Professional Documents
Culture Documents
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Automatons
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HISTORY
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Definition
What is the Definition of a Robot?
A reprogrammable multifunctional
manipulator designed to move material, parts,
tools or specialized devices through various
programmed motions for the performance of a
variety of Tasks.
Robot Institute of America.
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Laws of Robotics
Asimov proposed three “Laws of Robotics”
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Types of Robots
Industrial Robots –
–materials handling
–welding
–inspection
–improving productivity
–Laboratory applications
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Types of Robots
Mobile Robots-
–Robots that move around on legs,
tracks or wheels.
Eg-
In 1979 a nuclear accident in
the USA caused a leak of
radioactive material which led to
Production of special robot –which
Can handle the radioactive materials.
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Types of Robots
Educational Robots – Robotic kits
Are used extensively in education.
Eg-Robolab,Lego and
RoboCup Soccer
Domestic Robots–2 types–those
designed to perform household tasks
and modern toys which are
programmed to do things like talking,
walking and dancing,etc. 9
Robot Components
1. Manipulator or Rover: Main body of robot
(Links, Joints, other structural element of the
robot)
2. End Effecter: The part that is connected to the
last joint hand) of a manipulator.
3. 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.
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Robot Components…
5. Controller: 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
robot’s joints, etc.
7. Software: Operating system, robotic
software and the collection of routines.
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The robot control loop
Speech, Vision
Acceleration, Task planning
Temperature Plan Classification
Position ,Distance Learn
Touch, Force Process data
Magnetic field ,Light Path planning
Sound Motion planning
,PositionSense
Sense Think
Act
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Robot classifications
• Robot classification by Geometry
– Cartesian
– Cylindrical
– Spherical or Polar
– Articulated or revolute
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Cartesian Type:
Cylindrical Robot
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Articulated Robot
Robot classification by Actuating system
1.Electric Actuator robot
2. Pneumatic Actuator Robot
3. Hydraulic Actuator robot
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Robot Subsystems
Recognition subsystem
Motion Subsystem
Computer
Control Subsystem
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Motion Subsystem
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Motion Subsystem
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Electric Actuators
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Typical transmission elements are as follows
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Fig.2.7 Link mechanism of the robot
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1. SENSORS
2. ADC
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Performance characteristics
1. Work Envelope
2. Load carrying capability
3. Speed of movement
4.Repeatability
5. Accuracy
6. Stability
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