Report to reach the targeted quality as
professional engineer.

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CONTENTS
SUMMARY 9
1. What is a Robot 13
1.1 Definition of Robot : 10
1.1.1 Robot vs. Computer : 10

1.2 Definition of Robotics: 10

1.3 Robotic Systems Applications: 11
1.4 Robot arm maniuplator 12

1.4.1 Serial manipulators: 12

1.4.2 parallel manipulators: 12

1.4.3 Serial and Parallel maniuplator comparison : 13

1.5 Component of Serial manipulators: 14
1.5.1 Joint (persimatic and revolute) : 14

1.5.2 Actuators : 14
1.5.3 Arm : 14

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Industrial Robotics

Conclusion:
References:

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List of Tables

Table1: ........................................................................................................................
Table 2.........................................................................................................................
Table 3:........................................................................................................................
Table 4:........................................................................................................................
Table 5:........................................................................................................................
Table 6:........................................................................................................................
Table 7:........................................................................................................................
Table 8:........................................................................................................................
Table 9: .......................................................................................................................

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TABLE OF Figures
Figure 1- 1: ............................................................................................................................
Figure 1- 2: ............................................................................................................................
Figure 1- 3: ............................................................................................................................
Figure 1- 4: ............................................................................................................................
Figure 1- 5: ............................................................................................................................

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Industrial Robotics

TABLE OF symbols
symbol Abbreviations

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Industrial Robotics

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Industrial Robotics

SUMMARY

Industrial robotics refers to the use of robotic systems in manufacturing and industrial
settings to automate various tasks. These robots are specifically designed to handle repetitive, high-
precision operations that were traditionally performed by humans. They are widely used in industries such
as automotive, electronics, food and beverage, and pharmaceuticals.

Industrial robots consist of mechanical arms equipped with specialized tools or end-effectors, which allow
them to perform specific tasks like welding, painting, palletizing, and packaging. They are often equipped
with sensors and vision systems to perceive and interact with their environment. Advanced control systems
and programming techniques are employed to optimize their performance and ensure safety.

The benefits of industrial robotics are numerous. They can significantly increase productivity by reducing
cycle times and minimizing errors. Robots work tirelessly and consistently, leading to improved product
quality and reduced waste. They also enhance workplace safety by taking over hazardous tasks and
reducing the risk of accidents for human workers.

The integration of industrial robots into manufacturing processes requires careful planning and
programming. Robots can be programmed using various methods, such as teach pendant programming or
offline programming. They can be seamlessly integrated with other manufacturing systems, such as
computer-aided design (CAD) and computer-aided manufacturing (CAM), to optimize efficiency and
workflow.

Looking ahead, the field of industrial robotics is witnessing exciting advancements. Robots are becoming
more versatile and flexible, capable of adapting to changing production requirements. Collaborative robots,
also known as cobots, are designed to work alongside humans, opening up new possibilities for human-
robot collaboration and cooperation. Artificial intelligence and machine learning technologies are being
incorporated to enable robots to learn and improve their performance over time.

In summary, industrial robotics plays a vital role in modern manufacturing by automating repetitive tasks,
improving productivity and product quality, and enhancing workplace safety. As technology continues to
advance, industrial robots will continue to evolve, enabling more efficient and intelligent manufacturing
processes.

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1.What is a Robot?

1.1 Definition of Robot :

It is a reprogrammable multi-functional manipulator designed to move

materials, parts, tools or specialized devices through variable programmed
motions for the performance of a variety of tasks. (Robot Institute of America
(RIA))

Figure 1-1 : Industrial Robot Arm

1.1.1 Robot vs. Computer

Table 1 : difference between robot and computer

1.2 Definition of Robotics:

 Robotics is a discipline which involves:

a) The design, manufacture, control, and programming of robot
b) The use of robot is to solve problem.
c) The study of control processes, sensors and algorithms used in human, animals, and machine
d) The application of these control processes and algorithm to the design of robots.
e)
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1.3 Robotic Systems Applications:

 Industrial Applications
 Agricultural Applications
 Search and Rescue Applications
 Medical Applications
 Mobile Robots
 Climbing Robots
 Humanoid Robots Figure 1-2 : Industrial Robot
 Underwater or Submarine Robots
 Space Exploration Robots
 Personal Assistant Robots

Figure 1-3 : Medical Application Figure 1-4 : Agricultural Robot

Figure 1-5 : Rescue Application Figure 1-6 : Cheetah Robot

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1.4 Robot arm manipulator

1.4.1 Serial manipulators (Single open loop chain) : is a type of robotic manipulator where the links
of the robot arm are connected in a linear serial fashion. In a serial manipulator, each joint of the robot arm
is connected to the preceding joint, forming a chain-like structure. The end effector is attached to the last
link of the chain. The motion of the end effector is achieved by sequentially actuating the joints in a specific
order.
1.4.2 Parallel manipulators (Multiple closed loop chains) : s a type of robotic manipulator where the
end effector is connected to multiple branches of the robot arm simultaneously. In a parallel manipulator,
the robot arm consists of multiple kinematic chains that are connected in a closed-loop or parallel
configuration. The motion of the end effector is achieved by driving the actuators in the different branches
in a coordinated manner.

Figure 1-7 : Serial and Parallel Maniuplator

The both types of robots have advantages and disadvantages.

 For example parallel robots offer potential advantages compared with serial, with higher
overall stiffness, higher precision, low inertia, and higher operating speeds and accelerations.
However these advantages could be easy relativized by reduced workspace, difficult mechanical
design, and more complex kinematics and control algorithms.
It is really very difficult to say what kind of robot is better, serial or parallel.
A robot selection procedure is very difficult and complex activity.
 It depends on many different factors like
 type of application (dangerous, repetitive and boring, precise, etc.)
 task requirements (DOF, speed, accuracy, repeatability)
 load requirements
 Workspace
 programming time, etc.

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1.4.3 Serial and Parallel Maniuplator Comparison

Table 2 : Difference between Serial and Parallel Maniuplator

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1.5 Component of Serial manipulators

1.5.1 Joints

 Revolute joints: permits one D.O.F. rotation Joint variable is ceta

 Prismatic joints: permits one D.O.F. translation Joint variable is d

Figure 1-8 : Revolute and Prismatic joints

1.5.2 Actuators

 Electrical: Stepper motors, Brushless DC motors, AC motors

(popular)
 Actuators Hydraulic: Servo valves and rotary hydraulic servo
drives (for heavy loads)
 Pneumatic: (can not be controlled precisely)

1.5.3 Arm

 Cartesian arm: use prismatic joints only (PPP) Figure 1-9 : Servo motors
 Articulated arm: use revolute joint only (RRR)
 Cylindrical arm: use both revolute and prismatic joints (RPP)
 Spherical arm: use both revolute and prismatic joints (RRP)
 SCARA arm: (Selective Compliant Articulated Robot for Assembly) (RRP)
 Workspace: reachable space (total volume swept out by the end-effector)

Figure 1-10 : Cartesian arm Figure 1-11 : Articulated arm Figure 1-12: Spherical arm

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