INTERNSHIP REPORT

ON

Serial and Parallel Robot Manipulator

A report submitted in partial fulfillment of the requirements for the award of Bachelor of

Technology Degree in Mechanical Engineering

by
Kadiri Rajeswari

12005024

Under the Supervision

of

MR. Dr. ARUN DAYAL UDAI, Dr. ZAFAR ALAM,

AD INFOCOM SYSTEMS

Assistant Professors
Department Of Mechanical Engineering
INDIAN INSTITUTE OF TECHNOLOGY (ISM)DHANBAD
Duration from 3rd January - 25th April 2024

DEPARTMENT OF MECHANICAL ENGINEERING

SRI VENKATESWARA UNIVERSITY COLLEGE OF ENGINEERING
TIRUPATI- 517 502 ( 2023-2024)
 DEPARTMENT OF MECHANICAL ENGINEERING

SRI VENKATESWARA UNIVERSITY COLLEGE OF ENGINEERING

TIRUPATI-517502, ANDHRA PRADESH, INDIA

Certificate

This is to certify that the Internship Report entitled “Serial and Parallel Robot Manipulators”
submitted to Sri Venkateswara University College of Engineering, Tirupati by KADIRI RAJESWARI
(12005024) in partial fulfillment of the requirements for the award and the degree of BACHELOR
OF TECHNOLOGY in MECHANICAL ENGINEERING is a bonafide work carried out by her
under my guidance during the academic year 2023-2024.

Internship Guide: Head:

Sri. K. RAJESH BABU, Prof. V. DIWAKAR REDDY,
Associate Professor, Professor & Head of the Department,
Dept. of Mechanical Engineering, Dept. of Mechanical Engineering,
S. V. U. College of Engineering, S. V. U. College of Engineering,
TIRUPATI. TIRUPATI.
 ACKNOWLEDGEMENTS

I would like to express my sincere gratitude to those who extended their valuable co-
operation and contribution towards the project.

I would like to express my gratitude to AD Infocom Systems for providing me with the
valuable opportunity to undertake an internship at their esteemed facility. Especially, I would
like to extend my thanks to Mr. PRABHAKAR DORGE, Managing Director of AD
Infocom
Systems, for his valuable support throughout the internship.

I would like to thank my project guide, Sri. K. RAJESH BABU for his valuable time and
continuous assistance in the successful completion of the internship.

I would like to thank our Head of the Department Prof. V. DIWAKAR REDDY for giving
his constant support and assistance throughout the internship and providing the necessary
guidance.

I would like to extend my thanks to our esteemed college principal Prof. RVS SATYA
NARAYANA for his constant encouragement and support throughout the internship.

Finally, I am grateful to my parents and friends who provided their valuable time, ideas, and
suggestions, guided me in this journey, and provided constant support and encouragement.

KADIRI RAJESWARI

12005024.
 ABSTRACT

Practical experience plays a pivotal role in shaping the career trajectory of

aspiring engineers, particularly in fields as dynamic as automation and robotics.
This internship provided a unique opportunity to bridge the gap between
theoretical knowledge and practical application, offering a hands-on experience
that is invaluable for understanding the complexities of industrial automation
systems. Through this program, students gained insights into the latest
advancements in robotics, exploring topics such as sensor integration, motion
control, and programming techniques. Such exposure not only enhances technical
proficiency but also cultivates problem-solving skills essential for addressing
real-world challenges in automation engineering.

Moreover, the internship offered a holistic view of the automation industry,

encompassing aspects beyond technical skills. These soft skills are often as
critical as technical expertise in the workplace, highlighting the importance of
practical training in shaping well-rounded professionals. Additionally, the
financial aspect of the internship further incentivized students, reinforcing the
value of their contributions and providing a glimpse into the economic dynamics
of the industry.

From a practical standpoint, the internship exposed students to the intricacies of

automation and robotics through practical projects and real-world applications.
Participants were involved in projects ranging from designing automated systems
to troubleshooting and maintenance, gaining a comprehensive understanding of
the entire project lifecycle. This experiential learning approach not only deepened
their technical knowledge but also instilled a sense of responsibility and
accountability, crucial for professional growth. Overall, the internship was a
transformative experience, equipping students with the skills, knowledge, and
confidence to pursue rewarding careers in the field of automation and robotics.
 DECLARATION

I hereby declare that the Internship report entitled “SERIAL AND PARALLEL
ROBOT MANIPULATORS” is the authentic work carried out by me, a student
of SRI VENKATESWARA UNIVERSITY COLLEGE OF ENGINEERING
(SVUCE), TIRUPATI, as a part of the Internship program of our curriculum
during January’24 – April’24 for the academic year 2023-2024 and has not been
submitted elsewhere for the award of degree in part or in full to any institute.

KADIRI RAJESWARI ,

12005024.
 INDEX

CONTENTS PAGE NO

Internship objectives

CHAPTER 1 1-4
1.1 Introduction
1.2 Background
1.3 Purpose
1.4 Scope

CHAPTER 2 5-6
2.1 Overview of the Organisation

CHAPTER 3 7-8
Important parts of my Internship

CHAPTER 4 9-20
4.1 Historical evolution
4.2 Key components and technologies
4.3 Applications across Industries
4.4 Anatomy
4.5 Classification of Industrial robotics
4.6 Difference between Serial and parallel Robotics
4.7 Application of Industrial Robotics
CHAPTER 5 20-21
Conclusion
 INTERNSHIP OBJECTIVES

 To classify different robots based on their technical specifications and suggest a robot for
a particular application.
 To understand the basic functioning and understand the limitations of an industrial robot
to understand the need and differentiate between different types of automation systems.
 To understand various components of state -of- art automation Technology encountered
in modern manufacturing industries.
 To introduce the design and practical aspects of robotics and automation systems through
case studies.
 Aimed at professional learning
 To relate theoretical aspects with practical training
 To enhance the competitive skills
 To cultivate organisational behaviour and delegation of work
 CHAPTER 1
1.1 INTRODUCTION:

In today's rapidly evolving technological landscape, robotics and automation stand at the forefront of
innovation, revolutionizing industries and reshaping the way we live and work. As an intern in the field of
robotics and automation, I embarked on a journey of exploration and discovery, delving into the intricate
mechanisms that drive modern industrial processes and the advanced technologies that power them.

The realm of robotics and automation encompasses a diverse array of disciplines, ranging from mechanical
engineering to computer science, from electrical engineering to artificial intelligence. It is a convergence of
these fields that enables the creation of intelligent machines capable of performing tasks autonomously and
with precision.

Throughout my internship, I was immersed in a comprehensive study of the fundamental principles

underlying robotics and automation. I delved into the anatomy of robots, dissecting their components and
understanding their functions. From the intricate manipulations of kinematics to the intricate network of
sensors and actuators, I gained insight into the inner workings of these mechanical marvels. 1. Robotics

Robotics is the interdisciplinary field focused on the design, construction, operation, and use of robots. These
machines are programmable, automated devices that perform tasks traditionally carried out by humans.
Robotics combines principles from mechanical engineering, electrical engineering, computer science, and
artificial intelligence to create versatile and intelligent machines capable of interacting with their
environment.

2. Actuators

Actuators are devices responsible for converting energy into mechanical motion. In robotics, actuators are
essential components that enable robots to move and manipulate objects in their environment. Common
types of actuators include electric motors, hydraulic cylinders, and pneumatic actuators, each offering unique
advantages and applications in robotic systems.

1
3. Robot Sensors

Robot sensors are sensory devices that enable robots to perceive and interact with their surroundings. These
sensors gather information about the environment, such as distance, orientation, temperature, and more,
allowing robots to make informed decisions and adapt their behavior accordingly. Examples of robot sensors
include cameras, proximity sensors which provide vital feedback for navigation, object detection, and
manipulation tasks.

4. Transformation and Degrees of Freedom

Transformation in robotics refers to the process of converting spatial coordinates from one reference frame
to another. Degrees of freedom represent the number of independent parameters that define the configuration
of a robot's manipulator. Understanding transformation and degrees of freedom is crucial for kinematic
analysis, which involves studying the motion of robotic systems and determining their capabilities for
accomplishing specific tasks.

5. Robot Kinematics

Robot kinematics deals with the study of motion in robotic systems, focusing on the geometry, velocity, and
acceleration of robot manipulators. It involves analyzing the relationships between joint angles and end-
effector positions to determine the trajectory of motion. By understanding robot kinematics, engineers can
design robots capable of performing precise movements and manipulations required for various applications,
such as manufacturing, healthcare, and exploration.

6. Automation: PLC and SCADA

Automation involves the use of technology to control and monitor industrial processes, reducing the need for
human intervention and improving efficiency, consistency, and safety. Programmable Logic Controllers
(PLCs) are specialized computers used to automate electromechanical processes, while Supervisory Control
and Data Acquisition (SCADA) systems provide centralized monitoring and control of distributed industrial
processes. Together, PLCs and SCADA systems form the backbone of modern industrial automation,
revolutionizing manufacturing, energy production, transportation, and more.

1.2 BACKGROUND:

Undertaking an online internship in the field of robotics and automation has been an enriching and
transformative experience. Despite the physical distance, the virtual environment has provided unique
opportunities for learning of cuttingedge technologies shaping the future of robotics.

Engaging in online modules, I've delved deep into the fundamental principles of robotics, gaining a
comprehensive understanding of robot anatomy, kinematics, sensors, actuators, and control systems.
Through virtual simulations and practical exercises, I've had the chance to apply theoretical concepts in real-
world scenarios, honing my problem-solving skills and developing a keen intuition for robotics design and
operation.

One of the most fascinating aspects of the robotics field is its interdisciplinary nature. From mechanical
engineering to computer science, from electrical engineering to artificial intelligence, robotics draws upon a
2
diverse array of disciplines, fostering a dynamic and collaborative environment where ideas converge and
innovations flourish. Through online forums , and discussions with I've had the privilege of exploring the
latest advancements in robotics research and development, gaining insights into emerging trends and future
prospects.

As I reflect on my online internship experience in robotics and automation, I am inspired by the limitless
possibilities and transformative potential of this field. From revolutionizing manufacturing processes to
enhancing healthcare delivery, from exploring distant planets to navigating complex urban environments,
robotics holds the key to solving some of humanity's most pressing challenges and unlocking new frontiers
of innovation and discovery. Moving forward, I am excited to continue my exploration of robotics,
leveraging the skills and insights gained during this internship to contribute meaningfully to the
advancement of technology and the betterment of society.

1.3 PURPOSE

The purpose of an online internship in robotics and automation is multifaceted and encompasses both
personal and professional development goals. Firstly, such an internship provides participants with a
comprehensive understanding of the fundamental principles and advanced technologies driving the field of
robotics. Through theoretical study, practical exercises, and hands-on simulations, interns gain valuable
insights into robot anatomy, kinematics, sensors, actuators, and control systems.

Secondly, an online internship offers opportunities for practical application and skill development in a virtual
environment. Participants engage in collaborative projects, problem-solving activities, and virtual
experiments, honing their technical skills and enhancing their proficiency in robotics design, programming,
and operation.

Furthermore, an online internship facilitates networking and collaboration with peers, mentors, and industry
professionals from around the world. Through online forums, webinars, and virtual events, interns can
exchange knowledge, share experiences, and build connections within the global robotics community.

Overall, the purpose of an online internship in robotics and automation is to provide participants with a rich
and immersive learning experience, equipping them with the knowledge, skills, and network necessary to
succeed in this dynamic and rapidly evolving field. Through guided study, practical application, and
collaborative engagement, interns are empowered to make meaningful contributions to the advancement of
robotics technology and its applications in various industries and domains.

3
1.4 SCOPE

The scope of undertaking an online internship in robotics and automation is vast and diverse, offering
numerous opportunities for personal, academic, and professional growth. Here are some key aspects of the
scope:Flexible Learning Environment: Online internships offer flexibility in terms of scheduling and
accessibility, allowing participants to balance their learning objectives with other commitments such as
education or work. This flexibility enables individuals from diverse backgrounds and geographical locations
to participate and benefit from the program.

1. Comprehensive Curriculum: Online internships typically cover a wide range of topics within the
field of robotics and automation, including but not limited to robot design, kinematics, sensors, actuators,
control systems, artificial intelligence, and machine learning. Participants gain a holistic understanding of
the theoretical principles and practical applications relevant to robotics technology.

2. Industry-Relevant Skills: Online internships in robotics and automation focus on equipping

participants with industry-relevant skills and knowledge demanded by employers in sectors such as
manufacturing, healthcare, logistics, aerospace, and automotive industries. Participants learn how to design,
program, and deploy robotic systems to address real-world challenges and enhance operational efficiency.

3. Global Networking Opportunities: Online internships facilitate networking and collaboration with
peers, mentors, and industry experts from around the world. Participants have the opportunity to engage in
virtual discussions, exchange ideas, and build professional connections within the global robotics
community, opening doors to future collaborations and career opportunities.

4. Career Advancement: Participation in an online internship in robotics and automation enhances

participants' resumes, demonstrating their commitment to continuous learning and professional development.
The skills and experience gained during the internship enhance participants' employability and prepare them
for roles in robotics research, product development, system integration, consulting, and entrepreneurship.

Overall, the scope of doing an online internship in robotics and automation is broad and multifaceted,
offering participants a dynamic learning experience,practical skill development, global networking
opportunities, and pathways to career advancement in a rapidly evolving field.

4
 CHAPTER 2
2.1 Overview of the Organisation:

Company Overview: Established in 2023, AD INFOCOM SYSTEMS has quickly made a name for itself in
the bustling city of Nagpur, India. As a software-based company, it has carved out a niche in the IT industry
by offering a suite of services that cater to the evolving digital landscape. The company’s ethos is built on
the foundation of technological excellence and customer-centric solutions.

Core Services: AD INFOCOM SYSTEMS provides a comprehensive range of IT services that include:

Web Development: Designing state-of-the-art websites that are optimized for performance and user
experience.

App Development: Creating mobile applications that resonate with modern consumers and their needs.

Software Development: Engineering tailored software solutions that drive business efficiency and
productivity.

MATLAB and NS2 Coding: Delivering specialized coding expertise in MATLAB and NS2 for complex
computational and networking projects.

Quality is the cornerstone of AD INFOCOM SYSTEMS. The company employs a rigorous quality
assurance process to ensure that each project meets the highest standards of excellence. From initial concept
to final delivery, every step is meticulously scrutinized to guarantee client satisfaction.

Innovation and Research: Innovation is at the heart of AD INFOCOM SYSTEMS. The company invests in
research and development to stay abreast of the latest technological advancements. This commitment to
innovation enables AD INFOCOM SYSTEMS to offer cutting-edge solutions that keep clients ahead in a
competitive market.

Work Culture and Environment: AD INFOCOM SYSTEMS boasts a vibrant

work culture that fosters creativity, collaboration, and continuous learning. The work environment is
designed to empower employees to achieve their full potential while contributing to the company’s
overarching goals.

Training and Internships: Recognizing the importance of nurturing talent, AD INFOCOM SYSTEMS offers
training and internship programs. These programs are tailored to equip participants with practical skills and
industry insights, preparing them for successful careers in technology.

Client Testimonials: Clients of AD INFOCOM SYSTEMS consistently praise the company for its
exceptional service, technical expertise, and unwavering support. Testimonials highlight the company’s
ability to deliver projects on time, within budget, and beyond expectations.

Outlook: Looking to the future, AD INFOCOM SYSTEMS is poised for growth and expansion. The
company plans to diversify its service offerings and explore new markets, all while maintaining its
commitment to quality and innovation.
5
In conclusion AD INFOCOM SYSTEMS stands as a beacon of technological prowess in Nagpur’s IT
landscape. With its comprehensive services, dedication to quality, and forward-thinking approach, the
company is well-equipped to meet the challenges of the digital age and emerge as a leader in the global IT
arena.

6
 CHAPTER 3

3.1 Important parts of my Internship:

1. Introduction to Robotics:
- Robotics involves the design, construction, operation, and use of robots to perform tasks
traditionally done by humans or to aid humans in performing difficult or dangerous tasks.

2. Robot Classification:
- Robots can be classified based on various criteria such as their mobility (stationary or mobile),
autonomy (autonomous or teleoperated), structure (serial or parallel), and application (industrial,
medical, domestic, etc.).

3. Technical Specifications and Serial Reports in Parallel Robots:

- Serial robots consist of a series of connected links, while parallel robots have multiple links
connected in parallel to the end-effector. Technical specifications typically include parameters like
payload capacity, reach, speed, precision, and workspace size.

4. Actuators in Robotics:
- Actuators are devices that convert energy into motion. Various types of actuators are used in
robotics, including pneumatic, hydraulic, electric (DC motors, stepper motors, AC motors), and
gearboxes. Each type has its advantages and applications based on factors like power, precision,
speed, and environment.

5. Robot Sensors and Interfaces:

- Sensors play a crucial role in robotics by providing feedback to control systems. Sensors can
be classified into different types such as proximity sensors, force/torque sensors, vision sensors, and
touch sensors. Interfaces include contact and non-contact methods for interacting with the
environment.

7
6. Kinematics of Robots:
- Kinematics deals with the motion of robots without considering the forces causing the motion.
It includes forward kinematics (determining the end-effector position given joint angles) and inverse
kinematics (calculating joint angles to achieve a desired end-effector position).

7. Robot Statics and Dynamics:

- Statics deals with the equilibrium of forces acting on a robot in a stationary position, while
dynamics considers the forces and torques involved in robot motion. Understanding statics and
dynamics is crucial for robot design, stability, and control.

8. Automation in Robotics:
- Automation involves the use of technology to perform tasks with minimal human
intervention. In robotics, automation includes various techniques such as robotic process automation
(RPA), computer numerical control (CNC), and automated guided vehicles (AGVs) to streamline
manufacturing, logistics, and other processes.

This overview covers the main aspects of robotics, from classification and technical specifications to
actuators, sensors, kinematics, dynamics, and automation. Each topic can be explored in more detail based
on specific interests or requirements.

8
 CHAPTER 4

Industrial robotics stands as a cornerstone of modern manufacturing, revolutionizing the way products are
produced, assembled, and delivered to consumers worldwide. The integration of robotics into industrial
processes has not only enhanced efficiency and productivity but has also paved the way for safer working
environments, increased precision, and greater flexibility in production lines. This introduction delves into
the fundamentals of industrial robotics, exploring its history, key components, applications, and the
transformative impact it has had on various industries.

4.1 Historical Evolution:

The roots of industrial robotics trace back to the early 20th century when the first automated devices were
developed to perform repetitive tasks in industrial settings. However, it was not until the mid-20th century,
particularly after World War II, that significant advancements in technology paved the way for the
emergence of modern industrial robots. The Unimate, introduced by George Devol and Joseph Engelberger
in the 1960s, marked a milestone as the first digitally operated and programmable robot used in
manufacturing environments. Since then, rapid advancements in electronics, sensors, artificial intelligence,
and automation have propelled industrial robotics into the forefront of manufacturing processes.

4.2 Key Components and Technologies:

Industrial robots are complex systems comprised of various components working in harmony to execute tasks
with precision and efficiency. At their core, these robots consist of mechanical structures, actuators, sensors,
controllers, and endeffectors. The mechanical structure provides the framework for the robot's movement,
while actuators, typically electric motors or pneumatic systems, drive these movements. Sensors play a
crucial role in feedback and environmental awareness, enabling robots to perceive and adapt to changes in
their surroundings.
Controllers serve as the brain of the robot, processing data and executing commands, while end-effectors,
such as grippers or welding tools, interact with the workpiece to perform specific tasks. Furthermore,
advancements in artificial intelligence and machine learning have empowered robots with the ability to learn
from experience, optimize performance, and collaborate with human workers seamlessly.

4.3 Applications Across Industries:

Industrial robots find applications across a diverse range of industries, from automotive and electronics to
food and pharmaceuticals. In automotive manufacturing, robots are widely utilized for welding, painting,
assembly, and material handling tasks, streamlining production processes and ensuring consistent quality. In
electronics manufacturing, robots play a crucial role in precision assembly, soldering, and testing of
components, contributing to the production of high-performance devices. Moreover, in the food industry,
robots are employed for packaging, sorting, and quality inspection, enhancing food safety and compliance
with stringent regulations. The versatility of industrial robots allows for their integration into almost every
aspect of modern manufacturing, driving innovation, and competitiveness in the global market.

9
Transformative Impact:

The adoption of industrial robotics has brought about a paradigm shift in manufacturing, reshaping
traditional production methods and driving unprecedented levels of efficiency and productivity. By
automating repetitive and hazardous tasks, robots have minimized human error, reduced workplace injuries,
and improved overall safety standards. Furthermore, the precision and accuracy offered by industrial robots
have elevated the quality of manufactured goods, leading to greater customer satisfaction and brand loyalty.
Additionally, the flexibility of robotic systems enables rapid reconfiguration of production lines to
accommodate changing market demands, thereby enhancing agility and competitiveness in dynamic
business environments.

In conclusion, industrial robotics represents a transformative force in modern manufacturing, empowering

industries to achieve new levels of efficiency, productivity, and quality. As technology continues to advance,
the capabilities of industrial robots will only expand, driving further innovation and reshaping the future of
manufacturing on a global scale.

4.4 Anatomy:

Manipulator:

A manipulator in a robot refers to the mechanical arm-like structure responsible for carrying out tasks. It
typically consists of interconnected segments or joints powered by actuators, allowing it to move in various
directions. The manipulator's end is equipped with an end-effector, such as a gripper or tool, to interact with
objects or the environment. By controlling the manipulator's motion, the robot can perform a wide range of
tasks, from simple pick-and-place operations to complex assembly and manufacturing processes, making it a
versatile tool in industrial automation and other fields.

A manipulator in a robot refers to the mechanical arm-like structure responsible for carrying out tasks. It
typically consists of interconnected segments or joints powered by actuators, allowing it to move in various
directions. The manipulator's end is equipped with an end-effector, such as a gripper or tool, to interact with
objects or the environment. By controlling the manipulator's motion, the robot can perform a wide range of
tThe controller is the central component of an industrial robot, responsible for coordinating the robot's
movements and actions. The hardware typically consists of a powerful computer system with specialized
processors and memory dedicated to real-time control tasks. The controller hardware also includes
input/output (I/O) modules for connecting sensors, actuators, and peripheral devices.

On the software side, the controller runs a specialized operating system and control software designed
specifically for industrial robots. This software manages tasks such as trajectory planning, motion control,
sensor integration, and communication with external devices. It provides an interface for programming the
robot, monitoring its status, and diagnosing issues.

Teach Pendant for Programming:

A teach pendant is a handheld device used by operators to program, control, and monitor industrial robots. It
typically features a screen, buttons, and joysticks for navigating menus, inputting commands, and
controlling the robot's movements manually. The teach pendant provides an intuitive interface for creating
and editing robot programs, teaching new tasks, and adjusting parameters such as speed and acceleration.

Connecting Cables:
10
Industrial robots use various types of cables to connect the controller to the robot's components, peripherals,
and external devices. These cables transmit power, signals, and data between the controller and the robot's
motors, sensors, end-effectors, and safety systems. Common types of cables used in industrial robotics
include power cables, signal cables, Ethernet cables, and pneumatic hoses.

End-Effectors Tools:
End-effectors, also known as robot tools or grippers, are attachments mounted to the end of the robot's arm
to interact with workpieces or the environment. Endeffectors come in a wide range of shapes and sizes,
depending on the specific application requirements. Common types of end-effectors include grippers for
picking up objects, welding torches for joining metal parts, suction cups for handling fragile items, and
cutting tools for machining operations.

Software for Controller:

Industrial robot controllers are typically equipped with software tools for programming,

simulation, and monitoring. These software packages provide graphical interfaces for creating and editing
robot programs, simulating robot movements in a virtual environment, and monitoring the robot's status in
real-time. They often include features such as motion planning algorithms, collision detection, and
trajectory optimization to optimize robot performance and ensure safety.

Optional Accessories:
Industrial robots can be equipped with optional accessories to enhance their functionality and performance in
specific applications. These accessories may include:

1. Vision systems for object recognition and tracking.

2. Force/torque sensors for measuring contact forces during manipulation tasks.

3. Tool changers for quickly switching between different end-effectors.

4. Conveyor tracking systems for synchronizing robot movements with moving conveyor belts.
5. External axis modules for integrating additional degrees of freedom into the robot's workspace.
6. Environmental protection options such as sealing kits or corrosion-resistant coatings for operating in
harsh conditions.
11
These optional accessories allow industrial robots to adapt to a wide range of tasks and operating
environments, increasing their versatility and efficiency

4.5 CLASSIFICATION OF INDUSTRIAL ROBOTS:

Industrial robots can be classified based on their workspace into several categories:

1. Cartesian Robots (Rectilinear Robots):

- These robots have a three-axis Cartesian coordinate system (X, Y, Z).
- Their movement is linear along each axis, allowing them to move in a rectilinear (straight line)
path within their workspace.
- They are commonly used for tasks such as pick-and-place operations, assembly, and material
handling.

2. SCARA Robots (Selective Compliance Assembly Robot Arm):

- SCARA robots have a horizontal work envelope with rotational joints at each axis
- They are well-suited for tasks requiring precise horizontal movement and

vertical motion .
- Common applications include assembly tasks, packaging, and handling operations.

3. Articulated Robots:
- These robots have multiple rotary joints, mimicking the structure of a human arm.
- They offer a high degree of freedom, enabling them to reach targets in complex 3D spaces.

12
 - Articulated robots are versatile and can perform a wide range of tasks, including welding,
painting, and machining.

4. Cylindrical Robots:
- Cylindrical robots have a rotary base with a prismatic joint that moves along a linear axis.
- Their workspace forms a cylindrical shape, allowing them to operate within a circular area.
- They are commonly used in tasks such as spot welding, material handling, and assembly
operations.

5. Polar Robots:
- Polar robots have a rotary base with asingle arm that extends radially from the base.f
- Their movement is based on polar coordinates (angle and radius).
- These robots are suitable for applications requiring precise radial movement, such as painting,
spraying, and inspection tasks.

Open-loop robots operate without feedback mechanisms, executing pre-programmed sequences of actions.
While simple and efficient for repetitive tasks, they lack adaptability to environmental changes.
13
Closed-loop robots incorporate feedback mechanisms, using sensors to adjust their actions based on
environmental cues. This enhances adaptability and precision, making them suitable for tasks requiring
interaction with dynamic environments.

Hybrid robots combine features of both open and closed-loop systems, offering flexibility and efficiency.
They can execute predefined tasks while also adapting to environmental changes in real-time.These robots
are hierarchical systems that organize control tasks into a tree structure, enabling complex behaviors through
layered decision-making processes. This approach facilitates modularity and scalability, allowing for the
integration of various control strategies.

Anthropomorphic robots mimic human-like characteristics, such as appearance and motion. They are
designed to perform tasks in human environments, including manufacturing, healthcare, and entertainment
industries, aiming to enhance human-robot interaction and collaboration.

Each type of industrial robot has its own advantages and limitations, and the choice depends on the
specific requirements of the application, including workspace constraints, speed, precision, and payload
capacity.

Serial Robots:
Serial robots often have a larger workspace compared to parallel robots due to their extended reach. This
makes them suitable for tasks that require accessing objects over a wide area .
Serial robots generally offer lower
speeds compared to parallel robots.
However, they provide higher
flexibility and adaptability to
various tasks.
Components of Serial Robots
 Base: The base of a serial
robot provides stability
and serves as the
foundation for the rest of
the robot.
 Links: Links are the rigid
segments that connect the
joints of the robot. These
links determine the reach
and flexibility of the robot.
 Joints: Joints are the points
where the links of the robot are connected. There are several types of joints used in serial robots,
including revolute (rotational), prismatic (linear), and spherical (rotational with multiple degrees of
freedom).
 End Effector: The end effector is the tool or device attached to the last link of the robot. It is
responsible for interacting with the environment and performing specific tasks.

Advantages of Serial Robots:

14
  Versatility: Serial robots can be configured with different end effectors to perform a wide range of
tasks, making them suitable for various industrial applications.
 Accuracy: With precise control over each joint, serial robots can achieve high levels of accuracy and
repeatability in their movements.
 Compact Design: Serial robots typically have a compact design, making them suitable for use in
confined spaces or on production lines with limited space.

Applications of Serial Robots:

 Manufacturing: Serial robots are widely used in manufacturing processes such as welding, painting,
assembly, and material handling.
 Automotive Industry: In the automotive industry, serial robots are used for tasks such as welding car
bodies, assembling components, and painting vehicles.
 Electronics Assembly: Serial robots are utilized for precise handling and assembly of electronic
components in industries such as consumer electronics and semiconductors

PARALLEL ROBOTS:

Parallel robots, also known as

parallel manipulators or parallel
kinematic machines (PKMs),
differ from serial robots in their
mechanism. Instead of a serial
chain of links and joints,
parallel robots have multiple
kinematic chains connected to a
common platform. This
arrangement allows for
improved accuracy, stiffness,
and dynamic performance
compared to serial robots.
Components of Parallel Robots:
 Platform: The platform
of a parallel robot is the
movable part of the mechanism to which the end effector is attached. It is connected to the base
through multiple kinematic chains.
 Base: Similar to serial robots, the base of a parallel robot provides stability and support for the
entire mechanism.
 Kinematic Chains: Kinematic chains are the rigid links and joints that connect the platform to the
base. These chains determine the motion and behavior of the parallel robot.
 End Effector: As with serial robots, the end effector of a parallel robot is the tool or device attached
to the platform for performing specific tasks.
Advantages of Parallel Robots:
 High Accuracy: Parallel robots offer higher accuracy and precision compared to serial robots,
especially for applications requiring precise positioning and manipulation.
 Stiffness: The parallel structure of these robots provides increased stiffness, which is beneficial for
tasks that require handling heavy loads or resisting external forces.

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  High-Speed Operation: Parallel robots can perform tasks at high speeds due to their lightweight
design and reduced inertia.
 Applications of Parallel Robots:
 Precision Machining: Parallel robots are used in applications such as CNC machining, milling, and
drilling, where high precision and accuracy are essential.
 Medical Robotics: In the field of medical robotics, parallel robots are utilized for procedures such
as surgical interventions, patient positioning, and medical imaging.
 Flight Simulators: Parallel robots are used in flight simulators to provide realistic motion cues and
simulate the dynamics of aircraft motion.

4.6 DIFFERENCE BETWEEN SERIAL ROBOTS AND PARALLEL ROBOTS

Aspect Serial Robots Parallel Robots

Structure Typically consist of a series of Comprise multiple kinematic chains

linked joints and links arranged in a operating in parallel, connected to a
linear sequence common base

Motion Typically have fewer degrees of Often have more DOF, allowing for faster
freedom (DOF) but can achieve and more simultaneous movements
complex motions through
sequential movement

Accuracy Generally offer higher accuracy due Accuracy may be affected by the
to simpler kinematics and less interaction of multiple kinematic chains
mechanical complexity

Payload Capacity Tend to have lower payload Often have higher payload capacities due to
capacities due to the limitations of the distributed load-bearing capabilities
serially connected links

Workspace May have limited workspace due to Often have larger workspaces due to the
the sequential nature of movements ability to distribute loads and movements
across multiple chains

Control Complexity Typically simpler to control due to Can be more complex to control due to the
sequential movement and fewer coordination required between multiple
DOF chains

Applications Commonly used in applications Preferred for applications requiring high-

requiring precision, such as speed operations, such as pick-and-place
assembly lines and CNC machining tasks and packaging

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4.7 Applications of Industrial Robotics:

Industrial robots have revolutionized manufacturing across various sectors, enhancing efficiency, precision,
and safety. Here's a detailed exploration of their applications:

Automotive Industry

 Welding: Industrial robots are widely used for arc welding, spot welding, and laser welding in
automobile manufacturing. They ensure consistent weld quality and high productivity.
 Assembly: Robots handle tasks like part assembly, fastening, and sealing in car production lines.
Their speed and accuracy contribute to the efficient assembly of complex components.
 Painting: Industrial robots equipped with paint sprayers apply coatings on vehicle bodies, ensuring
uniform coverage and reducing material wastage.
 Material Handling: Robots transport heavy components within the factory floor, such as body panels,
engines, and tires, optimizing logistics and reducing manual labor.

Electronics Industry

 Circuit Board Assembly: Robots with high precision and speed place electronic components on
circuit boards during PCB assembly, improving throughput and minimizing errors.
 Testing and Inspection: Vision-guided robots inspect electronic devices for defects, ensuring product
quality and consistency.
 Packaging: Robots pack
electronic products into
boxes or trays, often in
cleanroom environments,
maintaining cleanliness
and preventing
contamination.

Food and Beverage Industry

Packaging and Palletizing:

Industrial robots handle
packaging tasks such as
wrapping, sealing, and labeling food products. They also palletize finished goods for storage and shipping.

Sorting and Grading: Robots equipped with sensors sort and grade fruits, vegetables, and other food items
based on size, shape, and quality, enhancing efficiency in processing plants.

Pick and Place: Robots pick items from conveyor belts and place them into trays or containers, streamlining
food processing and packaging operations. Pharmaceutical Industry

Dispensing and Filling: Robots accurately dispense and fill medications, capsules, and vials, ensuring precise
dosages and minimizing contamination risks.
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Packaging and Labeling: Industrial robots package pharmaceutical products into blister packs, bottles, or
sachets, while also applying labels with dosage information and barcodes.

Sterilization: Robots perform tasks in sterile environments, such as handling equipment and materials in
cleanrooms, reducing human contact and contamination risks.
Consumer Goods Industry

Product Assembly: Robots assemble consumer goods such as appliances, electronics, and household items,
ensuring consistency and quality in the final products.

Quality Inspection: Vision systems integrated with robots inspect consumer goods for defects, scratches, or
imperfections, maintaining high product standards.

Customization: Robots facilitate mass customization by handling tasks like engraving, printing, or labeling
personalized products with unique designs or customer names.

Logistics and Warehousing

Order Fulfillment: Robots pick items from shelves and pack them into orders for e-commerce and
distribution centers, speeding up order processing and improving accuracy.

Inventory Management: Autonomous mobile robots navigate warehouse aisles, conducting inventory counts
and locating items, optimizing warehouse operations and reducing labor costs.

Goods Transportation: Automated guided vehicles (AGVs) and mobile robots transport goods within
warehouses and factories, minimizing manual material handling and improving efficiency.

Industrial robotics continue to evolve, enabling innovative applications and driving advancements across
diverse industries. Their versatility, reliability, and adaptability make them indispensable assets in modern
manufacturing environments.

This detailed exploration provides insights into how industrial robotics are utilized across various industries,
showcasing their versatility and impact on modern manufacturing processes.

Here are some famous industrial robots that have made

significant contributions to various industries:

Fanuc R-2000 Series:

The FANUC R-2000 series comprises industrial robots renowned for

their reliability and versatility. With models offering payloads from
100 kg to 270 kg and reaches up to 3.7 meters, they excel in various
applications like automotive manufacturing and material handling.
Their advanced motion control ensures precise positioning and high-
speed performance, enhancing productivity. These robots are
seamlessly integrated with peripheral devices, enabling flexible
automation solutions. Robust construction and durable design make
them suitable for demanding industrial environments, ensuring long-
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term reliability with minimal maintenance. Overall, the FANUC R-2000 series represents a powerhouse of
efficiency, precision, and adaptability in industrial automation

ABB IRB 6700 Series:

The ABB 6700 series robots are esteemed for their robustness and versatility in industrial automation.
Offering payloads ranging from 150 kg to 300 kg and reaches up to 3.2 meters, they excel in heavy-duty
applications like welding and material handling. Their advanced motion control system ensures precise and
rapid movements, enhancing productivity. These robots are designed for
seamless integration with various peripheral devices, enabling
flexible automation solutions tailored to specific manufacturing
needs. With durable construction and high reliability, the ABB 6700
series robots are trusted for their performance in demanding
industrial environments, ensuring consistent operation with minimal
downtime.

KUKA KR Quantec Series:

Known for their high payload capacities and precision, KUKA

robots are prevalent in automotive assembly lines and other heavy-
duty applications.
The KUKA KR Quantec series robots are renowned for their precision and efficiency in industrial
automation. With payload capacities ranging from 120 kg to 300 kg and reaches up to 3.2 meters, they excel
in diverse applications such as assembly, machining, and palletizing. These robots feature advanced motion
control technology for smooth and accurate movements, enhancing productivity and quality. The KR
Quantec series is known for its versatility, with options for various mounting configurations and integrated
safety features. With a focus on reliability and performance, KUKA KR Quantec robots are trusted for their
ability to optimize manufacturing processes in demanding industrial environments.

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Yaskawa Motoman MH Series:

These robots are popular in industries such as electronics, pharmaceuticals, and food processing due to their
flexibility and advanced motion control capabilitie.The Yaskawa MH series robots are renowned for their
precision and versatility in industrial automation. With payload capacities ranging from 20 kg to 700 kg and
reaches up to 3.1 meters, they excel in a wide range of applications, including material handling, assembly,
and machine tending. These robots feature advanced motion control technology, ensuring smooth and
accurate movements for increased productivity and efficiency. The MH series is known for its reliability and
durability, with a rugged design that withstands harsh industrial environments. With user-friendly
programming and seamless integration capabilities, Yaskawa MH series robots offer flexible automation
solutions tailored to specific manufacturing needs.

Universal Robots UR Series:

Leading the way in collaborative robotics, UR robots are designed to work safely alongside humans, making
them ideal for small and medium-sized enterprises (SMEs) in various sectors.The Universal Robots UR
series revolutionizes industrial automation with its collaborative and user-friendly design. Offering payloads
from 3 kg to 16 kg and reaches up to 1300 mm, these lightweight robots are ideal for cobot applications in
various industries. Their intuitive programming interface allows for quick setup and easy deployment,
enabling rapid integration into existing workflows. The UR series prioritizes safety with built-in force-
sensing technology, allowing humans and robots to work side by side safely. With flexible mounting options
and seamless in
peripheral devices, Universal Robots UR series delivers versatile and efficient automation solutions for
businesses of all sizes. These robots have revolutionized
manufacturing processes by increasing efficiency, precision, and
safety in industries worldwide.

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 CHAPTER 5
CONCLUSION
In conclusion, this internship experience provided invaluable insights into the functionalities, advantages,
and limitations of both serial and parallel robot manipulators. Through hands-on experimentation and
theoretical analysis, it became evident that each type offers unique characteristics suited for different
applications.
Serial robot manipulators, characterized by their sequential chain of links and joints, excel in applications
requiring precise positional accuracy and versatility. Their kinematic simplicity and flexibility make them
suitable for tasks such as assembly, pick-and-place operations, and machining processes. However, their
inherent limitations in terms of payload capacity, dynamic performance, and workspace accessibility pose
challenges in certain high-load or high-speed applications.
On the other hand, parallel robot manipulators, featuring multiple kinematic chains interconnected by rigid
links, offer superior rigidity, payload capacity, and dynamic performance. These characteristics make them
well-suited for applications demanding high-speed manipulation, heavy lifting, and precise trajectory
tracking, such as in flight simulators, surgical robotics, and motion simulators. Additionally, parallel
manipulators often exhibit a more compact workspace compared to serial manipulators, making them
suitable for constrained environments.
Despite their advantages, parallel manipulators present challenges in terms of kinematic modeling, control
algorithms, and workspace optimization. The non-linear nature of their kinematics and the complex
interaction between kinematic chains require sophisticated control strategies to achieve desired performance
metrics. Furthermore, the design and optimization of parallel manipulators involve intricate considerations
of link lengths, actuator placements, and workspace constraints to ensure optimal performance and stability.
During the internship, practical experiments and simulations demonstrated the trade-offs between serial and
parallel manipulators in various scenarios. Serial manipulators showcased superior accuracy and ease of
implementation in tasks requiring intricate manipulation of objects with precise positioning requirements.
Conversely, parallel manipulators exhibited enhanced dynamic performance and robustness in applications
demanding high-speed motion and heavy payload handling.
Looking ahead, the integration of advanced sensing technologies, such as vision systems and force/torque
sensors, will further enhance the capabilities of both serial and parallel robot manipulators. Additionally,
advancements in control algorithms, machine learning techniques, and material science will continue to
drive innovation in the field, enabling robots to perform increasingly complex tasks with greater efficiency
and autonomy.

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Overall, the internship provided a comprehensive understanding of automation and robotics, covering a wide
range of topics essential for a career in these fields. The practical experience gained during the internship,
coupled with the theoretical knowledge acquired, has prepared participants for various roles in automation
and robotics, including design, programming, maintenance, and optimization of automated systems. As
automation and robotics continue to evolve, professionals with expertise in these areas will be in high
demand, making the skills acquired during this internship invaluable for future career opportunities.

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