ME8099

ROBOTICS
 OBJECTIVES:

 To understand the functions of the basic components of a

Robot.
 To study the use of various types of End of Effectors and
Sensors
 To impart knowledge in Robot Kinematics and
Programming
 To learn Robot safety issues and economics.
 OUTCOMES:
Upon the completion of this course the students will be able to
CO1
Explain the concepts of industrial robots, classification, specifications and
coordinate systems. Also summarize the need and application of robots in different sectors.
CO2
Illustrate the different types of robot drive systems as well as robot end effectors.
CO3
Apply the different sensors and image processing techniques in robotics to
improve the ability of robots.
CO4
Develop robotic programs for different tasks and familiarize with the kinematics
motions of robot.
CO5
Examine the implementation of robots in various industrial sectors and interpolate
the economic analysis of robots.
Robotics
Robotics

UNIT I

FUNDAMENTALS OF ROBOT
What is a Robot: I

Manipulator
 What is a Robot: II

Legged Robot Wheeled Robot

 What is a Robot: III

Autonomous Underwater Vehicle Unmanned Aerial Vehicle

 What Can Robots Do: I

Jobs that are dangerous for

humans

Decontaminating Robot
Cleaning the main circulating pump housing
in the nuclear power plant
 What Can Robots Do: II

Repetitive jobs that are boring,

stressful, or labor-intensive for
humans

Welding Robot
 What Can Robots Do: III

Menial tasks that human don’t want

to do

The SCRUBMATE Robot

 Robot Defined

 Word robot was coined by a Czech

novelist Karel Capek in a 1920 play
titled Rossum’s Universal Robots
(RUR)
 Robota in Czech is a word for worker
Karel Capek
or servant
Definition of robot:
 Any machine made by 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
 Laws of Robotics
 Asimov proposed three “Laws of
Robotics”

 Law 1: A robot may not injure a

human being or through inaction,
allow a human being to come to
harm

 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 mobile robots drive a
second growth of start-up
companies and research

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 and power electronics
 Hardware/computer interfacing
 Computer programming

Disciplines: mathematics, physics, biology, mechanical

engineering, electrical engineering, computer
engineering, and computer science
Key Components
 Robot Base: Fixed v/s Mobile
Robotic manipulators used in Mobile bases are typically
manufacturing are examples of platforms with wheels or tracks
fixed robots. They can not attached. Instead of wheels or
move their base away from the tracks, some robots employ
work being done. legs in order to move about.
 Robot Mechanism: Mechanical Elements
Gear, rack, pinion, etc.

Cam and Follower

Inclined plane wedge Chain and sprocket

Lever
Slider-Crank

Linkage
 Industrial Robot Defined

A general-purpose, programmable machine possessing

certain anthropomorphic characteristics

 Hazardous work environments

 Repetitive work cycle
 Consistency and accuracy
 Difficult handling task for humans
 Multishift operations
 Reprogrammable, flexible
 Interfaced to other computer systems
 Robot Anatomy

 Manipulator consists of joints and links Link3

Joint3
 Joints provide relative motion
End of Arm
 Links are rigid members between joints
 Various joint types: linear and rotary
 Each joint provides a “degree-of-freedom”
Link2
 Most robots possess five or six degrees-
Link1
of-freedom
 Robot manipulator consists of two sections:
Joint2
 Body-and-arm – for positioning of objects
in the robot's work volume Joint1
 Wrist assembly – for orientation of objects
Link0
Base
 Manipulator Joints

 Translational motion
 Linear joint (type L)
 Orthogonal joint (type O)

 Rotary motion
 Rotational joint (type R)
 Twisting joint (type T)
 Revolving joint (type V)
 Joint Notation Scheme

 Uses the joint symbols (L, O, R, T, V) to designate joint

types used to construct robot manipulator
 Separates body-and-arm assembly from wrist assembly
using a colon (:)

 Example: TLR : TR

 Common body-and-arm configurations …

 Polar Coordinate
Body-and-Arm Assembly

 Notation TRL:

 Consists of a sliding arm (L joint) actuated relative to the

body, which can rotate about both a vertical axis (T joint)
and horizontal axis (R joint)
 Cylindrical Body-and-Arm Assembly

 Notation TLO:

 Consists of a vertical column,

relative to which an arm
assembly is moved up or down
 The arm can be moved in or out
relative to the column
 Cartesian Coordinate
Body-and-Arm Assembly

 Notation LOO:

 Consists of three sliding joints,

two of which are orthogonal
 Other names include rectilinear
robot and x-y-z robot
 Jointed-Arm Robot

 Notation TRR:
 SCARA Robot

 Notation VRO
 SCARA stands for Selectively
Compliant Assembly Robot
Arm
 Similar to jointed-arm robot
except that vertical axes are
used for shoulder and elbow
joints to be compliant in
horizontal direction for vertical
insertion tasks
 Wrist Configurations

 Wrist assembly is attached to end-of-arm

 End effector is attached to wrist assembly
 Function of wrist assembly is to orient end effector
 Body-and-arm determines global position of end
effector
 Two or three degrees of freedom:
 Roll
 Pitch
 Yaw
 Notation :RRT
 Example
 Sketch following manipulator configurations
 (a) TRT:R, (b) TVR:TR, (c) RR:T.

Solution:
R
R
T T R
R T
R
R V

T T

(a) TRT:R (b) TVR:TR (c) RR:T

 Joint Drive Systems

 Electric
 Uses electric motors to actuate individual joints
 Preferred drive system in today's robots
 Hydraulic
 Uses hydraulic pistons and rotary vane actuators
 Noted for their high power and lift capacity
 Pneumatic
 Typically limited to smaller robots and simple material
transfer applications
 Robot Control Systems

 Limited sequence control – pick-and-place

operations using mechanical stops to set positions
 Playback with point-to-point control – records
work cycle as a sequence of points, then plays
back the sequence during program execution
 Playback with continuous path control – greater
memory capacity and/or interpolation capability to
execute paths (in addition to points)
 Intelligent control – exhibits behavior that makes
it seem intelligent, e.g., responds to sensor inputs,
makes decisions, communicates with humans
 Robot Control System

Cell
Cell Level 2
Supervisor
Supervisor

Controller
Controller Level 1
&& Program
Program

Joint
Joint 11 Joint
Joint 22 Joint
Joint 33 Joint
Joint 44 Joint
Joint 55 Joint
Joint 66 Sensors
Sensors Level 0
 End Effectors

 The special tooling for a robot that enables it to

perform a specific task
 Two types:
 Grippers – to grasp and manipulate objects (e.g.,
parts) during work cycle
 Tools – to perform a process, e.g., spot welding,
spray painting
Grippers and Tools
Working Envelope
 Industrial Robot Applications

1. Material handling applications

 Material transfer – pick-and-place, palletizing
 Machine loading and/or unloading
2. Processing operations
 Welding
 Spray coating
 Cutting and grinding
3. Assembly and inspection
 Robotic Arc-Welding Cell

 Robot performs
flux-cored arc
welding (FCAW)
operation at one
workstation while
fitter changes
parts at the other
workstation
 Industrial Robot Applications

• The general characteristics of industrial work situations that tend

to promote the substitution of robots for human labor are the
following:
1. Hazardous work environment for human.
2. Repetitive work cycle.
3. Difficult handling for human.
4. Multishift operation.
5. Infrequent changeover
6. Part position and orientation are established in the work cell
 Industrial Robot Applications

• Robots are being used in a wide field of applications in industry.

Most of the current applications of industrial robots are in
manufacturing.
• The applications can usually classified into one of the following
categories:
1. Material handling applications
1. Material transfer.
2. Machine loading and/or unloading.
2. Processing operations
1. Spot welding
2. Continuous arc welding
3. Spray coating
4. Other processing applications
3. Assembly