Robotics industries association of USA

defines industrial robot as:

A reprogrammable multifunctional
manipulator designed to move material
through variable programmed motions
for performance of variety of tasks
ISO definition:
An industrial robot is an automatic,
servo controlled, freely programmable,
multipurpose manipulator, with several
areas, for the handling of work pieces,
tools, or special device. Variably
programmed operations make the
execution of multiplicity of tasks
possible. robotics-drdvvkp 2
The growth of robot can be grouped
into robot generations
First generation robots are repeating,
nonservo, pick and place, or point to
point kind. (80% robots of this kind)
Second generation robots have
sensing devices and enabling robot to
alter its movement in response to
sensory feed back.
Third generation is marked with robot
having human-like intelligence
Fourth generation robots may be
android or an artificial biological robot
or a super humanoid capable of
producing its ownrobotics-drdvvkp
clones (futuristic) 3
Three Laws of robotics
First law
•A robot should not injure a human or,
through in actions, allow a human to be
harmed.
Second law
•A robot must obey orders given by
humans except when that conflicts with
the first law.
Third law
•A robot must protect its own existence
unless that conflicts with the first and
second law
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Robot anatomy
• Manipulator of a industrial
robot consists of series of
joints and links
• Robot anatomy is concerned
with the types and sizes of
these joints and links and
other aspects of manipulator
physical construction
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Joints and links
• A joint of a industrial robot is similar to
a joint in human body
• One degree of freedom is associate
with each joint.
• Two links are connected to each joint
(input and output link)
• Links are rigid components of robot
manipulator .
• The purpose of joint is to provide
controlled relative motion between the
input link and output link .
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There are Five types of joints

robotics-drdvvkp 7
Input link Output link
Joint motion

Linear joint

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 Joint motion

Input link

Output link
Orthogonal joint

Joint motion
Input link Output link

Rotational joint
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 Joint motion
Input link Output link

Twisting joint

Output link

Joint motion

Input link

Revolving joint
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Common robot configurations
A robot manipulator is divided into two sections
Body and arm assembly
Usually associated with 3 degrees of freedom
Wrist assembly
Associated with 2 or 3 degrees of freedom
At the end of manipulator’s wrist is a device related to
the task that must be accomplished by the robot. The
device, called end effectors is usually either gripper
for holding work part or a tool for performing some
process
A Body and arm of the robot is used to position the
end effectors, and robot wrist is used to orient the
end effectors
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Body arm configuration
Five basic configurations are
commonly available in industrial
robots
Polar configuration
Cylindrical configuration
Cartesian configuration
Jointed-arm configuration
SCARA ( Selective
Compliance Assembly Robot
Arm)

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Classification of Robots (or) Manipulators:
According to the co-ordinate system, the Robots are
classified into 4 types.

 Cartesian co-ordinate Robots

[3 linear joints]

 Cylindrical co-ordinate Robots

[2 linear Joints + 1 Rotary Joint]

 Spherical co-ordinate Robot

[1 linear Joint + 2 Rotary Joints]

 Jointed Arm (or) Articulated Robot

[3 Rotary Joints]
Cartesian co-ordinate robots:
 The main frame of this robot consists of 3 orthogonal liner
axis.
 These uses 3 linear slides construct x , y, z .
 It is also known as a x,y,z robot (or) rectilinear robot by
moving 3 slides relative to one another.
 It is capable of operating within a rectangular work
envelop.
 The important feature of this robot is equal and constant
resolution.
 It is not popular in industry.
 It can not reach objects on the floor.
Cartesian co-ordinate robots
Cylindrical co-ordinate robot:
 The main frame of this robot consists of a
horizontal arm moves on the vertical column which
in turn is mounted on the rotary base.
 The horizontal arm moves in & out and the
carriage moves up & down of the column and
these two units rotate as a unit on the base.
 The work volume of this robot is angular space (or)
cylinder.
The resolution of this robot is not constant and
depends on the distance radius (or) between column
& gripper along the horizontal arm.
Cylindrical co-ordinate Robots
Spherical co-ordinate Robot:
a) It is also known as polar co-ordinate Robot.
b) It consists of a rotary base, elevated pivot, and
telescopic arm.
c) Telescopic Arm moves in & out.
d) The magnitude of the rotation is usually measured by
incremental encoders mounted on the rotary axis.
e) The volume of the work is large spherical shell.
f) The disadvantage of this robot compared to Cartesian
robot is that these are two axis with relatively low
resolution that varies with arm length.
g) These robots have better mechanical flexibility when
compared to the Cartesian and cylindrical co-ordinate
robots.
Spherical co-ordinate Robot
Jointed arm robot:

1) it’s configuration is similar to that of the human

arm.

2) It consists of a two components. Fore arm & upper

arm mounted on vertical pedestal.

3) These components are connected by two rotary

joints corresponding to the shoulder & elbow.

4) A wrist is attached at the end of the fore arm thus

providing several additional joints.

Jointed arm robot
SCARA [Selective compliance assembly robot]
 A special version of the jointed arm configuration is
SCARA in which the shoulder & elbow joints rotate
about vertical Axis.
 SCARA stands for selective compliance assembly
robot arm and this configuration provides substantial
Rigidity for the robot in vertical direction but
compliance in horizontal plane.
 Articulate Robot has 3 axis, it’s special resolution
depends on entirely the arm position.
 Accuracy is poor.
 It has excellent mechanical flexibility.
SCARA [Selective compliance assembly robot]
Wrist configuration
Orient end effectors

Three degrees of freedom

Roll
Pitch
Yaw

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Joint notation system
The manipulator is described
joint types that make body – arm
assembly followed by joint
symbols that make wrist

Body-arm Joint
notation
Polar TRL
Cylindrical TLO
Cartesian LOO
Joint arm TRR
SCARA robotics-drdvvkp VRO 25
Joint drive systems
Robot joints are actuated by three types of
drive systems
 Electric
 Hydraulic
 Pneumatic
Electric drive system electric motors as joint
actuators
A servo or stepper motors
 More sophisticated
 Advanced technology
 Readily adaptable to computer control
 Relatively accurate

robotics-drdvvkp 26
Hydraulic and Pneumatic systems use
linear pistons and rotary vane activators
to accomplish the motion of joint.
Hydraulic c drive
 Greater speed and strength
Pneumatic drive
•Limited to Relatively small robots
for simple material transfer
•Speed – absolute velocity of the
manipulator at its end-of arm (max
2m/sec)
•Motion cycle engaged in acceleration
and deceleration
Weight of the object
Precision with which the object
robotics-drdvvkp 27
Robot control system
The actuations of the individual joints must be
controlled in a coordinated fashion for a
manipulator to perform desired motion cycle.
Microprocessor controls are commonly used in
robotics as control system hardware.
The controller is organized in hierarchical
structure, so that each joint has its own feedback
control system, and supervisory controller
coordinates the combined actuations if the joints
according to the sequence of the robot program.
Different types are required for different
applications.
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Robot controllers can be classified into
different categories
Limited sequence control
Play back with point to point control
Play back with continuous path
control
Greater storage capacity
Interpolation calculations
Intelligent control

robotics-drdvvkp 29
End effectors
oEnd effectors is usually attached to the robot’s
wrist
oThe end effectors enables the robot to
accomplish a specific task
oFor variety of tasks to be performed by
industrial robots-end effectors are custom
engineered and fabricated
Varieties of end effectors are Grippers and tools

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Grippers
• End effectors used to grasp and manipulate objects
during work cycle.
• The objects are usually work parts that are moved
from one location to other location in work cell
(loading and unloading work parts).
• Owing to the variety of part shapes, sizes and weights
most grippers are custom designed.

Types of Grippers
• Mechanical grippers
• Dual grippers
• interchangeable fingers
• Multiple fingered grippers
• Standard gripper products
• Vacuum grippers
• Magnetized devices
• Adhesive devices
• Simple mechanical devices

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Tools:
• For Performing processing operations on the
work part
• The robot manipulates the tool relative a
stationary or slowly moving object
• Robot must control the operation of the tool
• Robot must control the relative position of
tool with respect to work as function of time
• For operations requiring multiple tools the
end effector takes the form of quick
changing tool holder for quick fastening and
unfastening the various tools during the
work cycle
robotics-drdvvkp 32
Example of tools used as end effectors by
robot for processing operation
• Spot welding,
• Arc welding tool,
• Spray painting gun,
• Rotating spindle for drilling,
• Routing,
• Grinding
• Water jet cutting tool
• Assembly tools

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Sensors
Sensors used in robotics can be classified as
• Internal sensors
• External sensors
Internal sensors are components of the robot
and are used to control the velocities and
positions of various joints of the robot
These sensors form a feed back loop with the
robot controller
Tachometers for measuring speed
Potentiometers and optical sensors for
controlling position

robotics-drdvvkp 34
External sensors are used to co-ordinate
the operation of the robot with the other
equipment in the cell.
•Tactile Sensors – contact is made or not
•Proximity Sensors-object is close to sensor
•Optical Sensors-presence of object
•Machine vision
•Other sensors
• Temperature
• Fluid pressure
• Voltage
• current
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Industrial robot applications
The general characteristics of industrial
work situations that tend to promote the
substitution of robots for human labor are
•Hazardous work for humans
•Repetitive work cycle
•Difficult handling for humans
•Multi-shift operations
•Infrequent changeovers
•Part position and orientation are
established in work cell

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The application is usually classified into one of
the following categories
•Material handling applications
Material transfer
•Loading and unloading
Machine loading
Machine unloading
Machine loading and unloading
•Die casting
•Plastic molding
•Metal machining operations
•Forging
•Press working
•Heat treatment
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•Processing operations
For performing processing operations robot
is equipped with some type of tool as its end
effector
To perform the process, the robot must
manipulate the tool relative to the part
during work cycle
 Some industrial applications in processing
category include
Spot welding
Arc welding
Spray coating
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•Other processing applications
Grinding
Water jet cutting
Laser cutting
Drilling, routing and other processing
applications
•Inspection and assembly
Hybrid of earlier two operations
Either the manipulation of tool or
handling the work piece

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