Module-1

Anatomy of Robot
Technical specifications
Types of End Effector and applications
Key Configurations
Numbers of axes – two axes are required to reach any point in a plane; three axes
are required to reach any point in space. To fully control the orientation of the end
of the arm (i.e. the wrist) three more axes (yaw, pitch, and roll) are required. Some
designs trade limitations in motion possibilities for cost, speed, and accuracy.
Kinematics the actual arrangement of rigid members and joints in the robot, which
determines the robot's possible motions.
Carrying capacity or payload – how much weight a robot can lift
Speed – how fast the robot can position the end of its arm. This may be defined in
terms of the angular or linear speed of each axis or as a compound speed i.e. the
speed of the end of the arm when all axes are moving
Acceleration - how quickly an axis can accelerate. Since this is a limiting factor a robot
may not be able to reach its specified maximum speed for movements over a short
distance or a complex path requiring frequent changes of direction

Repeatability - how well the robot will return to a programmed position.

Motion control – for some applications, such as simple pick-and-place assembly, the
robot need merely return repeatedly to a limited number of pretaught positions. For
more sophisticated applications, such as welding and finishing (spray painting),
motion must be continuously controlled to follow a path in space, with controlled
orientation and velocity.
Power source – some robots use electric motors, others use hydraulic actuators. The
former are faster, the latter are stronger and advantageous in applications such as
spray painting, where a spark could set off an explosion; however, low internal air-
pressurization of the arm can prevent ingress of flammable vapors as well as other
contaminants
Drive – some robots connect electric motors to the joints via gears; others connect
the motor to the joint directly (direct drive). Using gears results in measurable
'backlash' which is free movement in an axis. Smaller robot arms frequently employ
high speed, low torque DC motors, which generally require high gearing ratios; this
has the disadvantage of backlash. In such cases the harmonic drive is often used.
Compliance - this is a measure of the amount in angle or distance that a robot axis
will move when a force is applied to it. Because of compliance when a robot goes to
a position carrying its maximum payload it will be at a position slightly lower than
when it is carrying no payload. Compliance can also be responsible for overshoot
when carrying high payloads in which case acceleration would need to be reduced
Reach: Degree of Freedom (DOF):
The maximum horizontal distance between the center of the robot base to the end of its wrist. Each joint or axis on the robot introduces a
degree of freedom. Each DOF can be a slider,
Envelope: rotary, or other type of actuator. The number of
A three-dimensional shape, that defines the boundaries that the robot manipulator can reach; DOF that a manipulator possesses thus is the
also known as reach envelope. number of independent ways in which a robot
arm can move. Industrial robots typically have 5
or 6 degrees of freedom.
Based on control systems

1. Point-to-point (PTP) control robot

The PTP robot is capable of moving from one point to another point. The locations are recorded in the control
memory. PTP robots do not control the path to get from one point to the next point.
Common applications include:
•Component insertion
•Spot welding
•Hole drilling
•Machine loading and unloading
•Assembly operations
2. Continuous-path (CP) control robot
The CP robot is capable of performing movements along the controlled path. With CP from one control, the robot can
stop at any specified point along the controlled path. All the points along the path must be stored explicitly in the
robot’s control memory. Applications Straight-line motion is the simplest example for this type of robot. Some
continuous-path controlled robots also have the capability to follow a smooth curve path that has been defined by the
programmer. In such cases the programmer manually moves the robot arm through the desired path and the
controller unit stores a large number of individual point locations along the path in memory (teach-in).
Typical applications include:
•Spray painting
•Finishing
•Gluing
•Arc welding operations
 Based on control systems
3. Controlled-path robot
In controlled-path robots, the control equipment
can generate paths of different geometry such as
straight lines, circles, and interpolated curves with
a high degree of accuracy. Good accuracy can be
obtained at any point along the specified path.
Only the start and finish points and the path
definition function must be stored in the robot’s
control memory. It is important to mention that all
controlled-path robots have a servo capability to
correct their path.
Different Configurations of Robots
• The body, arm, and wrist assembly combinedly are known
as manipulators.
• The tool or hand attached to the robot’s wrist is known as the end effector.
• Prismatic joints or Linear joints denoted by P, revolute joints denoted by
R, and spherical joints denoted by S.
1.Cartesian configuration
2.Cylindrical configuration
3.Polar or Spherical configuration
4.Jointed-arm configuration
5.SCARA configuration
Cylindrical Robot Configuration (PRP)
Cylindrical Robot Configuration (PRP)
Polar or Spherical Robot Configuration
(P2R)
Jointed Arm Robot Configuration (3R)
SCARA Configuration
SCARA stands for Selective Compliance Assembly Robot Arm
Classification of Industrial Robot
Technical Specification of a Robot