Industrial Robotics

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 Need to learn robotics - Applications

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 Few questions

What is a robot?

What is robotics?

Why do we study robotics?

How can we teach a robot to perform a particular task?

What are possible applications of robots?

Can a human being be replaced by a robot? And SO ON

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Introduction to robotics

➢ Definition: The term: robot has come from the Czech word: robota, which means forced or
slave laborer

➢ 1921: Karel Capek, a Czech play wrighter, used the term: robot first in his drama named
Rossum’s Universal Robots (R.U.R). A robot is a machine look-wise similar to a human
being

➢ According to oxford English dictionary: A machine capable of carrying out a complex

series of actions automatically, especially one programmable by a computer.

➢ According to International Organization for Standardization (ISO): An automatically

controlled, reprogrammable, multipurpose manipulator, programmable in three or more axes,
which can be either fixed in place or mobile for use in industrial automation application.

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Introduction to robotics

According to Robot Institute of America (RIA): It is a reprogrammable multi-functional

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

Generalised Definition: A robot is a software controlled mechanical device that uses sensors to
guide one or more of end effectors through programmed motions in a workspace in order to
manipulate physical objects
Robotics is the intelligent connection of perception to action

• Robotics: 1942 Issac Asimov in his story named Runaround. It is a science, which deals with the
issues related to design, manufacturing, usages of robots.

• Fundamentals of Physics, Mathematics, Mechanical Engg., Electronics and Electrical Engineering,

Computer sciences, and others.

• 3H in Robotics
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Motivation

To cope with increasing demands of a dynamic and competitive market, modern manufacturing
methods should satisfy the following requirements

➢ Reduced production cost

➢ Increased productivity
➢ Improved product quality

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The Laws of Robotics (According to the Handbook of Robotics, Issac Asimov -1942)

Zeroth Law: A robot may nor injure humanity or, through inaction, allow humanity to come
to harm

1. A robot may not injure a human being, or

through inaction, allow a human being to come to harm

2. A robot must obey the orders given to it by human being

except where such orders would conflict with the first law

3. A robot must protect its own existence as long

as such protection does not conflict with the first or second law

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Evolution of Robotics

The Evolution of Robotics Research: From Industrial Robotics to Field and Service
Robotics, IEEE Robotics and Automation Magazine 14(1):90-103 (2007)
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Robotic system

Various components:
1. Base
2. Links and Joints
3. End-effector/gripper
4. Wrist
5. Drive/Actuator
6. Controller
7. Sensors

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 ROBOT ANATOMY

The mechanical structure of a manipulator that consists of rigid bodies (links) connected
by means of articulations (joints), is segmented into an arm that ensures mobility
and reachability, a wrist that confers orientation, and an end- effector that performs the
required task
 Links
• The mechanical structure of a robotic manipulator is a
mechanism, whose members are rigid links or bars.

• A rigid link that can be connected, at most, with two other

links is referred to as a binary link

• Two links are connected together by a joint. By putting a

pin through holes B and C of links 1 and 2, an open
kinematic chain is formed.
Types of Joints

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Types of Joints
Degree of Freedom: The number of independent movements that an object can perform in a
3-D space is called the number of degrees of freedom (DOF).

Revolute joints (R)

DoF : ??

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Joints and DoF

Cylindrical joint (C)

DoF: ??

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Joints and DoF

Hooke joint or Universal joint (U)

DoF:

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Summary

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 Degrees of Freedom
• The number of independent movements that an object can perform in a
3-D space is called the number of degrees of freedom (DOF).

• Thus, a rigid body free in space has six degrees of freedom : three for
position and three for orientation.
• Here, link 1 can only rotate about joint 1 (J1) with respect to ground
and contributes one independent variable (an angle), or in other words,
it contributes one degree of freedom.

• Link 2 ran rotate about joint 2 (J2) with respect to link 1, contributing
another independent variable and so another DOF.

• Thus, by induction, conclude that an open kinematic chain with one

end connected to the ground by a joint and the farther end of the last
link free, has as many degrees of freedom as the number of joints in
the chain. It is assumed that each joint has only one DOF
• The DOF is also equal to the number of links in the open kinematic
chain.
• For example, as shown in Fig below, the open kinematic chain
manipulator with two DOF has two links and two joints.
Depending on arrangement of links
• Serial Manipulator
• Parallel Manipulator

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Degree of the manipulator
(More accurately : Mobility of the manipulator)

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Redundant manipulator

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Mobility of spatial manipulator

Here,

Connectivity of joints = DoF of Joints

Connectivity = DoF

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Mobility

Find out the mobility level for planer parallel

manipulator using Find out the mobility level for spatial parallel
Gluber’s criteria? manipulator?

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Classification of Robots
1. Based on Robot Arm Configuration
• Cartesian or rectangular configuration
• Cylindrical configuration
• Polar (spherical) configuration
• Articulated Configuration

2. Based on path control

• Point to point control
• Path controlled robot
 Arm configuration

• According to joint movements and arrangement of links, four well-

distinguished basic structural configurations are possible for the arm.

• These are characterized by the distribution of three arm joints among

prismatic and rotary joints, and are named according to the coordinate
system employed or the shape of the space they sweep.
The four basic configurations are:

• Cartesian or rectangular configuration - all three P joints.

• Cylindrical configuration — one R and two P joints.

• Polar (spherical) configuration - two R and one P joint.

• Articulated (Revolute or Jointed-arm) Configuration - all three R

joints
Cartesian Coordinate System
•In this, there are three orthogonal directions X,Y and Z.
• X-coordinate axis may represent left and right motion.
• Y-coordinate axis may represent forward and backward motion.
• Z-coordinate axis may represent up and down motions.
• Example of Cartesian System is Overhead Crane Movement.
 Cartesian Coordinate System

• The working envelope of the Cartesian configuration is a rectangular prism.

• The robot can manipulate its maximum payload throughout the working
volume.
• Advantages:
•Work envelope can be increased by travelling along the x axis.
• Linear movement and hence simpler control.
•High degree of accuracy and repeatability due to their structure.
•Can carry heavier loads since load carrying capacity does not differ at different
position of the work envelope.
•Disadvantages:
•Movement is limited to only one direction at a time.
•Applications:
•Pick and place operation.
•Assembly and sub assembly.
•Nuclear material handling.
•Welding
Cylindrical Configuration Robot
• It uses a vertical column and a slide that can be moved up or down
along the column.
• The robot arm is attached to the slide so that it can be moved radially
with respect to the column.
• By rotating the column, the robot is capable of achieving a work space
that approximates a cylinder.
• It contains two linear motions and one rotational motion.
• The working envelope of this configuration is as its name suggests a
cylinder.
• Advantages:
• Results in larger work volume than a rectangular manipulator.
• Capable of carrying large payloads.
• Disadvantages
• Repeatability and accuracy are lower in the direction of rotary motion.
• Requires more sophisticated control system.
• Applications
• Assembly.
• Coating application
• Die casting.
• Foundry and forging application
• Machine loading and unloading.
Polar Configuration Robot
• It uses a arm that can be raised or lowered about a horizontal pivot.
• The pivot is mounted on a rotating base.
• The various joints provide the robot with capability to move its arm
within a spherical space, and hence it is also called as “ Spherical
Coordinate Robot.”
• It has one linear and two rotary motions.
• The UNIMATE 2000 series is an example of spherical robot.
• The work volume of a polar configuration robot is in the form of a
sphere.
•Advantages
• Larger work envelope than the rectilinear or cylindrical configuration.
• Vertical structure conserves less space.
•Disadvantages
•Repeatability and accuracy are also lower in the direction of rotary
motion.
•Requires more sophisticated control system.
•Applications: Die casting, Forging, Glass handling, Injection molding,
Stacking and Unstacking.
Jointed Arm Configuration
• Its configuration is similar to that of a human arm.
• These components are connected by two rotary joints corresponding to
shoulder and elbow.
• A wrist is attached to the end of forearm, thus providing several
additional joints.
• Cincinnati Milacron T3 (Model 776) robot is a commercially available.
• Work Envelope of Jointed-Arm Configuration is similar to the
configuration of a human arm.
Summary

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Point to Point Control Robot

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Continuous Path Control Robot

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Continuous Path Control Robot

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Performance specifications of industrial robot

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Specifications of Robot

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List of journals

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Assignment guidelines
Points for assignment 2
-Title of paper
- Objectives (or problem statement) of paper in 4-6 lines
- Type of robot based on different classifications
- Kinematic diagram – mobility levels
- Work envelope for robot?
- For what application?
- New findings from the journal paper or contribution from the authors
- Your comments on article (e.g. limitation of work, what can be done for further
improvement)

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Revision from class 11th

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