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Subsystems of Industrial Robots Include:: Module 1: Introduction To Robotics Lecture 2: Anatomy of Robots Objectives

This document provides an overview of the anatomy and subsystems of industrial robots. It discusses the main components that make up industrial robots including actuators, transmission systems, power supplies, sensors, microprocessors, and software. Actuators provide force and motion and can include pneumatic cylinders, motors, and shape memory alloys. Transmission systems transmit power and motion using components like chains, belts, gears, and ball screws. Power is provided by hydraulic, pneumatic or electric systems. Sensors provide feedback on motion, forces and vision. Microprocessors and controllers run software at different levels to control individual motors, plan trajectories, interpret sensors, and allow user input.

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Sreekumar Rajendrababu
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119 views3 pages

Subsystems of Industrial Robots Include:: Module 1: Introduction To Robotics Lecture 2: Anatomy of Robots Objectives

This document provides an overview of the anatomy and subsystems of industrial robots. It discusses the main components that make up industrial robots including actuators, transmission systems, power supplies, sensors, microprocessors, and software. Actuators provide force and motion and can include pneumatic cylinders, motors, and shape memory alloys. Transmission systems transmit power and motion using components like chains, belts, gears, and ball screws. Power is provided by hydraulic, pneumatic or electric systems. Sensors provide feedback on motion, forces and vision. Microprocessors and controllers run software at different levels to control individual motors, plan trajectories, interpret sensors, and allow user input.

Uploaded by

Sreekumar Rajendrababu
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Module 1 : Introduction to robotics

Lecture 2 : Anatomy of Robots


Objectives
In this lecture you will learn about
Anatomy and SubSystem of robots

Manipulators

Robot control

Anatomy of industrial robots


There are several classes of robots: robotic aircraft, robotic ships, mobile robots and others. An important
application of robots is in industry for machine tending, welding, painting, assembly and etc. These industrial
robots can be viewed as consisting of a mechanical portion the manipulator controlled by a microprocessor.

Subsystems of industrial robots include:


Actuators
Transmission systems
Power supplies & power storage system
Sensors

Microprocessors & controllers


Algorithms & softwares (higher level & lower level)

Actuators:
Actuators are basically prime movers providing both force and motion. Pneumatic cylinders, hydraulics,
permanent magnet motors, stepper motors, linear motors are some conventional actuators. More
advanced ones are based on hi-tech polymers, shape memory alloys, piezo patches, and pneumatic
muscles. Brushless servo motors also exist for low noise levels, and printed armature motors are used for
quick response.

Transmission systems:
The transmission system used in robot to transmit power and motion consists of chains, timing belts,

metal belts, cables and pulleys and linkages. Gear boxes and harmonic drives serve to provide speed
reduction. Ball screws are used with suitable mechanisms to convert rotary motion to linear motion and if
needed back to oscillatory motion. Drive stiffness is an important consideration in robotics and so also is
backlash.

Power supplies:
Hydraulic and Pneumatic power packs: These consist of a motor driving a positive displacement pump or
compressor to generate the high pressure fluid flow. In using hydraulic systems the necessity of having an
oil tank increases the weight of the system, additionally the issue of ensuring that the oil is free of
contaminants is to be handled. In pneumatics power pack dry air is desired.
Electric motors use what ate known as PWM (pulse width modulation) amplifiers. These are electronic
devices, consisting of transistors used as switches to rapidly switch on and off the supply in a controlled
manner to control motor speeds. Such drives have higher efficiency.

Sensors and other electronics:


The sensors for feedback in robots consists of tachometers and encoders and potentiometers to sense
motor motions, simple switches, force sensors, acceleration sensors, optical systems, special cameras and
vision systems.

Electronics:
There are a host of electronic circuits, motor controllers, analog to digital converters and digital to
analogue converters, frame grabbers and so on utilized to handle sensors and vision systems and convert
the inputs from them into a form usable by the processor for control of the entire system in conjunction
with the algorithms and software developed specifically for the purpose.

Software:
The software used consists of several levels. Motor control software consists of algorithms which help the
servo to move smoothly utilizing the data from feed-back units. At the next level there is software to plan
the trajectory of the end effector and translate the same into commands to individual motor controllers.
The output of sensors is also to be interpreted and decisions made. At the highest level there is software
which accepts commands from the user of the robot and translates it into appropriate actions at the lower
level.

Control of individual motors and actuators.


Planning trajectory & individual actuators in motion.
Planning trajectories of end effector.
Acting upon sensors input
Planning tasks

Recap
In this lecture one has learnt about
Anatomy and Subsystems of robots

Manipulators

Robot control
Congratulations, you have finished Lecture 2. To view the next lecture select it from the left hand side
menu of the page

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