ROBOTICS

Introduction
ROBOT
A programmable machine possessing certain
anthropomorphic characteristics, like
mechanical arm, which is used for performing
various industrial tasks.
APPLICATIONS
Spot welding, Material transfer, Machine
loading, automatic screwdriver and panner.
 INDUSTRIAL ROBOT
(Robotics Industries Association )

I. An Industrial Robot is reprogrammable,

multifunctional manipulator designed to
move materials, parts, tools, or special
devices through variable programmed
motions for the performance of a variety of
tasks.
II. According to this definition, robots can be
classified as Programmable Automation.
 Commercial & Technological Importance

I. Hazardous work environments

II. Repetitive work cycle
III. Consistency and accuracy
IV.Difficult handling task for humans
V. Multi-shift operations
VI. Reprogrammable, flexible
VII.Interfaced to other computer systems (CIMS)
 Robot Anatomy and Related Attributes
Manipulator consists of joints and links
Joints provide relative motion
Links are rigid members between joints Joint 3 Link 3

Various joint types: linear and rotary End of Arm

Each joint provides a degree-of-freedom
Most robots possess five or six degrees-of-
freedom Link 2
Robot manipulator consists of two sections: Link 1
Body and arm assembly for positioning
of objects in the robot's work volume (3 Joint 2
d.o.f)
Joint 1
Wrist assembly for orientation of objects
(2 or 3 d.o.f) Link 0
Base
 Body and Arm Assembly Wrist Assembly

I. It is used to establish the

I. It is used to establish the orientation of the object.
position of object. II. The following is one possible
configuration for wrist
II. It must be capable of assembly:
ROLL: This d.o.f can be
moving the object in accomplished by a T-type joint
following 3 directions: to rotate the object about the
arm axis.
Vertical motion (Z -axis) PITCH: This involves up and
down rotation of object,
Radial motion (in and out or typically done by means of a R-
type joint.
Y-axis motion)
YAW: This involves right to left
Right to Left motion (X-axis rotation of object, also
motion) accomplished typically using an
R-type joint.
Typical configuration of a three-degree-of-freedom wrist assembly
showing roll, pitch, and yaw
 Joints and Links
I. A joint of an industrial robot is similar to a
joint in the human body: It provides relative
motion between two parts of the body.
II. Each joint, or axis as it is sometimes called,
provides the robot with a so-called degree-of-
freedom (d.of.) of motion.
III. Each joint is connected with two links,
namely Input link and Output link.
 Manipulator Joints

Translational motion
Linear joint (type L)
Orthogonal joint (type O)

Rotary motion
Rotational joint (type R)
Twisting joint (type T)
Revolving joint (type V)

A colon separates the body and arm notation from the wrist notation(TLR:TR)
whose body-and-arm is made up of twisting joint (joint 1), a linear joint (joint
2), and a rotational joint (joint 3). The wrist consists of two joints, a twisting joint
(joint 4) and a rotational joint (joint 5).
 5 Common Robot Configurations
I. Polar Configuration
II. Cylindrical Configuration
III. Cartesian Configuration
IV.Jointed Arm Configuration
V. SCARA- Selectively Complaint Assembly
Robot Arm
 Polar Coordinate

Notation TRL:

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)
 Cylindrical 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
 Cartesian Coordinate
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
Jointed-Arm Robot

Notation TRR:
General configuration
of a human arm.
Its arm has a shoulder
joint and an elbow
joint, and the arm is
swiveled about the
base.
 SCARA Robot
Notation VRO
SCARA stands for
Selectively Compliant
Assembly Robot Arm
Similar to jointed-arm robot
except that vertical axes are
used for shoulder and elbow
joints to be compliant in
horizontal direction for
vertical insertion tasks
 Wrist Configurations
Wrist assembly is attached to end-of-arm
End effectors 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
Notation :RRT
 Work Volume/Work envelope
3 dimensional Space within which the robot can
manipulate the end of its wrist.
Work volume is determined by the number and types
of joints in the manipulator (body-and-arm and wrist),
the ranges of the various joints, and the physical sizes
of the links.
The shape of the work volume depends largely on the
robot's configuration.
A polar configuration robot tends to have a partial
sphere as its work volume, a cylindrical robot has a
cylindrical work envelope and a Cartesian coordinate
robot has a rectangular work volume.
 Joint Drive Systems
Electric
Uses electric motors (typically servo or
stepper) to actuate individual joints
Preferred drive system in today's robots
Hydraulic
Uses hydraulic pistons and rotary vane
actuators
Noted for their high power and lift
capacity
Pneumatic
Typically limited to smaller robots used in
simple material transfer applications
 Robot Control Systems
Limited sequence control pick-and-place operations using
mechanical stops to set positions
Playback with point-to-point control records work cycle as a
sequence of points, then plays back the sequence during program
execution
Playback with continuous path control greater memory capacity
and/or interpolation capability to execute paths (in addition to
points)
Intelligent control exhibits behavior that makes it seem
intelligent, e.g., responds to sensor inputs, makes decisions,
communicates with humans
 Robot Control System

Cell Level 2
Supervisor

Controller Level 1
& Program

Joint 1 Joint 2 Joint 3 Joint 4 Joint 5 Joint 6 Sensors Level 0

 Control Resolution & Spatial Resolution
Refers to the capability of the robots controller and positioning
system to divide the range of joint into closely spaced points that
can be identified by the controller which are referred as
addressable points, because they represent locations to which the
robot can be commanded to move; therefore CR is defined as the
distance between adjacent addressable points.

A related term in robotics is the spatial resolution, which combines

the CR with mechanical errors (gear backlash, deflection of the
links, hydraulic fluid leaks) in joints and associated links.
 Accuracy & Repeatability
Accuracy is the measure of the robots ability to position the end of
its wrist at a desired location in the work volume.

Repeatability is a measure of the robots ability to position its end of

wrist at a previously taught point in the work volume.
Each time the robot attempts to return to the programmed point it will
return to a slightly different position. Repeatability errors have as
their principal source the mechanical errors as previously mentioned.
 Robot End Effectors

Robot end effector or end of arm tooling is the

bridge between robot arm and environment
around it.
A human hand with 22 degrees of freedom is a
sensory and communicating organ.
A human being decides the global position of
his hand based on the analysis of his eye and
memory and then determines his choice of grip
and the necessary manipulation with the aid of
sensors on his skin, arm and wrist.
 End Effectors
The special tooling for a robot
that enables it to perform a
specific task
Two types:
Grippers to grasp and manipulate
objects (e.g., parts) during work
cycle
Tools to perform a process, e.g.,
spot welding, spray painting
 Robotics Tools

Spot Welding Gun

Spray Painting

Rotating spindle for

drilling Arc Welding Gun
 ROBOTIC GRIPPERS

Vacuum gripper
Mechanical grippers

In addition to that there are magnetized devices used for holding ferrous parts
and adhesive devices where an adhesive substance is used to hold a flexible
material such as fabrics.
 SENSORS IN ROBOTICS
Two types: (a) Internal sensors (b) External sensors
Internal sensors are used for controlling positions and velocity of
joints. They form a feedback control loop with the robot controller. For
example: For position control, potentiometer and optical encoders are
used. For speed control Tachometers of various types are used.
External sensors to the robot are used to coordinate the operation of the
robot with the other equipment in the cell (Limit switches).
Other sensors could be depending upon situation include the following:
Tactile sensor (Touch and force sensors), Proximity sensor (indicates
closeness of an object), Range sensor (indicates actual distance of the
object), Machine vision (inspection, parts identification, guidance) and
optical sensor (detects presence or absence of object).
Miscellaneous Sensor (devices for measuring temperature, fluid
pressure, fluid flow, electrical voltage, current, and various other
physical properties).