Industrial Robots

Lecturer: Nguyen Phuong Bac, Ph.D

Division of Mechatronics, Department of
Mechanical Engineering

Page for communication:

https://www.facebook.com/monhoc/
 Content of the Course

• Part A: Kinematics
– Forward Problems
– Inverse Problems

• Part B: Dynamics
 Outline
• Chapter 1: Introduction (1 hour)
• Chapter 2: Rotation Kinematics
• Chapter 3: Orientation Kinematics
• Chapter 4: Motion Kinematics Part A

• Chapter 5: Forward Kinematics

• Chapter 6: Inverse Kinematics
• Chapter 7: Angular Velocity
• Chapter 8: Velocity Kinematics
• Chapter 9: Numerical Methods in Kinematics
• Chapter 10: Acceleration Kinematics Part B

• Chapter 11: Motion Dynamics

• Chapter 12: Robot Dynamics
 Textbook
• Theory of Applied Robotics – Reza N. Jazar
Reference

• Foundations of Robotics Analysis and Control; Tsuneo

Yoshikawa

• Introduction to Robotics Mechanics and Control - J J Craig

• Introductory Robotics - J M Selig

 Grading
• Homework: 20%

• Midterm Exam: 30%

• Final Exam: 50%

 Industrial Robots

CHAPTER 1: INTRODUCTION
 1. Historical Development
1. First appearance
In 1920, the first ever word “robot” appeared in a play
by a writer Karel Capek. It refers to artificial creatures.

In 1958, George Devol design a manipulator named

Unimate to move die products in a factory of General
Motors.
 1. Historical Development
2. Timeline
References:

http://www.sciencekids.co.nz/sciencefacts/technology/historyofrobotics.html

http://en.wikipedia.org/wiki/History_of_robots

https://www.dropbox.com/s/mglylwy9u418dsg/timeline.pdf
 2. Robot Components
1. Link
A robot link is a rigid member that may have relative motion with respect to
all other links
 2. Robot Components
2. Joint
Two links are connected by contact at a joint where their relative motion
can be expressed by a single coordinate

Revolute allows relative rotation between two links.

Prismatic allows a translation of relative motion between two links.

 2. Robot Components
2. Joint
 2. Robot Components
3. Manipulator
The main body of a robot consisting of the links, joints, and other structural elements,
is called the manipulator.
 2. Robot Components
4. Wrist
The joints in the kinematic chain of a robot between the forearm and end-effector
are referred to as the wrist.
 2. Robot Components
5. End-effector
The end-effector is the part mounted on the last link to do the required job of the robot.

The simplest end-effector is a gripper, which is usually capableof only two actions:
opening and closing.

The wrist and end-effector assembly is also called a hand.

6. Actuator
Actuators are drivers acting as the muscles of robots to change their configuration. They
provide power to act on the mechanical structure against gravity, inertia, and other
external forces to modify the geometric location of the robot’s hand.

The actuators can be of electric, hydraulic, or pneumatic type and have to be

controllable.
 2. Robot Components
7. Sensors
The elements used for detecting and collecting information about internal and
environmental states are sensors.

According to the scope of this book, joint position, velocity, acceleration, and force are
the most important information to be sensed.

8. Controller
Three roles:
1. Information role, which consists of collecting and processing the information
provided by the robot’s sensors.

2. Decision role, which consists of planning the geometric motion of the

robot structure.

3. Communication role, which consists of organizing the information between

the robot and its environment
 3. Robot Classification
1. Geometry
Serial (open-loop) manipulator

Parallel (closed-loop) manipulator

The open-loop manipulators can be classified based on their first three joints starting
from the grounded joint.
72 different industrial manipulator configurations, simply because each joint
can be P or R and the axes of two adjacent joints can be parallel, orthogonal, or
perpendicular.

Two orthogonal joint axes intersect at a right angle, however two perpendicular joint
axes are in right-angle with respect to their common normal.
 3. Robot Classification
1. Geometry
 3. Robot Classification
1. Geometry
 3. Robot Classification
1. Geometry
 3. Robot Classification
1. Geometry
 3. Robot Classification
1. Geometry
 3. Robot Classification
1. Geometry
 3. Robot Classification
1. Geometry
 3. Robot Classification
2. Actuation
Electrically actuated robots
+ Cleaner, quieter, and more precise compared to the hydraulic and pneumatic
actuated. Sạch hơn, êm hơn và chính xác hơn so với dùng thủy lực và khí nén
+ Efficient at high speeds so a high ratio gearbox is needed to reduce the
high speed
+ Non-backdriveability (khả năng chống dẫn ngược) and self-braking is an
advantage of high ratio gearboxes in case of power loss

Hydraulic driven robots

+ Used primarily for lifting heavy loads.
+ Disadvantage: noisiness; tendency to leak; inclusion of a necessary pump and
other hardware.

Pneumatic actuated robots

+ Inexpensive and simple.
+ Disadvantage: cannot be controlled precisely

Other actuated robots: piezoelectric actuators, magnetostrictive actuators,

polymeric actuators, shape memory alloys…
 3. Robot Classification
3. Control
Servo robots
Servo robots use closed-loop computer control to determine their motion and are
thus capable of being truly multifunctional reprogrammable devices
+ Point-to-point robot, continuous path robot

Non-servo robots
Non-servo robots are essentially open-loop devices whose movement is
limited to predetermined mechanical stops,
They are primarily used for materials transfer. actuators, polymeric actuators,
shape memory alloys…
 3. Robot Classification
3. Application
Machine loading

Pick and place

Welding

Painting

Assembling

Inspecting

Manufacturing

Biomedical

Assisting

Remote controlled mobile, and telerobot

 4. Kinematics, Dynamics, and
Control
1. Kinematics
Analyzes motion with no attention to what causes the motion (without regards to the
forces that cause these motions)
Displacement, and the successive derivatives with respect
to time, velocity, acceleration, and jerk, all combine into kinematics.

2. Dynamics
The study of systems that undergo changes of state as time evolves. In mechanical
systems such as robots, the change of states involves motion

3. Control
Characterized as the desired motion of the end-effector. Robot control comprises
three computational problems:

+ Determination of the trajectory in Cartesian coordinate space,

+ Biến quỹ đạo chuyển động thành các tọa độ khớp

+ Generation of the motor torque commands to realize the trajectory

 4. Kinematics, Dynamics, and
Control
4. Review of Unit Vectors
 4. Kinematics, Dynamics, and
Control
4. Review of Unit Vectors
 4. Kinematics, Dynamics, and
Control
5. Reference Frame and Coordinate System
Reference frames are a particular perspective employed by the analyst
to describe the motion of links.
A fixed frame (global reference frame) is a reference frame that is motionless and
attached to the ground.
A moving frame (local reference frame) is a reference frame that moves with a
link.
In robotic analysis, we fix a global reference frame to the ground and attach a local
reference frame to every single link.
 4. Kinematics, Dynamics, and
Control
5. Reference Frame and Coordinate System
 4. Kinematics, Dynamics, and
Control
5. Reference Frame and Coordinate System