Robotics

Unit-1

Robot:
Robot comes from the Czech word 'robota' which means 'forced work or labor'.
We use the word "Robot" today to mean any man-made machine that can perform
work or other actions normally performed by humans, either automatically or by
remote control.
The branch of technology that deals with the design, construction, operation, and
application of robots, as well as computer systems for their control, sensory
feedback, and information processing is ROBOTICS.

More convenient and broader definitions of Robot is:

“A machine capable of carrying out a complex series of actions automatically,
especially one programmable by a computer. "half of all American robots are
making cars or trucks"

“A robot is a device that operates with some degree of autonomy, usually

under computer control’.

A robot can be static (industrial robot or manipulator) or mobile.

Industrial robots usually consist of a jointed arm (multi-linked manipulator) and an end
effector that is attached to a fixed surface. A manipulator is a mechanical linkage, which may
or may not be arm-like, with a gripper or tool to perform some action on the environment.

Characteristics of Robots:
A robot has these essential characteristics:
(i) Sensing: First of all, robot would have to be able to sense its
surroundings. It would do this in ways that are similar to the way we sense
our surroundings. Some of the numerous robotic sensors include: light
sensors (eyes), touch and pressure sensors (hands), chemical sensors (nose),
hearing and sonar sensors (ears), and taste sensors (tongue) will give your
robot awareness of its environment.
(ii) Movement: A robot needs to be able to move around its environment.
Whether rolling on wheels, walking on legs or propelling by thrusters a
robot needs to be able to move.
(iii) Energy: A robot needs to be able to power itself. A robot might be solar
powered, electrically powered, battery powered.
(iv) Intelligence: A robot needs some kind of "smarts." A programmer is the person who gives
the robot its 'smarts.'

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Laws of Robotics: Asimov’s proposed three “laws of Robotics”
Law 1: Robots will never harm human beings.

Law2: Robots will follow instructions given by humans without breaking law one..

Law3: Robots will protect themselves without breaking other rules.

General Applications of Robots:

Generally, robots are applicable in the following areas:

1. Machine loading.
2. Pick and place operations
3. Welding
4. Painting
5. Assembly operation
6. Surveillance
7. Medical arena: (helping the elderly and Disables, hospital delivery, surgical
robots)
8. Hazardous environments
9. Search and rescue (earthquake rescue; demining)
10. Mining and heavy transport; container handling
11. Military (unmanned aircraft and submarines, insect robots)
12. Domestic (Vacuum cleaning, lawn mowing, laundry, clearing the table, etc.).
13. Transport (Autonomous cars).
14. Entertainment

Applications of Industrial Robot:

An industrial robot is defined by ISO as an automatically controlled,
reprogrammable, multipurpose manipulator programmable in three or more axes.
Typical applications of robots include welding, painting, assembly, pick and place.
(such as packaging, , product inspection, and testing; all accomplished with high endurance,
speed, and precision.

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 Figure 1.1 : Applications of Industrial Robot

KNOWLEDGEBASE FOR ROBOTICS:

Typical knowledgebase for the design and operation of robotics systems
● Dynamic system modelling and analysis
● Feedback control
● Sensors and signal conditioning
● Actuators and power electronics
● Hardware/computer interfacing
● Computer programming

Advantages:

1. Increased Efficiency: Robots can work 24/7 without getting tired, leading to increased
productivity and efficiency.

2. Improved Accuracy: Robots are capable of performing tasks with high precision and
accuracy, reducing errors and improving quality.

3. Increased Safety: Robots can perform tasks that are dangerous for humans, Robots can
work in hazardous environment.improving overall safety in the workplace.

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4. Reduced Labour Costs: The use of robots can lead to reduced labor costs, as robots can
perform tasks more cheaply than human workers.

Disadvantages:

1. Initial Cost: Implementing and maintaining a robotics system can be expensive, especially
for small and medium-sized businesses.

2. Job Losses: The increased use of robots may result in job losses for human workers,
particularly in industries where manual labor is prevalent.

3. Limited Capabilities: Robots are still limited in their capabilities compared to human
workers and may not be able to perform tasks requiring dexterity or creativity.

4. Maintenance Costs: Robots require regular maintenance and repair, which can be time-
consuming and expensive.

COMPONENTS OF ROBOTS:

Robots come in many shapes and sizes.Robots consist of a number of components that can
always be simplified into five major constituents viz: the controller, the manipulator, an end
effector, a power supply, and a means for programming. The relationship among these five
components are illustrated in Figure 2-2.

Figure 1.2 Key Component of a robot

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1. Manipulator or Rover: Main body of robot (Links, Joints, other structural
element of the robot).
2. End Effector: The part that is connected to the last joint (hand) of a
manipulator.
3. Actuators: Muscles of the manipulators (servo motor stepper3. Actuators:
Muscles of the manipulators (servomotor, stepper motor, pneumatic and
hydraulic cylinder).
4. Sensors: To collect information about the internal state of the robot or to
communicate with the outside environment
5. Controller: Similar to cerebellum. It controls and coordinates the motion of the
actuators.
6. Processor: The brain of the robot. It calculates the motions and the velocity of
the robots joints etc.
7. Software: Operating system, robotic software and the collection of routines.

WHAT ARE MANIPULATOR ;

● A robotic manipulator is an arm-like structure joined to the body of a robot and is

used to execute tasks. A robot without a manipulator would be the equivalent of a
person performing a task with their hands tied behind their back. It is, in fact, for this
reason that robotic manipulators are also known as robot arms.
● The manipulator is the arm of the robot which must move materials, parts, tools or
special devices through various motions to provide useful work.
● Manipulator is made up of a series of segments (link) and joints much like
those found in the human arm.
● A manipulator can be identified by the method of control, power source,
actuation of the joints, and other factors. These factors help identify the best type
of robots for the task at hand. For example, you would not use an electric robot in
an environment where combustion fumes exist and a spark could cause an
explosion.
● Joints connect two segments together and allow them to move relative to another. The
joints either provide linear (straight line) or rotary (circular) movement.
● The muscles of the human body supply the driving force that moves the various body
joints. Similarly, a robot uses actuators to move its arm along programmed path and
then to hold its joints rigid once the correct position is reached.
● There are two basic types of motions provided by actuators: linear and rotary.
● Linear actuators provide motion along a straight line; they extend or retract their
attached loads. Rotary actuators provide rotation, moving their loads in an arc or
circle. Rotary motion can be converted into linear motion using a lead screw or other
mechanical means. These types of actuators are also used outside the robot to move
work-pieces and provide other kinds of motion within the work envelope. Figure 2.6
Actuator Joints

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Structure of Robot manipulator

The two main parts in the robotic arm are Links and Joints. A robotic arm is a chain
of joints and links.

Let’s take an example from the human body. The links and joints of a human arm are
demonstrated in the image below. The concept can be applied to robots too.

Figure 1.3 Joints and Links of a human arm

What is a link in a robot?

“The links are the rigid members connecting the joints. “

A link is also known as a kinematic link or element.

What is a joint in a robot?

“A joint is a connection between two or more links, which allows some motion, or potential
motion, between the connected links. Joints are also called Kinematic pairs.”

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What is a Degrees of Freedom (D.O.F)?

The Degree of Freedom (D.O.F) is one of the parameters commonly using to mention the
motion capability of a robot. Here is a simple definition of D.O.F.

D.O.F is defined as the way in which a robot or machine can move. The number of degrees of
freedom is equal to the total number of independent displacement or aspects of motion.

● An object in space has six degrees of freedom.

● Translatory motion along X, Y, and Z-axis (3 D.O.F.)
● Rotary motion about X, Y, and Z-axis (3 D.O.F)

Types of Robot Manipulators (or types of Robot)-

There are several types of robotic manipulators, each designed for specific tasks and
applications. Here are some common types:

1. Articulated Manipulator: This type of manipulator consists of multiple

interconnected segments (links) joined by joints (usually revolute or rotary joints). It
resembles a human arm and is highly flexible, making it suitable for various tasks.
2. Cartesian Manipulator (Gantry Robot): A Cartesian manipulator moves along
three orthogonal axes (X, Y, and Z). It operates in a rectangular coordinate system
and is commonly used in CNC machines, 3D printers, and pick-and-place
applications.
3. Cylindrical Manipulator: Cylindrical robots have a rotary joint at the base (allowing
rotation around the vertical axis) and a prismatic joint for linear motion along the
vertical axis. They are useful for tasks such as material handling and assembly.
4. Spherical Manipulator (Polar Robot): Spherical robots operate in a spherical
coordinate system. They have a rotating base and a spherical arm that can move in
any direction within a specified workspace. These are often used for tasks like
welding and painting.
5. SCARA Manipulator (Selective Compliance Assembly Robot Arm): SCARA
robots have two parallel rotary joints (shoulder and elbow) and a prismatic joint for
vertical motion. They provide high-speed, precise movement and are commonly used
in assembly lines.
6. Delta Manipulator (Parallel Robot): Delta robots have three arms connected to a
fixed base. The arms move in parallel, allowing fast and precise motion. They excel in
pick-and-place operations, packaging, and food processing.
7. Anthropomorphic Manipulator (Humanoid Robot Arm): These manipulators
mimic the structure of a human arm, with multiple joints (shoulder, elbow, wrist,
etc.). They are used in research, rehabilitation, and human-robot interaction.
8. Snake-Like Manipulator (Continuum Robot): Inspired by snakes, continuum
robots have flexible, segmented bodies. They can bend and twist in complex ways,

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 making them suitable for navigating tight spaces or performing minimally invasive
surgery.

What is Kinematics?

These are some of the terms related to the structure of the robot like joints, links, D.O.F .
Kinematics deals the analysis of the motion of the robot.

Kinematics is a branch of physics and a subdivision of classical mechanics concerned with

the geometrically possible motion of a body or system of bodies without consideration of the
forces involved.

Forward and Inverse Kinematics

Forward kinematics (for a robot arm) takes as input joint angles and calculates the Cartesian
position and orientation of the end effector. The end-effector/gripper is a device or tool that
connects at the end of a robotic arm.

Forward kinematics (for mobile robot) takes wheel velocities and calculate the position and
orientation of the robot.

Inverse kinematics (for a robot arm) takes as input the Cartesian end-effector position and
orientation and calculates joint angles.

Inverse kinematics (for a mobile robot) takes the input as goal position of the robot and
calculates the wheel velocities in order to reach the goal.

Here is an example of the kinematic chain of a serial link robotic arm.

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 Serial link manipulator

Forward and Inverse Kinematics

Forward kinematics (for a robot arm) takes as input joint angles and calculates the Cartesian
position and orientation of the end effector. The end-effector/gripper is a device or tool that
connects at the end of a robotic arm.

Non servo Robot:

A non-servo robot is a type of industrial robot that serves a specific purpose. Let’s
break it down:

1. Non-Servo Robots: These robots are designed to perform straightforward

tasks. They operate using simple mechanisms and are often controlled by
limit switches or by physically hitting stops at each end of their movement.
Here are some key points about non-servo robots:

Function: Non-servo robots are primarily used for moving and placing objects.
They can pick up an object, transport it, and then place it down.

○ Complexity: They are the least complex among industrial robots,

making them suitable for specific, repetitive jobs.
○ Open Loop System: Non-servo robots operate in an open-loop system,
meaning they don’t continuously adjust based on feedback. Instead,
they follow pre-defined instructions without real-time adjustments.

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2. Examples: Imagine a non-servo robot in a factory assembling components on
an assembly line. It picks up a part, moves it to the next station, and places it
down—no fancy feedback loops or complex calculations involved!

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