UNIT I FUNDAMENTALS OF ROBOT

Robot - Definition - Robot Anatomy - Co ordinate Systems, Work Envelope

Types and Classification- Specifications-Pitch, Yaw, Roll, Joint Notations,
Speed of Motion, Pay Load- Robot Parts and their Functions-Need for
Robots-Different Applications.

Introduction of Robot

Robots are devices that are programmed to move parts, or to do work with a tool.
Robotics is a multidisciplinary engineering field dedicated to the development of
autonomous devices, including manipulators and mobile vehicles.
Roboticists develop man-made mechanical devices that can move by themselves,
whose motion must be modelled, planned, sensed, actuated and controlled, and
whose motion behaviour can be influenced by “programming”. Robots are called
“intelligent” if they succeed in moving in safe interaction with an unstructured
environment, while autonomously achieving their specified tasks. The Anatomy of Industrial Robots deals with the assembling of outer components
of a robot such as wrist, arm, and body. Before jumping into Robot
Definition Configurations, here are some of the key facts about robot anatomy.

The term comes from a Czech word, robota, meaning "forced labor." The word End Effectors: A hand of a robot is considered as end effectors. The grippers
robot first appeared in a 1920 play by Czech writer Karel Capek, R.U.R.: and tools are the two significant types of end effectors. The grippers are used to
Rossum's Universal Robots. In the play, the robots eventually overthrow their pick and place an object, while the tools are used to carry out operations like
human creators. spray painting, spot welding, etc. on a work piece.
An automatically controlled, reprogrammable, multipurpose, manipulator
programmable in three or more axes, which may be either, fixed in place or Robot Joints: The joints in an industrial robot are helpful to perform sliding
mobile for use in industrial automation applications. and rotating movements of a component.
An industrial robot is defined by ISO as an automatically controlled,
reprogrammable, multipurpose manipulator programmable in three or more axes. Manipulator: The manipulators in a robot are developed by the integration of
The field of robotics may be more practically defined as the study, design and use links and joints. In the body and arm, it is applied for moving the tools in the
of robot systems work volume. It is also used in the wrist to adjust the tools.

Robot Anatomy Kinematics: It concerns with the assembling of robot links and joints. It is
also used to illustrate the robot motions.
The anatomy of robot is also known as structure of robot. The basic components
or sections in anatomy of robots are as follows. The RIA (Robotics Industries Co-ordinate System
Association) has officially given the definition for Industrial Robots. According
to RIA, “An Industrial Robot is a reprogrammable, multifunctional manipulator A coordinate system defines a plane or space by axes from a fixed point called
designed to move materials, parts, tools, or special devices through variable the origin. Robot targets and positions are located by measurements along the
programmed motions for the performance of a variety of tasks.” axes of coordinate systems. A robot uses several coordinate systems, each
suitable for specific types of jogging or programming.

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 the help of the column. In addition, it can reach the work space in a rotary
The Robots are mostly divided into four major configurations based on their movement as like a cylinder.
appearances, sizes, etc. such as: Example: GMF Model M1A Robot.
Advantages:
Cylindrical Configuration, • Increased rigidity, and
Polar Configuration,
• Capacity of carrying high payloads.
Jointed Arm Configuration, and
Cartesian Co-ordinate Configuration Disadvantages:
• Floor space required is more, and
• Less work volume.

Polar Configuration:

The polar configuration robots will possess an arm, which can move up
and down. It comprises of a rotational base along with a pivot. It has one
linear & two rotary joints that allows the robot to operate in a spherical
work volume. It is also stated as Spherical Coordinate Robots.
Example: Unimate 2000 Series Robot.
Advantages:
• Long reach capability in the horizontal position.
Disadvantages:
• Vertical reach is low.

Jointed Arm Configuration:

The arm in these configuration robots looks almost like a human arm. It
gets three rotary joints and three wrist axes, which form into six degrees of
freedoms. As a result, it has the capability to be controlled at any
adjustments in the work space. These types of robots are used for
performing several operations like spray painting, spot welding, arc
welding, and more.
Example: Cincinnati Milacron T3 776 Robot
Advantages:
Cylindrical Configuration: • Increased flexibility,
• Huge work volume, and
This kind of robots incorporates a slide in the horizontal position and a • Quick operation.
column in the vertical position. It also includes a robot arm at the end of Disadvantages:
the slide. Here, the slide is capable of moving in up & down motion with • Very expensive,

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• Difficult operating procedures, and
• Plenty of components.

Cartesian Co-ordinate configuration:

These robots are also called as XYZ robots, because it is equipped with
three rotary joints for assembling XYZ axes. The robots will process in a
rectangular work space by means of this three joints movement. It is
capable of carrying high payloads with the help of its rigid structure.
It is mainly integrated in some functions like pick and place, material
handling, loading and unloading, and so on. Additionally, this
configuration adds a name of Gantry Robot.
Advantages:
Highly accurate & speed,
Fewer cost,
Simple operating procedures, and
High payloads.
Disadvantages:
Less work envelope, and
Reduced flexibility.

Work Envelop

It is the shape created when a manipulator reaches forward, backward, up

and down. These distances are determined by the length of a robot's arm Robot Classification
and the design of its axes. Each axis contributes its own range of motion.
A robot can only perform within the confines of this work envelope. Still, Degree of Freedom (D.O.F) - Each joint on the robot introduces a degree
many of the robots are designed with considerable flexibility. Some have of freedom. Each dof can be a slider, rotary, or other type of actuator.
the ability to reach behind themselves. Gantry robots defy traditional Robots typically have 5 or 6 degrees of freedom. 3 of the degrees of
constraints of work envelopes. They move along track system to create a freedom allow positioning in 3D space, while the other 2or 3 are used for
large workspace. orientation of the end effector. 6 degrees of freedom are enough to allow
the robot to reach all positions and orientations in 3D space. 5 D.O.F
Technical Features of an Industrial Robot requires a restriction to 2D space, or else it limits orientations. 5 D.O.F
robots are commonly used for handling tools such as arc welders.
The technical features of an industrial robot determine its efficiency and
effectiveness at performing a given task. The following are some of the Work Volume/Workspace - The robot tends to have a fixed and limited
most important among these technical features. geometry. The work envelope is the boundary of positions in space that the
robot can reach. For a Cartesian A popular application is to pick and place
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small components into an assembly, maybe from a vibratory bowl feeder
to an assembly fixture. Pick and Place units are fast, accurate and very cost
effective.
The Scara Robots.

Scara means Selective, Compliant, Robot arm. This robot is especially

designed for assembly automation and uses 4-axes of motion, each axes
driven by a servo motor. The two joints have a motor each and the base
has a rotate axis. The forth axis is the vertical axis that generally inserts a
Component. This arrangement makes a very "stiff" arrangement that is
ideally suited for accurate insertion. The Scara is the least expensive of the
servo powered robots and are usually small and can be very fast. The
photo at left is of an Epson robot. Take a look at this page for more details-
The Scara Robots. Cartesian robots.

These machines are usually mounted on a table and are similar in concept
to the gantry robot but on a smaller scale. The axes can be air or servo
motor powered and are generally offered in modules, that are complete and
can be bolted together, to form the motions required. The photo shows a
Toshiba robot.

The Gantry Robot.

This type of robot is generally mounted direct to the shop floor and usually
has a large work envelope. It can be used for material handling
applications and I used them for stacking and de-stacking steel blanks, that
were laser welded into tailored blanks. They can be pneumatic powered
but the cost of servo drives for industrial robotics is getting so competitive
that today the air powered types are few and far between. More details can
be found by visiting this page- The Gantry Robot.

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 The Pneumatic Robot.
The 6-Axes Industrial Robot Arm.
The pick and place machine is the simplest of the robots. Pneumatic
Maybe the most recognized industrial robot. It is available in a wide range powered, it has no servo motors driving the axes, but an air cylinder
of sizes and payloads, They can be small enough to mount on a table or, instead.
like the ABB IR 140 shown here are floor mounted. Applications are As such, each stoke is to an end stop, that is generally adjustable for a few
universal in the field of industrial robotics. The robot arm can be found in millimeters, via a micrometer type screw. repeatability and accurate path
all types of uses, from assembly to welding to painting and material following.When correctly programmed and well maintained, a paint robot
handling. will produce excellent repeatable results with no paint runs or overspray.
The photo shows an ABB IRB 52.

The Painting Robot.

When used in a painting application, the robot does not need a large
payload capability but does need good robot (like an overhead crane) the
workspace might be a square, for more sophisticated robots the workspace
might be a shape that looks like a ‘clump of intersecting bubbles’.
The Welding Robot.

The welding robot does not require a large payload capability but a larger
work envelope can be an advantage and smooth, non-jerky movement is
required. Welding is a dirty operation, so sealing of critical areas is
essential and the shielding gas used in MIG operations must ensure that
weld spatter is kept tp a minimum.

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 Robotic End of Arm Tooling.

The E.O.A.T. ( End Of Arm Tooling), in industrial robotics, is an essential

component of the whole. Custom designed tooling can be very
complicated. The fact that modular components are available reduces the
technical risk and cost of many applications.

Wrist configuration

Roll- This is also called wrist swivel, this involves rotation of the wrist
mechanism about the arm axis.
Pitch- It involves up & down rotation of the wrist. This is also called as
wrist bend.
Yaw- It involves right or left rotation of the wrist.

Notation TRL:
Robot Grippers. ƒ 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)
A most important detail in industrial robotics is the part/ robot Notation TLO:
interface.Grippers come in many sizes and different types. The photo ƒ Consists of a vertical column, relative to which an arm assembly is
shows an SMC gripper that is available in various bore sizes and is toggle moved up or down ƒ the arm can be moved in or out relative to the column
operated. The toggle has the effect of increasing the clamping force and Notation LOO:
can provide gripping when pneumatic power is absent. ƒ Consists of three sliding joints, two of which are orthogonal Other names
include rectilinear robot and x-y-z robot.

Speed of Motion

1. Point-to-point (PTP) control 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, whole
drilling, machine loading and unloading, and crude assembly operations.

2. Continuous-path (CP) control robot: with CP 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. Typical
applications include spray painting, finishing, gluing, and arc welding
operations.
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 or pneumatic. Hydraulic drive systems give a robot great speed and
3. Controlled-path robot: the control equipment can generate paths of strength. An electric system provides a robot with less speed and strength.
different geometry such as straight lines, circles, and interpolated curves Pneumatic drive systems are used for smaller robots that have fewer axes
with a high degree of accuracy. All controlled path robots have a servo of movement. Drives should be periodically inspected for wear and
capability to correct their path. replaced if necessary.

Pay Load Sensors allow the industrial robotic arm to receive feedback about its
environment. They can give the robot a limited sense of sight and sound.
Maximum payload is the weight of the robotic wrist, including the EOAT The sensor collects information and sends it electronically to the robot
and work piece. It varies with different robot applications and models. controlled. One use of these sensors is to keep two robots that work closely
Determining your payload requirements is one way to narrow down your together from bumping into each other. Sensors can also assist end
robot search. effectors by adjusting for part variances. Vision sensors allow a pick and
place robot to differentiate between items to choose and items to ignore.
Robot Parts and Functions
Need of Robot and its Application
The controller is the "brain" of the industrial robotic arm and allows the
parts of the robot to operate together. It works as a computer and allows Industrial Applications
the robot to also be connected to other systems. The robotic arm controller Industrial robots are used to assemble the vehicle parts, as shown in the
runs a set of instructions written in code called a program. The program is figure. As the assembly of the machine parts is a repetitive task to be
inputted with a teach pendant. Many of today's industrial robot arms use performed, the robots are conveniently used instead of using mankind
an interface that resembles or is built on the Windows operating system. (which is more costly and less précised compared to robots.)

Industrial robot arms can vary in size and shape. The industrial robot Auto Industry:
arm is the part that positions the end effector. With the robot arm, the The auto industry is the largest users of robots, which automate the
shoulder, elbow, and wrist move and twist to position the end effector in production of various components and then help, assemble them on the
the exact right spot. Each of these joints gives the robot another degree of finished vehicle. Car production is the primary example of the
freedom. A simple robot with three degrees of freedom can move in three employment of large and complex robots for producing products. Robots
ways: up & down, left & right, and forward & backward. Many industrial are used in that process for the painting, welding and assembly of the cars.
robots in factories today are six axis robots. Robots are good for such tasks because the tasks can be accurately defined
and must be performed the same every time, with little need for feedback
The end effector connects to the robot's arm and functions as a hand. This to control the exact process being performed.
part comes in direct contact with the material the robot is manipulating.
Some variations of an effector are a gripper, a vacuum pump, magnets, and
welding torches. Some robots are capable of changing end effectors and
can be programmed for different sets of tasks.
The drive is the engine or motor that moves the links into their designated Material Transfer, Machine Loading And Unloading
positions. The links are the sections between the joints. Industrial robot There are many robot applications in which the robot is required to move a
arms generally use one of the following types of drives: hydraulic, electric, work part or other material from one location to another. The most basic of
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these applications is where the robot picks the part up from one position Medical Applications
and transfers it to another position. In other applications, the robot is used Medical robotics is a growing field and regulatory approval has been
to load and/or unload a production machine of some type. Material transfer granted for the use of robots in minimally invasive procedures. Robots are
applications are defined as operations in which the primary objective is to being used in performing highly delicate, accurate surgery, or to allow a
move a part from one location to another location. They are usually surgeon who is located remotely from their patient to perform a procedure
considered to be among the most straightforward of robot applications to using a robot controlled remotely. More recently, robots can be used
implement. The applications usually require a relatively unsophisticated autonomously in surgery.
robot, and interlocking requirements with other equipments are typically
uncomplicated. These are the pick ad place operations. The machine Future Applications
loading and unloading applications are material handling operations in We can theorize a likely profile of the future robot based on the various
which the robot is used to service a production machine by transferring research activities that are currently being performed. The features and
parts to and/or from the machine. Robots have been successfully applied to capabilities of the future robot will include the following (it is unlikely that
accomplish the loading and/or unloading function in the production all future robots will possess all of the features listed).
operations •Intelligence: The future robot will be an intelligent robot, capable of
making decisions about the task it performs based on high-level
• Die casting programming commands and feedback data from its environment.
• Plastic molding •Sensor capabilities: the robot will have a wide array of sensor
• Forging and related operations capabilities including vision, tactile sensing, and others. Progress is being
• Machining operations made in the field of feedback and tactile sensors, which allow a robot to
• Stamping press operations sense their actions and adjust their behavior accordingly. This is vital to
• enable robots to perform complex physical tasks that require some active
The other industrial applications of robotics include processing operations control in response to the situation. Robotic manipulators can be very
such as spot welding, continuous arc welding; spray coating, also in precise, but only when a task can be fully described.
assembly of machine parts and their inspection. •Tele presence: it will possess a tele presence capability, the ability to
communicate information about its environment (which may be unsafe for
Robotic arm humans) back to a remote” safe” location where humans will be able to
The most developed robot in practical use today is the robotic arm and it is make judgments and decisions about actions that should be taken by the
seen in applications throughout the world. We use robotic arms to carry robots.
out dangerous work such as when dealing with hazardous materials. We •Mechanical design: the basic design of the robot manipulator will be
use robotic arms to carry out work in outer space where man cannot mechanically more efficient, more reliable, and with improved power and
survive and we use robotic arms to do work in the medical field such as actuation systems compared to present day robots. Some robots will have
conducting experiments without exposing the research. Some of the most multiple arms with advanced control systems to coordinate the actions of
advanced robotic arms have such the arms working together. The design of robot is also likely to be
Amenities as a rotating base, pivoting shoulder, pivoting elbow, rotating modularized, so that robots for different purposes can be constructed out of
wrist and gripper fingers. All of these amenities allow the robotic arm to components that are fairly standard.
do work that closely resembles what a man can do only without the risk. •Mobility and navigation: future robots will be mobile, able to move
under their own power and navigation systems.

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•Universal gripper: robot gripper design will be more sophisticated, and Hazardous And Inaccessible Nonmanufacturing Environments
universal hands capable of multiple tasks will be available. Manual operations in manufacturing that are characterized as unsafe,
•Systems integration and networking: robots of the future will be “user hazardous, uncomfortable, or unpleasant for the human workers who
friendly” and capable of being interfaced and networked with other perform them have traditionally been ideal candidates for robot
systems in the factory to achieve a very high level of integration. applications. Examples include die-casting, hot forging, spray-painting,
and arc welding. Potential manufacturing robot applications that are in
Industrial Applications hazardous or inaccessible environments include the following:
We will divide our presentation of future industrial applications into three • Construction trades
areas: • Underground Coal mining: The sources of dangers in this field
• Manufacturing for humans include fires, explosions, poisonous gases, cave-ins,
• Hazardous and inaccessible environments, and underground floods.
• Service industries • Hazardous utility company operations: The robots have a large
scope of application in the nuclear wastage cleaning in nuclear
Future Manufacturing Applications plants, in the electrical wiring, which are dangerous and
The present biggest application areas for industrial robots are in the spot- hazardous to humans.
welding and the materials handling and machine loading categories. The • Military applications
handling of materials and machine tending are expected to continue to • Fire fighting
represent important applications for robots, but the relative importance of • Undersea operations: The Ocean represents a rather hostile
spot welding is expected to decline significantly. The most significant environment for human beings due principally to extreme
growth in shares of manufacturing applications is expected to be in pressures and currents. Even when the humans venture into the
assembly and inspection and in arc welding. Robotic welding is one of the deep, they are limited in terms of mobility and the length of
most successful applications of industrial robot manipulators. In fact, a time they can remain underwater. It seems much safer and
huge number of products require welding operations in their assembly more comfortable to assign aquatic robots to perform whatever
processes. task must be done underwater.
• Robots in space: Space is another inhospitable environment for
Welding can in most cases impose extremely high temperatures humans, in some respects the opposite of the ocean. Instead of
concentrated in small zones. Physically, that makes the material extremely high pressures in deep waters, there is virtually no
experience extremely high and localized thermal expansion and pressure in outer space. Therefore, this field is also of large
contraction cycles, which introduce changes in the materials that may importance as far as the robotics is concerned.
affect its mechanical behavior along with plastic deformation. Those
changes must be well understood in order to minimize the effects. The
majority of industrial welding applications benefit from the introduction of
robot manipulators, since most of the deficiencies attributed to the human
factor is removed with advantages when robots are introduced. This should Service Industry And Other Applications:
lead to cheaper products since productivity and quality can be increased, In addition to manufacturing robot applications, robot applications that are
and production costs and manpower can be decreased. considered hazardous, there are also opportunities for applying robots to

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the service industries. The possibilities cover a wide spectrum of jobs that distances. The robot helps the paralyzed patients in their daily routine such
are generally non-hazardous: as helping them to take bath, changing their clothes, and feeding them. A
robot doesn’t force food into their mouth but it takes the spoon to till the
• Teaching robots patient’s mouth.
• Retail robots
• Fast-food restaurants QUESTION BANK
• Garbage collection in waste disposal operations UNIT I Fundamentals of Robots
• Cargo handling and loading and distribution operations Part-A
• Security guards
1. Define Robot. Nov/Dec 2008
• Medical care and hospital duties
RIA defines a robot as a ―programmable, multifunction manipulator
• Agricultural robots
designed to Move materials, parts, tools or special devices through
• House hold robots variable programmed motions for the performance of the variety of tasks.
Medical Applications 2. Types of rotary joint notations Nov/Dec 2010,2013,2016
The medical applications of robotics include Nano robotics, swarm o Rotational joint (type R)
robotics, also surgeries and operations using the knowledge of robotics.
o Twisting joint (type T)
Nano robotics is the technology of creating machines or robots at or close
to the scale of a nanometer (10-9 meters). Nanorobots (nanorobots or o Revolving joint (type V)
nanoids) are typically devices ranging in size from 0.1-10 micrometers and
constructed of nanoscale or molecular components. As no artificial non- 3. Work space? Nov/Dec 2010
biological nanorobots have so far been created, they remain a hypothetical The space in which the end point of the robot arm is capable of
concept at this time. Swarm robotics is a new approach to the coordination Operating
of multirobot systems, which consist of large numbers of relatively simple
physical robots. Potential application for swarm robotics includes tasks 4. Accuracy of robot? Nov/Dec 2016
that demand for extreme miniaturization (Nano robotics, microbotics), on The robot‘s ability to reach a reference point within the robot‘s full work
the one hand, as for instance distributed sensing tasks in micro machinery volume is known as accuracy of robot.
or the human body. On the other hand, swarm robotics is suited to tasks
that demand for extremely cheap designs, for instance a mining task, or an 5. Benefits of industrial robots? Nov/Dec 2009
agricultural foraging task. Artists are using swarm robotic techniques ▪ Increased Productivity
to realize new forms of interactive art installation. ▪ Significant Savings
▪ Improved Quality
Robots For Paralyzed Patients ▪ Better Safety
One of the interesting and concerning future applications of robotics in ▪ Competitive Edge
medical field include service to paralyzed people who electric wheelchairs
to move around. But now a robotic device can help paralyzed patients to 6. Repeatability of robot? May/June 2013
walk on treadmills. After training, some of the patients, who rebuild Repeatability refers to robot‘s ability to return to the programmed point
confidence, have also regained muscle power and can, walk over short when it is commanded to do so.

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 o Accuracy
7. Define Pitch, yaw and roll. Apr/May 2010 o Repeatability
Pitch is rotation around the X axis, yaw is around the Y axis, and roll is o Degree of Freedom
around the Z axis. Yaw is side to side swinging around an axis. Pitch is up o Resolution
and down movement about an axis and roll is rotatory motion about an o Envelope
axis.
15.Four basic robot configurations available commercially? Nov/Dec
8. What is work volume? Nov/Dec 2009 2010,2011
The volume of the space swept by the robot arm is called work volume. o Cartesian coordinate system
o Cylindrical coordinate system
9. Define the Quality of a robot. Nov/Dec 2011
o Polar or spherical coordinate system
A Robot is said to be high quality when the precision and accuracy is
more. o Revolute coordinate system

10. Robot anatomy? Nov/Dec 2010,2011,2013 16. Define Work envelop? Nov/Dec 2009,2011,2012
Study of structure of robot is called robot anatomy. Manipulator is The work envelop is described by the surface of the work space.
constructed of a series of joints and links. A joint provides relative motion
between the input link and the output link. Part-B

11. Three degrees of freedom associated with the arm and body 16 MARK QUESTIONS
motion? Apr/May2010
1. Right (or) left movement (X-axis motion) 1. (i) Explain the speed of motion in industrial robots. (8)(Apr/May 2010)
2. In and out movement (Y-axis motion) (ii) Explain the load- carrying capacity of a robot.(8) (Apr/May 2010)
3. Vertical movement (Z-axis motion)
2. (i) With a neat sketch explain the three degrees of freedom associated
12. What is Industrial Robot? May/June 2011,2016 with the robot wrist.(10) (Apr/May 2010)
An industrial robot is an automatically controlled, reprogrammable, (ii) Discuss the four types robot controls.(6) (Apr/May 2010)
multipurpose manipulator programmable in three or more axes. A
programmable mechanical device that is used in place of a person to 3. (i) Classify the industrial robots and briefly describe it.(8)
perform dangerous or repetitive tasks with a high degree of accuracy. (ii) Describe the major elements of an industrial robot.(8) (Nov/Dec-
2012)
13. What is mean Payload? Nov/Dec 2012,2013
The maximum load which can be carried out by the manipulator at low or 4. (i) Describe in detail the anatomy of an industrial robot(8)(16) (May/Jun
normal speed. 2013)
(ii) Describe the industrial application of robots.(8) (Nov/Dec-2012)
14. List out the Important specifications of an industrial robot. 5. Describe the specifications of an industrial robot and with its
May/June 2013 configuration.(16) (May/Jun 2013)

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6. (i) Sketch a robot wrist and explain it’s the joint movements.(8)
(Nov/Dec 2007)
(ii) Briefly explain the need for robots in industries.(8) (Nov/Dec 2007)

7. Classify the robots according to the coordinates of motion. with a sketch

and example, explain the features of each type.(12+4) (Nov/Dec 2007)

8. Explain the various parts of a robot with neat sketch. (Nov/Dec 2008)

9. (i) Explain the different types of robots(8) (Nov/Dec 2008)

(ii) What are the specifications of robots?(8) (Nov/Dec 2008)

10. (a) Sketch and explain the following configuration of robot.

(i) TRR ii) TRL:R iii) RR:R (8)
(b) Briefly explain in the following terms:
(i) Payload (ii) compliance (iii) Precision (iv) Accuracy. (8) (Nov/Dec
2012)

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