ET-42053

INDUSTRIAL AUTOMATION AND ROBOTICS

Lecture-5

Prepared by : W.M.D. Kasun Chamikara Weerakoon

B.Sc.Eng.(Hons) USJP, M.Sc. In Industrial automation (Reading)
Syllabus Outline

Introduction to Robotics

• Laws of Robotics

• Classification and specification of Robots

• Elements of robot anatomy

• Synthesis of elements with movability constraints

Laws of Robotics

What is a Robot?
• An automatic device that performs functions normally ascribed to humans or
machine in the form of human (Webster Dictionary)

• An automatically controlled , reprogrammable, multipurpose, manipulator

programmable in three or more axes which may be either fixed in place or mobile
for use in industrial automation applications (ISO)

• A re-programmable multifunctional manipulator designed to move materials,

parts, tools or specialized devices, through variable programmed motions for the
performance of a variety of tasks (The Robotic institute of America)
Laws of Robotics
Issac Asimov’s three laws of Robotics

• A robot may not injure a human being nor through inaction allow a human being
to come to harm
• A robot must obey the order given it by human beings except where such orders
would conflict with the first law
• A robot must protect its own existence as long as such protection does not
conflict with the first and second law
Classification and specification of Robots
Movies
Classification and specification of Robots
History of Robots

• Putting machines to work for people to perform routine task on command- Concept by
Aristotle (384 -322 B.C.)
• Automatons that mimicked human movements –clock controlled ornaments with self-
moving parts (13th -15th Century)
• Automatic scribe – (1774 by Pierre and Henry – Louis Jacquet - Droz)
• Toy automation and industry automation (19th Century)
• First robot that uses an electric motor -(1940 Westinghouse Electric Corp.)
• First electrically powered computer controlled robotic arm – (Stanford University 1969)
• General electric walking truck-(1968)
Classification and specification of Robots
Robots today
• Modern robots can be categorized into following
1. Humanoid robots
2. Medical robots
3. Domestic service robots
4. Security robots Service robots
5. Androids
6. Exoskeleton/Assistive robots
7. Military robots
8. Industrial robots
Elements of robot anatomy
Components of the robot manipulators
There are several components in a robotic manipulator
1. Controller and teaching device – Control the action of the robot
2. Joints – Provide the power, connection and motion for the robot
3. Link – Rigid bodies that are connected by joints
4. End-effector – Perform the manipulation or the robotic task

Components of the robot

manipulators
Elements of robot anatomy
Joints
• There are 2 basic types of joints used in robotic manipulators
Elements of robot anatomy
Degree of freedom(DOF)

• Degree of freedom is the number of independent position variables which would

have to be specified in order to locate all parts of the mechanism
• Degree of freedom affect the orientation of an object
• If a robotic manipulator need to manipulate in the 3D space, the robot should
pose 6-DOF
- Robots which have DOF less than 6 (DOF< 6) → Deficient robots
- Robots which have DOF greater than6 (DOF>6) → Redundant robots
Elements of robot anatomy
Degree of freedom(DOF) (Other examples)

6- DOF Manipulator 6- DOF Stewart

platform
Elements of robot anatomy
Workspace of the robot
Workspace of the robot can be defined under 3 definitions

• Workspace – Workspace is the volume of space that the end-effector of the robot
can reach

• Reachable workspace - The volume of the space which every point can be
reached by the end effector in at least one orientation

• Dexterous workspace – The volume of the space which every point can be
reached by the end effector in all possible orientations
Elements of robot anatomy
Categorization of robots based on the anatomy
Based on the anatomy, following categories of robots are available

1. Cartesian robot
2. Articulated robot
3. Cylindrical robot
4. SCARA robot
5. Polar robot
6. Gantry robot
Elements of robot anatomy
Categorization of robots based on the anatomy
1, Cartesian robot
• Cartesian robot moves in straight lines in the 3 principle axes of control (X, Y, Z
axes)
• Cartesian robot is also known as the linear robot
• Joints of the robots consist of prismatic types
• Translational motions are performed
Elements of robot anatomy
Cartesian robot-Workspace
Elements of robot anatomy
Categorization of robots based on the anatomy
2.Cylindrical robot

• Cylindrical robot can rotate along its main axes

• Cylindrical robots have a cylindrical workspace
• Both prismatic and revolute joints are available
Elements of robot anatomy
Categorization of robots based on the anatomy
3.Polar robot
• Polar robot can rotate in two different directions along its main axes
• The third joint of the polar robot performs a translation motion
• Forms a hemispherical co-ordinate system (Polar co-ordinate system)
Elements of robot anatomy
Polar robot-Workspace
Elements of robot anatomy
Categorization of robots based on the anatomy
4.Articulated robot
• Articulated robot resembles to an arm which has at least three rotary joints
• Articulated robot can range from simple 2-joint structure to systems with more
interacting joints
• All the joints are revolute type joints
Elements of robot anatomy
Articulated robot-Workspace
Elements of robot anatomy
Categorization of robots based on the anatomy
5.SCARA robot
• SCARA – Selective Compliant Assembly Robot Arm or Selective Compliant
Articulated Robot Arm
• SCARA robot is built with 2 parallel rotary joints to provide compliance in a plane
• The arm is rigid in the Z-axis and compliant in the X and Y axes
Elements of robot anatomy
SCARA robot-Workspace
Elements of robot anatomy
Categorization of robots based on the anatomy
6.Gantry robot
• Gantry robot can be categorized as cartesian robot
• Often quite large
Elements of robot anatomy
Categorization of robots based on the anatomy-Comparison

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Elements of robot anatomy
Categorization of robots based on the anatomy-Comparison

a. Cartesian robot
b. Gantry robot
c. Cylindrical robot
d. Articulated robot
e. SCARA robot
f. Polar robot