ROBOTICS

INTRODUCTION TO
ROBOTICS

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 ROBOTICS
Robotics is the engineering science
and technology of robots, and their
design, manufacture, application, and
structural disposition. Robotics
requires a working knowledge of
electronics, mechanics, and software.
A person working in this field is
known as a roboticist.
HISTORY TIMELINE OF
ROBOTICS
1921 - Czechoslovakian playwright Karel Capek
introduces the word robot in the play R.U.R. –
Rossum’s Universal Robots. The word comes from
the Czech robota, which means tedious labor.
1942 - Isaac Asimov publishes Runaround, in which
he defines the Three Laws of Robotics.
1954 – George Devol designs the first programmable
robot and coins the term Universal Automation,
planting the seed for the name of his future
company – Unimation.
1959 – Marvin Minsky and John McCarthy establish
the Artificial Intelligence Laboratory in MIT.
1960 – Unimation is purchased by Condec
Corporation and development of Unimate Robot
Systems begins.
1960 – American Machine and Foundry, later known
as AMF Corporation, markets the first cylindrical
robot, called the Versatran, designed by Harry
Johnson and Veljko Milenkovic.
1962 – General Motors purchases the first individual
robot from Unimation and installs it on a
production line. This manipulator is the first of
many Unimates to be deployed.
1965 – Carnegle Mellon University establishes the
Robotics Institute.
1965 – Homogeneous transformations applied to
robot kinematics – this remains the foundation of
robotics theory today.
1968 – Kawasaki licenses hydraulic robot design
from Unimation and starts production in Japan.
1973 – Cincinnati Milacron releases the T3, the first
commercially available minicomputer.
1978 –Unimation develops the PUMA
(Programmable Universal Machine for Assembly).
The PUMA can still be found in many research
labs today.
1982 – Fanuc of Japan and General Motors from
joint venture in GM Fanuc to market robots in
North America
1986 – With Uninamation license terminated,
Kawasaki develops and produces its own line of
electric robots.
1988 – Staubli Group purchases Unimation from
Westinghouse.
1995 – Intuitive Surgical formed by Fred Moll, Rob
Younge, and John Freud to design and market
surgical robot systems. Founding technology based
on the work at SRI, IBM and MIT.
2000 – Honda showcases Asimo, the next generation
of its series of humanoid robots.
2000 – Sony unveils humanoid robots, dubbed Sony
Dream Robots (SDR), at Robodex.
2001 – Sony releases second generation of its Alto
robot dog
2001 – Built by MD Robotics of Canada, the Space
Station Remote Manipulator System (SSRMS) is
successfully launched into orbit and begins
operations to complete assembly of International
Space Station
 Robotics Terminology
Industrial robot:The Robotics Industries Association (RIA)
defines robot in the following way:

“An industrial robot is a programmable, multi-functional

manipulator designed to move materials, parts, tools, or
special devices through variable programmed motions for the
performance of a variety of tasks”
 Robotics Terminology
DOF degrees-of-freedom: the number of independent motions a
device can make. (Also called mobility)

five degrees of freedom

 arms

 Robot arms come in all shapes and sizes.

 Positions the end-effector and sensors to do their pre-programmed business.
 Many (but not all) resemble human arms, and have shoulders, elbows, wrists, even
fingers. This gives the robot a lot of ways to position itself in its environment.
Each joint is said to give the robot 1 degree of freedom.
1st Degree of Freedom
Left and right rotation
of the base of the arm.
2nd Degree of Freedom

Forward and backward movement

of the base of the arm
3rd Degree of Freedom
Forward and backward movement
of the elbow joint.
4th Degree of Freedom
Up and down movement of the wrist.
 5th Degree of Freedom
Left and right movement of the wrist.
6th Degree of Freedom

Rotation of the wrist

 Robotics Terminology
End-effector: The tool, gripper, or other device mounted at the end
of a manipulator, for accomplishing useful tasks.
 Robotics Terminology
Workspace: The volume in space that a robot’s end-effector can
reach, both in position and orientation.

A cylindrical robots’ half workspace

 Robotics Terminology
Link: A rigid piece of material connecting joints in a robot.

Joint: The device which allows relative motion between two links
in a robot.

A robot joint
 Robotics Terminology
Kinematics: The study of motion without regard to forces.

Dynamics: The study of motion with regard to forces.

Actuator: Provides force for robot motion.

Sensor: Reads variables in robot motion for use in control.

Laws of Robotics
 Asimov's Laws of Robotics:
1. A robot may not injure a human
being, or, through inaction, allow a
human being to come to harm.
2. A robot must obey the orders given
it by human beings except where such
orders would conflict with the First
Law.
3. A robot must protect its own
existence as long as such protection
does not conflict with the First or
Second Law.
Robotics and automation
1.Fixed automation
2.Programmable automation
3.Flexible automation
Robot Anatomy
 Robot Anatomy
 Manipulator consists of joints and links
Joint3 Link3
 Joints provide relative motion
End of Arm
 Links are rigid members between joints
 Various joint types: linear and rotary
 Each joint provides a “degree-of-freedom”
Link2
 Most robots possess five or six degrees-of-
Link1
freedom
 Robot manipulator consists of two sections:
Joint2
 Body-and-arm – for positioning of objects in
the robot's work volume Joint1
 Wrist assembly – for orientation of objects
Link0
Base
Component of robot
 The Robotic Joints
A robot joint is a mechanism that permits
relative movement between parts of a robot arm.
The joints of a robot are designed to enable the
robot to move its end-effector along a path from
one position to another as desired.

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 Manipulator Joints
Translational motion
Linear joint (type L)

Rotary motion
Rotational joint (type R)
Twisting joint (type T)
Revolving joint (type V)
The Robotic Joints
CLASSIFICATION: CLASSIFIED INTO SIX CATEGORIES
– ARM GEOMETRY:
RECTANGULAR;CYLINDIRICAL;SPHERICAL; JOINTED-
ARM(VERTICAL);JOINED-ARM(HORIZONTAL).

– DEGREES OF FREEDOM: ROBOT ARM; ROBOT WRIST.

– POWER SOURCES:
ELECTRICAL;PNEUMATIC;HYDRAULIC;ANY COMBINATION.

– TYPE OF MOTION: STRAIGHT-LINE INTERPOLATION;

CIRCULAR INTERPOLATION.

– PATH CONTROL: LIMITED SEQUENCE; POINT-TO-POINT;

CONTINOUS PATH; CONTROLLED PATH.

– INTELLLIGENCE LEVEL: LOW-TECHNOLOGY(NONSERVO);

HIGH-TECHONOLOGY(SERVO).
Based on Physical Configuration

Cartesian
Cylindrical
Polar
Jointed arm

Page 37
 Polar Configuration
Polar Configuration:
• Polar robots have a
work space of
spherical shape.
Generally, the arm is
connected to the
base with a twisting
(T) joint and rotatory
(R) and linear (L)
joints follow.
 Cylindrical Robots
A robot with 2 prismatic joints
and a rotary joint – the axes
consistent with a cylindrical
coordinate system.

Commonly used for:

•handling at die-casting
machines
•assembly operations
•handling machine tools
•spot welding
 Cartesian Robots
A robot with 3 prismatic joints
– the axes consistent with a
Cartesian coordinate system.

Commonly used for:

•pick and place work
•assembly operations
•handling machine tools
•arc welding
 ROBOT CLASSIFICATION
Joint-arm Configuration:
• The jointed-arm is a combination of cylindrical and
articulated configurations. The arm of the robot is
connected to the base with a twisting joint. The links in
the arm are connected by rotatory joints. Many
commercially available robots have this configuration.
 SCARA (Selective Compliance Articulated
Robot Arm) Robots
A robot with at least 2 parallel
rotary joints.
Similar to jointed-arm robot
except that vertical axes are
used for shoulder and elbow
joints

Commonly used for:

•pick and place work
•assembly operations
 Wrist Configurations
• Wrist assembly is attached to end-of-arm
• End effector is attached to wrist assembly
• Function of wrist assembly is to orient end effector
– Body-and-arm determines global position of end
effector
• Two or three degrees of freedom:
– Roll
– Pitch
– Yaw
Mind Map
 Work Volume of
Robots
Work volume is the term that refers to the space
within which the robot can manipulate its
wrist end

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Robot reach, also known as the work
envelope or work volume, is the space of
all points in the surrounding space that
can be reached by the robot arm.
Reach is one of the most important
characteristics to be considered in
selecting a suitable robot because the
application space should not fall out of the
selected robot's reach.
 Depends on
• Physical configuration
• The size of body,arm,wrist
• The limit of joint movement
 Robot Reach:
• For a Cartesian configuration the reach is
a rectangular-type space.
• For a cylindrical configuration the reach is
a hollow cylindrical space.
• For a polar configuration the reach is part
of a hollow spherical shape.
• Robot reach for a jointed-arm
configuration does not have a specific
shape.
 Configurations And Work Volumes

Polar Cylindrical Cartesian

Jointed Arm
 Power Sources for Robots
• An important element of a robot is the
drive system. The drive system supplies
the power, which enable the robot to
move.
• The dynamic performance of a robot
mainly depends on the type of power
source.
 Drive Systems

• Hydraulic drive
• Pneumatic drive
• Electric drive
 Joint Drive Systems

• Electric
– Uses electric motors to actuate individual joints
– Preferred drive system in today's robots
• Hydraulic
– Uses hydraulic pistons and rotary vane actuators
– Noted for their high power and lift capacity
• Pneumatic
– Typically limited to smaller robots and simple
material transfer applications
There are basically three types of
power sources for robots:
1. Hydraulic drive
• Provide fast movements
• Preferred for moving heavy parts
• Preferred to be used in explosive
environments
• Occupy large space area
• There is a danger of oil leak to the shop
floor
2. Electric drive
• Slower movement compare to the
hydraulic robots
• Good for small and medium size robots
• Better positioning accuracy and
repeatability
• stepper motor drive: open loop control
• DC motor drive: closed loop control
• Cleaner environment
• The most used type of drive in industry
3. Pneumatic drive
• Preferred for smaller robots
• Less expensive than electric or hydraulic
robots
• Suitable for relatively less degrees of
freedom design
• Suitable for simple pick and place
application
• Relatively cheaper
 Speed of motion
• Speed range about 1.7m/s
• Determine by how quickly accomplish
cycle
• Speed depends on accuracy of wrist
position, weight of the object, distance to
be moved.
 Speed of motion

• It shows robot capable of traveling long

distance in less time than sequence of
short distance.
• Reason acceleration and deceleration
problem
 Load carrying capacity
• Size, configuration ,construction and drive
system determine the load carrying capacity.
• Load capacity specified in arm weakest
position.
• For example human lifting capacity with arm.
• Modern robot rated load capacity 2000lb
• MAKER 110 capacity of 5lb
 Control system
• 1.Limited sequence robot
• 2.Play back robot with point to point
control
• 3.Play back with continuous path control
• 4.Intelligent robot
 Precision of movement
• 1.Spatial resolution
Smallest increment movement into which
robot can divide its work volume
Control resolution
Mechanical inaccuracy
• 2.Accuracy
• 3.Repeatability
 END EFFECTORS
End effectors
These enable the robot to perform
specific tasks and are attached to the
wrist of robot. There are two types-
1) Grippers
Are the end effectors used to grasp and
manipulate objects during work cycle.
The objects are usually work parts that
are moved from one place to another.
Grippers
 END EFFECTORS
There are different types of grippers
according to the shapes, sizes and
weights of parts to be held. For ex-
mechanical grippers, vacuum grippers,
magnetized grippers, dual, sensory
multiple fingered grippers are used
according to the application.
 END EFFECTORS
2) Tools
Are used in applications where the
robot must perform some processing
operation on the work part. Therefore
the robot manipulates the tool relative
to stationery or slowly moving objects:
Spot welding gun, arc welding tool,
spray painting gun, assembly tool,
water jet cutting tool, heating torch.
 END EFFECTORS
In each case, the robot not only
controls the relative position of tool
with respect to work piece but also
controls the operation of tool. In some
applications, multiple tools are also
used by the robots during the work
cycle. For ex- Several sizes of drilling
bits applied to the work part.
Tools
Mechanical Gripper
 Mechanical Gripper
Actuation.
1.Linkage actuation
2.Gear and rack actuation
3.Cam actuation
4.Screw actuation
 Linkage actuation
&Gear and rack actuation
Cam and Screw actuation
Vacuum Gripper
Magnetic Gripper
Mind map(Drives)
Mind map(Gripper)