BOE 302_ UNIT - II Introduction to Automation

History of Robot

Definition of Robot

A robot is a machine designed to execute one or more tasks automatically with speed and precision.

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BOE 302_ UNIT - II Introduction to Automation

When it comes to Robot, people picture Humanoids and Everybody might have the thoughts that all the
robots have great functions and intelligence like human has

Why Robotics?

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BOE 302_ UNIT - II Introduction to Automation

Classification of Robot

Industrial Robot Definition

An industrial robot is defined as a mechanical machine that is programmed to automatically perform
production related tasks in industrial environments.
An Industrial Robot must carry out following functions:
 It must have sensing ability (get information from its surroundings)
 It must carry out different task
 It must be Re-programmable
 It must have minimum 3 axis (Prismatic or Revolute)

Industrial robots are considered to be a form of flexible automation since they are reprogrammable and can be
used for many different types of robotic applications. Robots are growing into the preferred automation choice
for manufacturers as they are extremely effective for increasing productivity, producing high-quality products,
and reducing costs.
Industrial robots consist of five main components:
1. Controller,
2. Sensors
3. Robotic manipulator
4. End-effector
5. Drive

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BOE 302_ UNIT - II Introduction to Automation

The robot controller is essentially the brain of the robot. It is a computer device that instructs the robot how
to operate through coded programs.
Robot sensors may consist of cameras or microphones. They provide robots with environmental feedback
within their workspace.
The robotic manipulator or robot arm as it is more commonly called, is responsible for moving and positioning
the end-effector. In general, the robot arm was designed to mimic a human arm, but they can vary depending
upon the type of robot. Robot manipulators are attached to the base of the industrial robot.

End-effectors attach to the end of an industrial robot’s arm and are the devices responsible for interacting
directly with workpieces.
End effectors are the piece of the robot that interacts with the parts or components in the environment.
Sometimes they are referred to as “end-of-arm tooling” or “manipulator.” End effectors are found at the end of
the robot’s arm. There are many types of end-effectors for different types of applications. Some examples of
end effectors include:
 Mechanical grippers  Weld torches
 Pneumatic grippers  Magnetic gripper
 Suction cups

The drive of an industrial robot is the motor responsible for powering it. Robot drives may be hydraulic, electric,
or pneumatic.

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BOE 302_ UNIT - II Introduction to Automation

Law of Robotics
The Three Laws of Robotics (often shortened to The Three Laws or Asimov's Laws) are a set of rules devised
by science fiction author Isaac Asimov, which were to be followed by robots in several of his stories.

 The First Law: A robot may not injure a human being or, through inaction, allow a human being to come to
harm. (Must not injure)
 The Second Law: A robot must obey the orders given it by human beings except where such orders would
conflict with the First Law. (Must obey the Instructions)
 The Third Law: A robot must protect its own existence as long as
such protection does not conflict with the First or Second Law.
(Must Protect)

Industrial Robot Classifications

 Classification Based on Geometric  Classification Based on Control
Classification Based on Geometric

 Cartesian robots (including Linear and  Cylindrical robots

gantry robots)
 SCARA robots
 Spherical / Polar Robot
 Articulated robots
Cartesian - These are also called rectilinear or gantry robots. Cartesian robots have three linear joints that use
the Cartesian coordinate system (X, Y, and Z). They also may have an attached wrist to allow for rotational
movement. The three prismatic joints deliver a linear motion along the axis.
Cylindrical - This robot has at least one rotary joint at the base and at least one prismatic joint to connect the
links. The rotary joint uses a rotational motion along the joint axis, while the prismatic joint moves in a linear
motion. Cylindrical robots operate within a cylindrical shaped work envelope.
Spherical– These are also known as Polar robots. In this configuration the arm is connected to the base with a
twisting joint and a combination of two rotary joints and one linear joint. The axes form a polar coordinate
system and create a spherical-shaped work envelope.
SCARA - This SCARA (Selectively Compliant Arm for Robotic Assembly) is primarily cylindrical in design. It
features two parallel joints that provide compliance in one selected plane. These robots are commonly used in
assembly applications.
Articulated - This robot design features rotary joints and can range from simple two joint structures to ten or
more joints. The arm is connected to the base with a twisting joint. The links in the arm are connected by rotary
4 joints. Each joint is called an axis and provides an additional DOF, or range of motion. Industrial robots
commonly have 4 or 6 axes.

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BOE 302_ UNIT - II Introduction to Automation

Classification Based on Control

Control mean two things:

One is Motion Control Strategy i.e. Other one is How the motion path is achieved i.e.
Whether a robot is Servo Controlled or not Point to point or Continuous

ROBOT ANATOMY
The Anatomy of Industrial Robots deals with the assembling of outer components of a robot such as wrist, arm,
and body. Before jumping into Robot Configurations, here are some of the key facts about robot anatomy.
 Manipulator consists of joints and links
◦ Joints provide relative motion
◦ Links are rigid members between joints
◦ Various joint types: linear and rotary
◦ Each joint provides a “degree-of-freedom”
◦ Most robots possess five or six degrees-of-freedom

 Robot manipulator consists of two sections:

◦ Body-and-arm – for positioning of objects in the robot's work volume
◦ Wrist assembly – for orientation of objects

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BOE 302_ UNIT - II Introduction to Automation

Joints and its types

 The robot's motion is accomplished by means of powered joints.
 Three joints are associated with the action of body and arm (Major Axis)
 Another three joints are generally used to actuate the wrist (Wrist Axis)
 Joints used in the industrial robotics are of two types,

Prismatic joint
A prismatic joint provides a linear sliding movement between two bodies, and is often
called a slider, as in the slider-crank linkage. A prismatic pair is also called as sliding
pair. A prismatic joint can be formed with a polygonal cross-section to resist rotation.

Revolute joint
• A revolute joint (also called pin joint or hinge joint) is a one-degree-of-freedom kinematic pair used in mechanisms.

• Revolute joints provide single-axis rotation function used in many places such as door hinges, folding mechanisms, and
other uni-axial rotation devices.

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BOE 302_ UNIT - II Introduction to Automation

ROBOT WORK VOLUME / WORK ENVELOPE / WORK SPACE

 A space on which a robot can move and operate its wrist end is called as a work volume. It is also referred
as the work envelope and work space.
 For developing a better work volume, some of the physical characteristics of a robot should be
considered such as:
 The anatomy of various robots
 The maximum value for moving a robot joint
 The size of the robot components like wrist, arm, and body

Advantages of Industrial Robots

 Increased output rates.  Robots need no environmental comfort.

 Improved product quality  Robots work continuously without
 Reduced material wastage. experiencing fatigue of problem.
 Accident reduction.  Robots have repeatable precision at all
 Reduced labor turnover. times.
 Greater flexibility & re-programmability.  Robots can be much more accurate than
 Robots increase productivity, safety, human.
efficiency, quality, and consistency of  Robots can process multiple stimuli or tasks
products. simultaneously.
 Robots can work in hazardous
environments without the need.

Limitations of Industrial Robots

 Replacement of human labor.
 Robots are an expensive initial cost.
 Can only do what it is instructed to do; nothing more, nothing les
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BOE 302_ UNIT - II Introduction to Automation

 Greater unemployment
 Are not creative or innovative
 Can not think independently
 Can not make complicated decisions
 Can not learn from mistakes
 Can not adapt quickly to changes in their surroundings

Degrees of freedom
The degree of freedom (DOF) of robot is defined as the number of independent coordinates required to fully
describe its configuration.

Degrees of Freedom associated with wrist of robot

• Wrist Roll: Also called as wrist swivel, this involves rotation of the wrist mechanism about the arm axis
• Wrist Pitch: Given that the wrist roll is in the center position, the pitch would involve the up and down
rotation of the wrist. This is also sometimes called as wrist bend
• Wrist Yaw: Given that the wrist roll is the center position, the Yaw would involve the right or left rotation of
the wrist.

Robot Kinematics
Robot kinematics applies geometry to the study of the movement of multi-degree of freedom kinematic chains
that form the structure of robotic systems. The emphasis on geometry means that the links of the robot are
modelled as rigid bodies and its joints are assumed to provide pure rotation or translation.

Robot kinematics studies the relationship between the dimensions and connectivity of kinematic chains and
the position, velocity and acceleration of each of the links in the robotic system, in order to plan and control
movement and to compute actuator forces and torques.

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BOE 302_ UNIT - II Introduction to Automation

Forward Kinematics
Forward kinematics specifies the joint parameters and
computes the configuration of the chain. For serial
manipulators this is achieved by direct substitution of the joint
parameters into the forward kinematics equations for the serial
chain. For parallel manipulators substitution of the joint
parameters into the kinematics equations requires solution of
the set of polynomial constraints to determine the set of
possible end-effector locations.

Forward Kinematics (angles to position)

What you are given : The length of each link and The angle of each joint
What you can find : The position of any point (i.e. it’s (x, y, z) coordinates

Inverse Kinematics

Inverse kinematics specifies the end-effector location and

computes the associated joint angles. For serial manipulators this
requires solution of a set of polynomials obtained from the
kinematics equations and yields multiple configurations for the
chain. The case of a general 6R serial manipulator (a serial chain
with six revolute joints) yields sixteen different inverse kinematics
solutions, which are solutions of a sixteenth degree polynomial. For
parallel manipulators, the specification of the end-effector location
simplifies the kinematics equations, which yields formulas for the
joint parameters.

Inverse Kinematics (position to angles)

What you are given : The length of each link and The position of some point on the robot
What you can find : The angles of each joint needed to obtain that position

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BOE 302_ UNIT - II Introduction to Automation

Rotation Matrices

Homogeneous Transformation Matrix

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BOE 302_ UNIT - II Introduction to Automation

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BOE 302_ UNIT - II Introduction to Automation

Applications of Robots
Robot can be apply based of environmental and type of task that we want to perform:

Following are the major applications of industrial robots:

(i) Material transfer applications
(ii) Machine loading and unloading
(iii) Processing operations like, (a) Spot welding (b) Continuous arc welding (c) Spray coating (d)
Drilling, routing, machining operations (e) Grinding, polishing debarring wire brushing (g)
Laser drilling and cutting etc.
(iv) Assembly tasks, assembly cell designs, parts mating.
(v) Inspection, automation.

The Social Impact of Robots on Society

As robots become more prevalent in various industries, they are likely to have a significant impact on society.
This impact will be felt across different sectors and will bring about both benefits and challenges.
The rise of robots could have a major impact on employment levels. In some industries, such as manufacturing
or retail services, robots are taking over certain jobs that were traditionally done by humans. This has created a
“jobless future” in which people are no longer needed to do certain tasks that can be more efficiently done by
machines. On the other hand, there are still plenty of areas where humans have an advantage over robots —
creativity and innovation being among them — so there will always be demand for these skills in the workforce.

The impact of robotics on society is significant. Here are some of the ways that robotics is changing society:

Healthcare
Robotics is transforming healthcare, from surgical robots that can perform minimally invasive surgeries to robots
that can assist with patient care. Robots have the potential to improve patient outcomes and reduce healthcare
costs.

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BOE 302_ UNIT - II Introduction to Automation

Manufacturing
Robots are already widely used in manufacturing, and their use is only going to increase. Robots are capable of
performing tasks with speed and precision, which can improve efficiency and reduce costs.
Agriculture
Robots are also being used in agriculture to perform tasks such as planting and harvesting crops. This can
improve efficiency and reduce labor costs.
Environmental Impact
Robots can also have a positive impact on the environment. For example, robots can be used to clean up
pollution or monitor wildlife populations.

The Benefits of Robotics in Society

Robots are no longer just a fascinating part of science fiction — they play an important role in everyday life,
from manufacturing cars to performing delicate medical procedures. In this blog post, we’ll explore the impact
of robotics on society and identify some of its key benefits.
First and foremost, robotics has had a positive impact on efficiency. Automation allows machines to do the work
that would otherwise take humans much longer to complete, saving time and money. Automation is used in
many industries including manufacturing, agriculture, healthcare, logistics, and more. This increased efficiency
has allowed companies to reduce their operational costs while also improving productivity.

Potential Risks and Challenges Associated with Robotics

Robotics is quickly becoming an influential part of our lives, and as the technology evolves so does the
understanding of its potential applications. As this progresses we must understand there are risks and challenges
associated with robotics that can have a profound effect on society. This article will explore some of the risks
and challenges posed by the introduction of robots into society.
First, automation is changing the way business is conducted. With robots performing more work, fewer jobs will
be available to humans but at the same time, it allows us to shift human resources from mundane tasks and
focus on higher-level thinking and problem-solving. However, there are safety concerns that need to be
addressed when automating processes that could jeopardize employee safety or put public safety at risk.
Second, privacy is another issue when considering potential robotics applications. While robotics will allow us
to do more in less time in a secure environment they also can invade our privacy through collection and analysis
of data taken from various sensors or cameras installed in robots. We must consider how this data will be used
and ensure that it doesn’t infringe on our rights to privacy as citizens.
Third, ethical challenges present themselves when developing robots. As robots become more aware and
capable, making decisions based on ethical principles raises questions about who should oversee these
decisions. And should decisions made by robots be held accountable? We must find ways to make sure decision-
making algorithms are coded with integrity before using them in any production setting.
Fourthly, unforeseen consequences may arise due to robotic usage as they interact with complex environments
beyond people’s control or comprehension.

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BOE 302_ UNIT - II Introduction to Automation

Impact on the Economy

Robots are playing an increasingly larger role in driving economic growth as they are becoming more advanced
with each passing year. Companies are using robots to automate their production process, replacing manual
labor and creating new opportunities for higher productivity gains while reducing costs. This can help drive
faster economic growth over time, resulting in more disposable income for households across the globe.
However, robots also have a potential downside by displacing jobs that traditionally required human labor. This
job displacement can cause financial hardship to those who rely on those positions, resulting in higher
unemployment rates. To counter this issue, companies should focus on upskilling existing employees or
retraining them for new roles within their organization which require the use of robotic automation
technologies.
Though job displacement is an issue to consider, robotics automation can open up new opportunities for
workers such as data scientists and engineers who have expertise in artificial intelligence and machine learning
technologies. Job roles that didn’t exist before the introduction of robotic automation now offer higher pay
scales than many traditional labor jobs. Moreover, robotics technology can also help modernize traditional
markets like manufacturing, transportation, and agriculture through cost savings and increased efficiency due
to automated processes being adopted more often.

Impact on Technology

Technology is the backbone of robots and automation. As advancements continue to be made, robotic
technology becomes more sophisticated and capable, making it easier to integrate into our everyday lives. For
instance, robotics has created new opportunities for education and safety & security measures. In classrooms,
students can use robots to learn coding and other skills that will prepare them for a future of interaction with
advanced machines. On top of that, certain robots can be trained to detect potential threats or hazards before
they become dangerous; an invaluable asset for homes and businesses alike.
Robots also propose a unique social impact on our global population. Their introduction has raised many
questions surrounding labor force changes due to automation replacing traditional jobs across various
industries. You may already see this happening in situations like self-checkout kiosks in grocery stores or
automated customer service agents handling phone calls or online inquiries instead of humans. This leads us
into considering the economic implications associated with robotic advancements.
As the demand for jobs begins to shift due to automation technologies such as robotics, economies must adjust
accordingly to remain competitive in their respective markets. Leaders must plan by finding ways to prepare
employees for new types of roles that will no longer need humans as intermediaries (like customer service
agents).

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BOE 302_ UNIT - II Introduction to Automation

Ethical Implications of Robotics & Automation

As robotics and automation become more integrated into our society, there are several ethical implications we
must address. Here are some of the most pressing ethical issues surrounding robotics:

Job Displacement
One of the biggest ethical considerations surrounding robotics is job displacement. As robots become more
advanced, they are capable of performing tasks that were previously done by humans. This could lead to job
losses and unemployment, particularly in industries that rely heavily on human labor.
Privacy
As robots become more integrated into our daily lives, there are concerns about privacy. Robots can collect data
and information about individuals, which could be used for nefarious purposes. It’s important to ensure that
robots are designed with privacy in mind and that individuals have control over their personal information.
Safety
Robots can be incredibly powerful, and if not designed properly, they can pose a safety risk to humans. It’s
important to ensure that robots are designed with safety in mind and that they are not capable of causing harm
to humans.
Autonomy
As robots become more advanced, there are concerns about their autonomy. If robots are capable of making
decisions on their own, without human intervention, there are concerns about who is responsible for their
actions. It’s important to establish guidelines for autonomous robots and ensure that they are programmed
with ethical considerations in mind.

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