Introduction to Robotics

Outline
• Definition
• Types
• Uses
• History
• Key components
• Applications
• Future
• The Engineering
Design Process
• Best practices in
engineering design
 Robot Defined
• Word robot was coined by a
Czech novelist Karel Capek in a
1920 play titled Rassum’s
Universal Robots (RUR)
• Robot in Czech is a word for
worker or servant Karel Capek
• Definition of robot:
–Any machine made by one our members: Robot Institute
of America
–A robot is a reprogrammable, multifunctional manipulator
designed to move material, parts, tools or specialized devices
through variable programmed motions for the performance of
a variety of tasks: Robot Institute of America, 1979
Types of Robots: I
Manipulator
 Types of Robots: II

Legged Robot Wheeled Robot

 Types of Robots: III
Autonomous Underwater Vehicle Unmanned Aerial Vehicle
 Robot Uses: I

Jobs that are

dangerous for humans

Decontaminating Robot
Cleaning the main circulating
pump housing in the nuclear power plant
 Robot Uses: II

Repetitive jobs that are

boring, stressful, or labor-
intensive for humans

Welding Robot
 Robot Uses: III

Menial tasks that human

don’t want to do

The SCRUBMATE Robot

Laws of Robotics
• Asimov proposed three “Laws of
Robotics” and later added the
“zeroth law”
• Law 0: A robot may not injure
humanity or through inaction,
allow humanity to come to harm
• Law 1: A robot may not injure a
human being or through inaction,
allow a human being to come to
harm, unless this would violate a
higher order law
• Law 2: A robot must obey orders
given to it by human beings, except
where such orders would conflict
with a higher order law
• Law 3: A robot must protect its
own existence as long as such
protection does not conflict with a
higher order law
 History of Robotics: I

• The first
industrial robot:
UNIMATE
• 1954: The first programmable
robot is designed by George
Devol, who coins the term
Universal Automation. He later
shortens this to Unimation, which
becomes the name of the first
robot company (1962).

UNIMATE originally automated the

manufacture of TV picture tubes
 History of Robotics: II

1978: The Puma (Programmable

Universal Machine for
Assembly) robot is developed
by Unimation with a General
Motors design support

PUMA 560 Manipulator

 History of Robotics: III
1980s: The robot industry enters a phase of rapid growth. Many
institutions introduce programs and courses in robotics. Robotics
courses are spread across mechanical engineering, electrical
engineering, and computer science departments.

Adept’s SCARA robots Cognex In-Sight Robot Barrett Technology Manipulator

 History of Robotics: IV

1995-present: Emerging
applications in small
robotics
and robots mobile
drive growth a
of research
companies and second
start-up
2003: NASA’s Mars Exploration Rovers will launch toward
Mars in search of answers about the history of water on Mars
 Knowledgebase for Robotics
•Typical knowledgebase for the design and operation of
robotics systems
–Dynamic system modeling and analysis
–Feedback control
–Sensors and signal conditioning
–Actuators (muscles) and power electronics
–Hardware/computer interfacing
–Computer programming
Disciplines: mathematics, physics, biology,
mechanical engineering, electrical engineering,
computer engineering, and computer science
 Key Components
Power conversion
unit
Sensors Actuators
Controller
User interface
Manipulat
or
linkage
Base
 Robot Base: Fixed v/s Mobile
Robotic manipulators used in
manufacturing are examples of
fixed robots. They can not
move their base away from the
work being done.
Mobile bases are typically
platforms with wheels or tracks
attached. Instead of wheels or
tracks, some robots employ
legs in order to move about.
Robot Mechanism
Mechanical Elements
 Sensors
•Human senses: sight, sound, touch, taste, and smell
provide us vital information to function and survive

•Robot sensors: measure robot configuration/condition

and its environment and send such information to robot
controller as electronic signals (e.g., arm position,
presence of toxic gas) Accelerometer
Using Piezoelectric Effect
•Robots often need information that is beyond 5 human
senses (e.g., ability to: see in the dark, detect tiny
amounts of invisible radiation, measure movement that is
too small or fast for the human eye to see)

Flexiforce Sensor
 Vision Sensors

Vision Sensor: e.g., to pick bins,

perform inspection, etc.

Part-Picking: Robot can handle In-Sight Vision Sensors

work pieces that are randomly piled
by using 3-D vision sensor. Since
alignment operation, a special parts
feeder, and an alignment pallete are
not required, an automatic system
can be constructed at low cost.
 Force Sensors
Force Sensor: e.g., parts
fitting and insertion,
force feedback in robotic
surgery
Parts fitting and insertion:
Robots can do precise fitting and
insertion of machine parts by using
force sensor. A robot can insert parts
that have the phases after matching
their phases in addition to simply
inserting them. It can automate high-
skill jobs.
 Proximity Sensors

Example
Infrared Ranging Sensor

KOALA ROBOT
•6 ultrasonic sonar transducers to explore wide, open areas
•Obstacle detection over a wide range from 15cm to 3m
•16 built-in infrared proximity sensors (range 5-20cm)
•Infrared sensors act as a “virtual bumper” and allow
for negotiating tight spaces
 Tilt Sensors
Tilt sensors: e.g., to balance a robot

Example

Tilt Sensor
Planar Bipedal Robot
 Actuators/Muscles: I
• Common robotic actuators utilize combinations
of different electro-mechanical devices
– Synchronous motor
– Stepper motor
– AC servo motor
– Brushless DC servo motor
– Brushed DC servo motor

http://www.ab.com/motion/servo/fseries.html
 Actuators/Muscles: II

Pneumatic Cylinder

Hydraulic Motor Stepper Motor

DC Motor

Pneumatic Motor Muscle Wire Servo Motor

 Controller
• Provide necessary intelligence to control the
manipulator/mobile robot
• Process the sensory information and compute the
control commands for the actuators to carry out
specified tasks
 Storage Hardware
Storage devices: e.g., memory to store the
control program and the state of the robot system
obtained from the sensors
 Computation Hardware
Computational engine that computes the control
commands

RoboBoard Robotics Controller BASIC Stamp 2 Module

 Interface Hardware
Interface units: Hardware to interface digital
controller with the external world (sensors and actuators)

Analog to Digital Converter Operational Amplifiers

LM358 LM358

LM1458 dual operational amplifier

 Robots in Industry
•Agriculture
•Automobile
•Construction
•Entertainment
•Health care: hospitals, patient-care, surgery , research, etc.
•Laboratories: science, engineering , etc.
•Law enforcement: surveillance, patrol, etc.
•Manufacturing
•Military: demining, surveillance, attack, etc.
•Mining, excavation, and exploration
•Transportation: air, ground, rail, space, etc.
•Utilities: gas, water, and electric
•Warehouses
 Industrial Applications of Robots

•Material handling
•Material transfer
•Machine and/or
loading unloading
•Spot welding Material Handling Manipulator

•Continuous arc welding

•Spray coating
•Assembly
•Inspection
Assembly Manipulator

Spot Welding Manipulator

 Robots in Space

NASA Space Station

Robots in Hazardous Environments

TROV in Antarctica HAZBOT operating in

atmospheres containing
operating under water
combustible gases
 Medical Robots

Robotic assistant for

micro surgery
 Robots in Military

PREDATOR
SPLIT STRIKE:
Deployed from a ISTAR
sub’s hull, Manta
could dispatch tiny
mine-seeking AUVs
or engage in more
explosive combat.

GLOBAL HAWK GOLDENEYE

 Robots at Home

Sony SDR-3X Entertainment Robot Sony Aido

 Future of Robots: I
Artificial Intelligence

Cog Kismet
 Future of Robots: II
Autonomy

Robot Work Crews Garbage Collection Cart

Future of Robots: III
Humanoids

HONDA Humanoid Robot

 The Engineering Design Process

• There are several different versions of the

engineering design process in use today.
• Below is an 8-step process that goes from the
identification of the problem, through the entire
engineering design process, ending with the
presentation of the final design.
• Note that the process is shown below as a
circular process, but a typical engineering design
often goes back and forth between process steps.
1. Identification of the Problem

It seems obvious that in order to solve a problem, we must first identify

what the problem is. Sometimes this is not so straightforward. For
example, what appears to be a problem may actually be a result of
something else that is actually the problem you should be solving. Also,
identifying a problem may come from identifying a customer need, and a
lack of an existing solution to that need

2. Research the Problem – Gather Information

The next step in the engineering design process is to research the

problem. What background information is needed before we can start
developing possible solutions to the problem? What sources do we need
to obtain that information, and how reliable are those sources. What
previous work has been done on this or similar problems that could be
used?
3. Analysis of the Problem – Design Constraints
After the information has been obtained, the next step is to perform a
preliminary analysis. A lot of this analysis will concern design constraints.
The optimal solution to a problem may vary depending on the constraints
placed on the design. These constraints can be technical, economic and
time issues. For example, engineers could probably design a car that could
withstand any collision and protect its occupants from injury, but it would
be so expensive that nobody could afford to buy the car. Another
constraint is that the technology that could be used for this collision-free
car is still under development, and is not available to be used in the
design.
4. Brainstorm Alternative Design Solutions
At this point we are ready to start developing potential solutions to the
problem. Brainstorming is an effective method to start this part of the
engineering design process. In brainstorming, all members of the design
group contribute potential problem solutions. The solutions proposed at
this point are more conceptual and at a high level of abstraction, lacking
specific implementation details. No idea is judged or discarded; all ideas
are recorded for use in the next step of the process.
5. Modeling “Best” Solution
After listing possible solutions to the problem, the design team reviews
the list, discusses the pros and cons of each possible solution, and comes
to a consensus on the best solution to pursue. The design constraints are
considered in determining the best solution. The team models this
solution, determining what work must be done to convert it from a
concept to a solution that can be implemented.

6. Testing and Evaluating Model/Prototype

The best way to evaluate a solution is to build and test it. To test it, you
need to first develop a detailed design specification, as well as a test
protocol. A prototype is an actual device built to implement the proposed
solution. Building the prototype provides feedback on the ease or
difficulty of creating the proposed solution device. After the prototype is
built, it is tested to see if it actually solves the problem. If the prototype
does not work out, it may be necessary to return to the previous step and
select a different solution, and then prototype and test that solution.
7. Refine and Retest Model/Prototype
The engineering design process rarely yields a complete and final
solution with the first prototype. It is more likely that the design team
will take the feedback from the initial testing and revise its solution.
Also, the initial specification for this product will be refined. Then the
team prototypes the new solution and tests it, repeating the process as
necessary until an acceptable prototype has been developed. This step is
often the most time-consuming part of the engineering design process,
often taking more time than the other steps combined.
8. Communicate Final Design (e.g. Presentation)
There are many ways to present the final design, often varying
depending on the audience. For an engineering audience, the
presentation may include circuit diagrams, blueprints, and other
technical materials such as operating manuals. A presentation for a sales
team might focus on the capabilities of the final product and how it
compares to other products in the marketplace. A presentation for the
general public might emphasize how to use the product, as well as the
production of marketing materials.
Best practices in engineering
design

New Product Development (NPD)