APPA

INSTITUTE OF ENGINEERING & TECHNOLOGY, KALABURAGI

DEPARTMENT OF MECHANICAL ENGINEERING

A
LECTURE
ON

DATE: 10TH MARCH 2019 By:

TIME: 1:30-3:30 Asst.Prof. PRASHANT MULGE
CLASS: 6TH SEM “B” B.E., M.Tech.,(Ph.D.)
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 DEFINITION OF ROBOTICS AND ROBOT

ROBOTICS:
“Robotics is an interdisciplinary branch of engineering and science that
includes mechanical engineering, electronic engineering, information engineering,
computer science, and others.”

ROBOT:

“An industrial robot is a programmable, multifunctional manipulator, designed

to move materials, parts, tools or special devices through variable programmed
motions for the performance of a variety of tasks.”

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COMPONENTS OF ROBOT

Manipulator

Controller

Power Supply
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 JOINTS IN ROBOT

Revolving Joint(v)
Linear Joint(L)

Twisting Joint(T)

Rotational Joint(R)
Orthogonal Joint(O) 4
PHYSICAL CONFIGURATIONS OF ROBOT

POLAR COORDINATE
JOINTED ARM
CYLINDRICAL COORDINATE
CARTESIAN COORDINATE

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POLAR COORDINATE CONFIGURATION
 This configuration is called as spherical coordinate
configuration.
 Since the workspace within which it moves its arm
is a partial sphere.
 This has a rotary base, and a pivot that can be used
to rise and lower its telescoping arm.
 This configuration consist of Linear joint (L), a
rotation joint (R ) and a twist joint (T) hence it is
also called as T-R-L configuration.

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JOINTED ARM CONFIGURATION
 This configuration has an arm that is similar in
appearance to the human arm. The arm consists of
many straight members connected by joints, hence the
name jointed arm configuration.
 The joint in this are analogous to the human shoulder,
elbow, and wrist. The full arm is mounted on a base
which can rotate the full system .
CYLINDRICAL COORDINATE CONFIGURATION
 This configuration has an arm that is similar in
appearance to the human arm. The arm consists of
many straight members connected by joints, hence
the name jointed arm configuration.
 The joint in this are analogous to the human
shoulder, elbow, and wrist. The full arm is mounted
on a base which can rotate the full system .
 This configuration consist of one Twist joint (T), one
orthogonal joint (O) and one linear joint (L). Hence
it is also called as T-L-O configuration.
CARTESIAN COORDINATE CONFIGURATION

This configuration consists of three

orthogonal slides.
The three slides moves in X, Y, and Z
directions, hence the name is Cartesian
coordinate system.
This configuration consist of one Linear joint
(L) and two orthogonal joints (O) and also
called as L-O-O configuration robot.

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MOTIONS OF ROBOT
The controller is the brain
of the robot. The main function of
the controller is to direct the
motion of the end effectors in
terms of position and
orientation. The controller works
similar to an NC machine. Hence,
the robot motions are important
for the control actions.

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SIX DEGREES OF FREEDOM OF ROBOT
1. ARM & BODY MOTIONS:
 Vertical traverse
 Radial Traverse
 Rotational Traverse

2. WRIST MOTIONS:
 Wrist swivel
 Wrist bend
 Wrist yaw

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1. VERTICAL TRAVERSE:
It is the up-and-down motion of the arm, obtained by
pivoting the entire arm about a horizontal axis or moving the
arm along a vertical slide.
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2. RADIAL TRAVERSE:
It is the motion caused by the extension and retraction of
the arm ( the telescope in-and-out movement of the arm).

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3. ROTATIONAL TRAVERSE:
It is the rotation about the vertical axis (right or left
swivel of the arm).

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4.WRIST SWIVEL (PITCH):
It is the rotation of the wrist about its own axis.

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5. WRIST BEND (ROLL):
It is the up-and-down movement of the wrist, which also
involves rotational movement.

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6.WRIST YAW:
It is the right-or-left swivel of the wrist.

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MOTION CONTROL SYSTEMS IN ROBOT

1.POINT-TO-POINT (PTP) METHOD:

2.CONTINUOUS PATH METHOD:

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 1.POINT-TO-POINT (PTP) METHOD
 This uses an open loop control system. In this movement of robot is controlled

from one point to another point in space.

 Each point is programmed in the memory unit of robots controller.

 PTP robots have less than six degrees of freedom.

 They are used in pick and place operation, machine loading and unloading ,

spot welding etc.

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 2. CONTINUOUS PATH METHOD

 It uses a closed loop control system with feedback.

 The memory and control requirements are more for continuous path robots

than the PTP robots.

 This type of robots are used in painting, welding and grasping the objects

along the moving conveyor.

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 TECHNICAL FEATURES OF ROBOT
1.Work Volume
2.Precision of Movement
3.Speed of Movement

4.Weight carrying Capacity

5.Type of drive system

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ROBOT GRIPPERS
GRIPPER AS END EFFECTOR:
 Mechanical Gripper
 Vacuum Gripper
 Magnetic Gripper
 Hooks
 Scoops and Ladles

TOOLS AS END EFFECTOR:

 Spot welding
 Spray painting
 Drilling
 Grinding
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 Heating
ACCURACY AND REPETABILITY IN ROBOT

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 SENSORS USED ROBOT
1.Vision Sensor
2. Tactile Sensor
3.Proximity Sensor

4.Velocity Sensor
5.Range Sensor

6.Voice Sensor
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 ROBOT PROGRAMMING METHODS

1.MANUAL METHOD

2.WORKTHROUGH OR MANUAL LEAD THROUGH

METHODS

3.LEAD THROUGH OR DISCRETE POINT METHOD

(ON-LINE)

4.OFF-LINE PROGRAMMING OR TEXTUAL METHOD 25

 INDUSTRIAL APPLICATION OF ROBOT
MATERIAL TRANSFER
MACHINE LOADING AND UNLOADING
WELDING
PAINTING
PROCESSING OPERATION
ASSEMBLY
INSPECTION 26