INDUSTRIAL

ROBOTS
By
Anmol Bhatia

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 Topics
•Covered
Introduction
• Anatomy of Industrial Robots
(Assembling of outer components of robots such as wrist, arm
and body)
• Joints and linkages
• Common Robot Configurations
• Classification of robots.
• Applications

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A robot is a machine—especially one programmable—
capable of carrying out a complex series of actions
automatically. Robots can be guided by an external control
device or the control may be embedded within. Robots may be
constructed on the lines of human form, but most robots are
machines designed to perform a task with no regard to their
aesthetics.
An industrial robot is a robot system used for
manufacturing. Industrial robots are automated, programmable
and capable of movement on three or more axes. Used for
material handling, processing operations and assembly.

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 JOINTS AND
•LINKAGES
Manipulator of Industrial robots consist of serious of joints and linkages
• Robotic joint provides relative motion between two links of the robot
• Each joint, or axis, provides a certain degree-of-freedom (dof) of motion.
• In most cases only one degree of freedom is associated with each joint
• Robotic Complexity can be classified according to the total degrees-of-
freedom they posses
• Each joint is connected to two links, an input link and an output link.
• A joint provides controlled relative movement between the input link and the
output link

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CLASSIFICATION OF
JOINTS

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Linear Joint (Type L Joint)
Relative motion between the two links is translational
sliding and axis of two links is parallel. 7
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Orthogonal Joint (Type O Joint)
Relative motion between the two links is translational
sliding and axis of two links is perpendicular to each
other. 9
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Rotational Joint (Type R Joint)
Rotational relative motion with axis of rotation
perpendicular to the axis of input and output links 11
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Twisting Joint (Type T Joint)
Involves rotary motion with axis of rotation parallel to the
axis of two links. 13
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Revolving Joint (Type V Joint, V from “v” of revolving)
Axis of input link is parallel to axis of rotation of the joint.
Axis of output link is perpendicular to axis of rotation of
the
joint. 15
Industrial Robots by Dr. Pramod Bhatia 16
CLASSIFICATION OF
JOINTS

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COMMON ROBOT
CONFIGURATIONS
1.
RobotA body-and-arm assembly with
Manipulator has two parts three degree-of-
freedom
2. A wrist assembly with two or three degree-of-
freedom.

For body-and-arm configuration, different

combinations of joint types are possible for a
three degree-freedom robot manipulator.

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Selective Complaince
Assembly Robot
Arm 19
 R-joint
L-joint
T-joint

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 O-joint
L-joint

T-joint

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O-joint

O-joint
L-joint

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 R-joint

T-joint

R-joint

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Selective Complaince
Assembly Robot 24

Arm
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Robotic Wrist
Industrial Robots by Dr. Pramod Bhatia 27
Robotic Wrist 28
Robotic Wrist 29
 Types of drive
•systems
Hydraulic Drive
•Electric Drive
•Pneumatic Drive

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Hydraulic
• Great speed and strength.
Drive
• Large industrial robots
• Used where electric drive robots may cause fire
hazards.
• Example – Spray Painting

Disadvantages
• More floor area.
• Housekeeping Problems such as leaks
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Electric
• Less speed and
Drive
strength.
• Small robots
• More accurate.
• Better
repeatability.
• Cleaner to use.
• Most commonly
used 32
 Pneumatic
• Generally used for smaller robots.
•Drive
Fewer axis of movement.
• Carry out simple pick-and-place material handling operations.
• Simple and short cycle time operations.
• Where pneumatic power can be used for sliding or rotational
joints.
• Less expensive than electric and hydraulic
robots.
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