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ROBOTICS 

ROBOT TYPES
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INTRODUCTION

ROBOTICS
Machine vs Robot
A machine is a device to perform or assist
the human to minimize efforts and
precisely repeat the task. (i.e computer,
vehicle, drill, mobile, other appliances etc.)
A robot is an intelligent machine, that can
mimic the human and precisely repeat the
task written in its instructions while
moving smoothly like a human arm.
Every robot is machine, but every machine
is not a robot.
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INTRODUCTION

ROBOTICS
Automation vs Mechatronics
Automation, by which a process or
procedure is performed with minimal
human assistance. It is a technique of
making an apparatus, a process, or a
system operate, control automatically and
monitor.
A Mechatronics by which a mechanical
system is controlled with help of
computer, electronics and software.
Mechatronics can be automation, but
automation can not be said Mechatronic.
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INTRODUCTION

ROBOTICS
Robotics deals with the design,
construction, operation, and use of
robots, as well as computer systems
for their control, sensory feedback,
and information processing.
These technologies are used to
develop machines that can substitute
for humans and replicate human
actions.
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Types of Robots
Robots are used in education, They are used at home or in classrooms,
It comes with hands-on programmable sets, 3D printers with lesson
plans, and even teacher robots like EMYS, Robots can be used in
entertainment, They are designed to evoke an emotional response and
make us laugh or feel surprised or in awe, Medical robots are used in
medicine and medical institutions, such as surgery robots.

Consumer robots are the robots you can buy and use just for fun or
they can be used to help you with tasks and chores, Robots are used in
universities and corporate research labs, they can be called research
robots, these robots can do useful things, they’re used to help
researchers to research well, Underwater robots are used in the water,
and they consist of deep-sea submersibles.

Humanoid Robots
The humanoid robot is a type of robot that replicates the human body,
The design of Humanoid robots makes them fairly distinct from the
other types of mobile robots, The typical humanoid robot consists of a
head, two arms, a torso and two legs just like a human, but many of
those robots are based on some part of the human body, like from waist
up, They are designed to look like people, and they have a mechanical
appearance.

The humanoid robot contains sensors that are from the main components
in the humanoid robot and they play a vital role in robotic paradigms,
There are two types of sensors which are Proprioceptive and
Exteroceptive sensors, The proprioceptive sensors sense the robot’s
orientation, position and other motor skills, while Exteroceptive sensors
include visionary and sound sensors.

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Military robots

Military robots can be used in military purposes such as law enforcement,

search and rescue fields, Military robots include bomb disposal robots,
different transportation robots & reconnaissance drones, they include ground
systems like Endeavor Robotics’ PackBot, They are used to scout for
improvised explosive devices, and BigDog, They are designed to assist
troops in carrying heavy gear, Security robots come with autonomous mobile
systems such as Cobalt.

Disaster response robots can perform dangerous jobs such as searching for
survivors in the aftermath of an emergency, Drones are known as unmanned
aerial vehicles, They come in different sizes and have different levels of
autonomy, such as DJI’s popular Phantom series and Parrot’s Anafi, as well
as military systems like Global Hawk, used for long-duration surveillance

Industrial robots

The industrial robot arm can be used in the factory environment for
manufacturing applications, Industrial robots can be classified according to
different specifications such as type of movement (degrees of freedom),
application (manufacturing process), architecture (serial or parallel) and
brand, there is a new qualifier for industrial robots that can be collaborative
or not.

Robots are created with specific applications or processes, Different

applications will have different requirements, The painting robot will require
a small payload but a large movement range, The assembly robot will have a
small workspace but will be very precise & fast, Depending on the target
application, the industrial robot will have a specific type of movement,
linkage dimension, control law, software and accessory packages.

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Industrial robots
They are articulated arms specifically developed for such applications
as welding, material handling, painting and others, They are used in
an industrial manufacturing environment, There are many industrial
robot brands, There are many robots for different applications & at
different sizes, The smallest companies usually target a specific size
or application range.

Collaborative industrial robots

Collaborative robots can be used in the same
environment as humans, They can be taught
instead of programmed by an operator,
Collaborative robots are made with safety
standards, they can’t hurt a human, While
traditional industrial robots need to be fenced off
away from human co-workers for safety reasons,
Collaborative robots such as Rethink Robotics
Sawyer & Baxter, Universal Robots UR3, UR5 &
UR10, ABB Yumi & KUKA LBR IIWA.

Dual-arm robots are composed of two arms that

can work together on a given workpiece, The type
of movement is dictated by the arrangement of
joints (placement and type) and linkages, Serial
robots are composed of a series of joints and
linkages that go from the base to the robot tool,
and they are common robots.

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Redundant robots
Redundant robots can fully position their tool in a given position, But
while 6-axis robots can only have one posture for one given tool
position, redundant robots can accommodate a given tool position
under different postures, This is like the human arm that can hold a
fixed handle while moving the shoulder and elbow joints.

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Stationary robots
Stationary robots work without changing their positions, “stationary”
does not mean that the robot is not moving, “stationary” means that
the base of the robot does not move during operation, Stationary
robots can manipulate their environment by controlling the position &
orientation of an end-effector, Stationary robot category contains the
robotic arms, cartesian robots, cylindrical robots, spherical robots,
SCARA robots and parallel robots.

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Swarm robots
Swarm robots consist of multiple small robots, These robots
structurally do not create a single united robot, but operate as their
robot modules operate cooperatively, They are similar to modular
robotic systems but the elements of swarm robots have less
functionality and herd configurations do not create new robots.

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Modular robotic systems

Modular robots are similar to swarm robots, They have multiple
robots in their configurations, Modules of these systems are more
functional compared to the robotic herd, A single module of the
modular robotic system can have self-mobility & it can operate alone,
The power of modular robotics comes from its versatility in its
configurations.

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Flying robots
Flying robots are strong and aerodynamically sound robots, they are
the most popular robot types, They can maneuver & float on air using
their plane-like or bird/insect-like wings, propellers or balloons, such
as airplane robots, bird/insect-inspired wing flapping robots, propeller
based multi-copters and balloon robots, some big companies are
planning to incorporate those automated flying machines into their
day to day business.

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Micro-robots
Microrobots can be used for robots that can hand micrometer size
components, Microbotics is the field of miniature robotics, they are
mobile robots with characteristic dimensions less than 1 mm, Micro-
robots term is used to specify both robots that have dimensions on
micrometer scale & robots that can operate on micrometer resolution,
So, both possibly very big stationary robots that can manipulate their
environment on a micrometer scale, small robots that are measured by
micrometers are called micro motors.

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Nano-robots
Telepresence robots help you to be present at a place without actually
going there, You can log on to the robot avatar via the internet & drive
it around, Telepresence robots can see & talk with the people,
Employees can use them to collaborate with colleagues from a distant
office, and doctors can use them to check on patients.

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Space robots
Aerospace robots include all sorts of flying robots, the SmartBird
robotic seagull and the surveillance drone, Also robots that can
operate in space, such as Mars rovers and NASA’s Robonaut, There
are many space robots such as robots used on the International Space
Station, Canadarm that was used in Shuttles, as well as Mars rovers
and other robots used in space.

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Domestic robots
Domestic or household robots are used at home, They include many
different devices such as robotic vacuum cleaners, robotic pool
cleaners, sweepers, gutter cleaners and other robots that can do many
chores, some surveillance & telepresence robots can be used as
household robots if they are used in that environment.

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Soft elastic robots

Soft/elastic robots are new introductions to robotics, They are bio-

inspired, Most applications are inspired from squids or inchworms
both structurally and functionally.

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Exoskeletons robots
Robotic exoskeletons can be used for physical rehabilitation and for
enabling a paralyzed patient walk again, Some have industrial or
military applications, by giving the wearer added mobility, endurance,
or capacity to carry heavy loads.

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ROBOT JOINTS

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ROBOT WORKSPACE

Dexterous workspace: Reachable workspace:

The volume of space that the robot end- If L1≠L2, the reachable workspace
effector can reach with all orientations. becomes a ring of outer radius L1+L2 and
Consider the workspace of the two-link inner radius |L1 -L2 |. There is no dexterous
workspace. Inside the reachable workspace
manipulator in the figure, If L1=L2, then
there are two possible orientations of the
the reachable workspace consists of a end-effector. On the boundaries of the
disc of radius 2L1. The dexterous workspace there is only one possible
workspace consists of only a single orientation.
point, the origin. .

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EXERCISE

Draw the approximate workspace for the following robot. Assume the dimensions
of the base and other parts of the structure of the robot are as shown.

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ROTATION MATRIX

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BOOKS

1- Introduction to Robotics: Analysis, Control, Applications

By Saeed Benjamin Niku
Latest edition

2- Introduction to Robotics Mechanics and Control

By John J. Craig
3rd Edition

3- Theory of Applied Robotics

Kinematics, Dynamics and Control,
By Reza N. Jazar
2nd edition

4- Robotics, Vision and Control,

Fundamental Algorithms in Matlab
By Peter Corke
2nd Edition
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