INTRODUCTION TO

ROBOTICS

Rahul Prajapati
Asst. Prof.
Dept. Of Mechanical Engg
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DEFINITION:

A reprogrammable and multifunction machine designed to move materials,

tools or specialized instruments, by programmed movements to carry out a
variety of tasks.

Characteristics:

• Versatile

• Flexibility

• Environment adaptable

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HISTORIC VIEW

Isaac Asimov coined the term robotic and he published three famous
robotic laws :

• A robot can't damage a human being, nor allow this to be damaged.

•A robot must obey a human order, except when these orders clash
with the first law.

• A robot must always protect themselves as long as this protection

doesn’t clash with the first and second laws.

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 DEGREES OF FREEDOM
➢The degrees of freedom (dof) of a rigid body is defined as the
number of independent movements it has.

➢ Higher number dof indicates an increased flexibility in

positioning a tool.

➢ For each degree of freedom a joint is required.

➢ The degrees of freedom located in the arm define the configuration.

➢ Three degrees of freedom located in the wrist give the end effector all the flexibility.

➢A total of six degrees of freedom is needed to locate a robot’s hand at any point in its work space.

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5
ROBOT ARM

➢ The three degrees of freedom located in the arm of a robotic system are:

➢ The rotational traverse: is the movement of the arm assembly about a rotary
axis, such as left-and-right swivel of the robot’s arm about a base.

➢ The radial traverse: is the extension and retraction of the arm or the in-and-
out motion relative to the base.

➢ The vertical traverse: provides the up-and-down motion of the arm of the
robotic system.

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 ROBOT WRIST

• 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 7
CONT…….

➢ The three degrees of freedom located in the wrist, which

bear the names of aeronautical terms, are

➢ Pitch or bend: is the up-and-down movement of the

wrist.

➢ Yaw: is the right-and-left movement of the wrist.

➢ Roll or swivel: is the rotation of the hand.

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ROBOT ANATOMY

Joints and Links

• The manipulator of an industrial robot consists of a series of joints and links.

Robot anatomy deals with the study of different joints and links and other
aspects of the manipulator's physical construction.
• A robotic joint provides relative motion between two links of the robot. Each
joint, or axis, provides a certain degree of freedom (dof) of motion. In most of
the cases, only one degree-of-freedom is associated with each joint. Therefore
the robot's complexity can be classified according to the total number of
degrees-of-freedom they possess.

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ARM GEOMETRY

• Each joint is connected to two links, an input link and an output link. Joint provides
controlled relative movement between the input link and output link.
• A robotic link is the rigid component of the robot manipulator. Most of the robots are
mounted upon a stationary base, such as the floor. From this base, a joint-link
numbering scheme may be recognized as shown in Figure.
• The robotic base and its connection to the first joint are termed as link-0. The first
joint in the sequence is joint-1. Link-0 is the input link for joint-1, while the output
link from joint-1 is link-1 which leads to joint-2. Thus link 1 is, simultaneously, the
output link for joint-1 and the input link for joint-2. This joint-link-numbering scheme
is further followed for all joints and links in the robotic systems.

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ARM GEOMETRY

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CLASSIFICATION OF JOINTS

A) Linear joint (type L joint)

The relative movement between the input link and the output link is a
translational sliding motion, with the axes of the two links being parallel.

B) Orthogonal joint (type U joint)

This is also a translational sliding motion, but the input and output links are
perpendicular to each other during the move.

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CONT…….

C) Rotational joint (type R joint)

 This type provides rotational relative motion, with the axis of
rotation perpendicular to the axes of the input and output links.

D) Twisting joint (type T joint)

 This joint also involves rotary motion, but the axis or rotation
is parallel to the axes of the two links.
CONT…….

E) Revolving joint (type V-joint, V from the “v” in revolving)

In this type, axis of input link is parallel to the axis of rotation of the
joint. However the axis of the output link is perpendicular to the axis of
rotation.

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https://www.youtube.com/watch?v=SMcqUjQ2Swo
EXAMPLE (not important for examination)

• Sketch following manipulator configurations

• (a) TRT:R, (b) TVR:TR, (c) RR:T.

Solution: ???

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

• Basically the robot manipulator has two parts viz. a body-and-arm

assembly with three degrees-of-freedom; and a wrist assembly
with two or three degrees-of-freedom.

• For body-and-arm configurations, different combinations of joint

types are possible for a three-degree-of-freedom robot manipulator.

Five common body-and-arm configurations are outlined in figure

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RECTANGULAR OR CARTESIAN - COORDINATED

https://www.youtube.com/watch?v=ci_mpRERMog 18
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.

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CONT…….

➢ Has three linear axes of motion.

➢ X represents the left and right motion

➢ Y describes forward and backward motion.

➢ Z is used to depict up-and-down motion.

➢ The work envelope of a rectangular robot is a cube or rectangle, so that any

work performed by robot must only involve motions inside the space.

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Animation
ADVANTAGES:

➢ They can obtain large work envelope because travelling along

the x-axis, the volume region can be increased easily.

➢ Their linear movement allows for simpler controls.

➢ They have high degree of mechanical rigidity, accuracy, and

repeatability due to their structure.

➢ They can carry heavy loads because the weight-lifting capacity

does not vary at different locations with in the work envelope.

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DISADVANTAGES:

➢ They makes maintenance more difficult for some models

with overhead drive mechanisms and control equipment.

➢ Their movement is limited to one direction at a time.

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APPLICATIONS:

➢ Pick-and-place operations.

➢ Adhesive applications(mostly long and straight).

➢ Advanced munition(military weapons) handling.

➢ Assembly and subassembly(mostly straight).

➢ Automated loading CNC lathe and milling operations.

➢ Nuclear material handling.

➢ Welding. 25
CYLINDRICAL-COORDINATED

https://www.youtube.com/watch?v=Hj7PxjeH5y0
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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

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CONT…….

➢ Has two linear motions and one rotary motion.

➢ Robots can achieve variable motion.

➢ Movements : Z – up and down movement

Z – Rotation

Y – forward and backward

➢ Rotational ability gives the advantage of moving rapidly to the point in z

plane of rotation.

➢ Results in a larger work envelope than a rectangular robot manipulator.

➢ Suited for pick-and-place operations.

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ADVANTAGES:

➢ Their vertical structure conserves floor space.

➢ Their deep horizontal reach is useful for far-reaching operations.

➢ Their capacity is capable of carrying large payloads.

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DISADVANTAGES:

➢ Their overall mechanical rigidity is lower than that

of the rectilinear robots because their rotary axis
must overcome inertia.

➢ Their repeatability and accuracy are also lower in the

direction of
 rotary motion.

➢ Their configuration requires a more sophisticated control

system than the rectangular robots.

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APPLICATIONS:

➢ ASSEMBLY

➢ COATING APPLICATIONS.

➢ CONVEYOR PALLET TRANSFER.

➢ DIE CASTING.

➢ FOUNDARY AND FORGINGAPPLICATIONS.

➢ INJECTION MOULDING.

➢ INVESTMENT CASTING.

➢ MACHINE LOADING AND UNLOADING.

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SPHERICAL OR POLAR COORDINATED

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CONT…….

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ARM AND BODYASSEMBLY

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)

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CONT…….

➢ Has one linear motion and two rotary motions.

➢ The work volume is like a section of sphere.

➢ The first motion corresponds to a base rotation about a vertical axis.

➢ The second motion corresponds to an elbow rotation.

➢ The third motion corresponds to in-out, translation.

➢ Larger work envelope than the rectilinear or cylindirical robot.

➢ Design gives weight lifting capabilities.

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➢ Advantages and disadvantages same as cylindirical-coordinated design.
APPLICATIONS:

➢ DIE CASTING
➢ DIP COATING
➢ FORGING
➢ GLASS HANDLING
➢ HEAT TREATING
➢ INJECTION MOLDING
➢ MACHINE TOOL HANDLING
➢ MATERIAL TRANSFER
➢ PARTS CLEANING
➢ PRESS LOADING
➢ STACKING AND UNSTICKING. 36
JOINTED ARM OR REVOLUTE COORDINATED

It is similar to the configuration of a human arm. It consists of a vertical column

that swivels about the base using a T-joint. Shoulder joint (R-joint) is located at the
top of the column. The output link is an elbow joint (another R joint).
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CONT…….

➢ Resembles human arm

➢ Consist of series of links connected by rotary

joints, referred from the base it is shoulder,
arm and wrist joints.

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SCARA ROBOT

➢ SCARA (Selective Compliance Assembly

Robot Arm) is a subclass used for rapid and
smooth motions.

➢ It is similar in construction to the jointer-

arm robot, except the shoulder and elbow
rotational axes are vertical. It means that
the arm is very rigid in the vertical
direction, but compliant in the horizontal
direction.

https://www.youtube.com/watch?v=97KX-j8Onu0 39
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SPECIFICATION (out of syllabus)

Axis movement Weight Work envelope

Axis Payload V - Reach

Robot motion range Robot mass H – Reach
Robot motion speed Structure
Repeatability

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AXIS MOVEMENT (out of syllabus)

Axes - The individual segments of each robot manipulator are

connected with mechanical joints - each serves as an axis of movement.

The most common industrial robots have six axes of movement. The
number and placement of axes determines the flexibility of each model.

Robot Motion Range - Much like the joints between bones, robot
axes have limits to each movement. Every axis has a specific scope of
motion.

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CONT…….

Robot Motion Speed - Each axis moves at a different speed.

They are listed as degrees traveled per second.

Repeatability - Industrial robots are known for their accuracy. But

this ability to return to an exact location again and again, known as a

robot's repeatability, can vary with each model. More precision-driven
applications will require tighter repeatability figures. Repeatability is
listed as a millimeter of alteration plus or minus from the point.

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CONT…….

Payload - The weight capacity of each robot manipulator is its

payload. This is a critical specification and includes the tooling

weight as well.

Robot Mass - Every robot has a specific weight or mass. This

number indicates how much the robot manipulator weighs. It does not
include the weight of the robot's controller.

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CONT…….

V-Reach - How high can the robot go? A robot's vertical reach

specification refers to the height of the robot when it extends upwards from
the base.

H-Reach - How far can a robot reach? The horizontal reach measures the
distance of the fully extended arm - from the base to the wrist.

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CONT…….

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CONT…….

Structure - Robots are engineered with different structures. The most

common by far is the vertical articulated type, sometimes called a
vertical jointed-arm robot. Other structure types include SCARA,
Cartesian and parallel kinematic robots.

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ROBOT SAFETY (out of syllabus)

• Safety is an important component in

industrial automation.

• Robot safety depends on the size of the robot’s work envelope, its
speed, and its proximity to humans.

• Safety sensors and monitoring provide the capability of the work

cell controller and its sensors to monitor the operation during
unsafe conditions in the cell.

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CONT…….

• Safeguarding is the prevention of injury or accident in the

workplace.

• Training is a major factor in the successful implementation of any

advanced technology in a company or operation.

• Safety guidelines have been developed by researchers pertaining

to safety issues in robots to reduce or eliminate accidents in a
production environment.

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THANK YOU……

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