GROUP NO: B EXPT.

NO: 1

ROBOTICS TRAINER

NAME: K.D.S. YASHODANA

REG.NO:TG /2020/813
COURSE NO: ENT 3152
DATE:03/02/2024
OBSERVATIONS
DISCUSSION
1. identify the robots’ joint types.

• Prismatic

A prismatic joint is a joint that permits relative motion on a single axis between two
objects. When combined with plain or rolling bearings, a prismatic joint, also known as a
slider, can use a rectangular cross-section to prevent rotation about the axis of motion and
allow.
straight-line motion. One degree of freedom is created and described by revolving joints,
which allow for rotational motion between objects. One variable defines their
configuration.

• Linear joints

The relative motion of the neighboring links is parallel thanks to the design of the linear
joints. This implies a linear movement of the input and output links. A translational motion
results from such a motion. A piston or a telescoping mechanism are two instances of the
different ways. wherein this type of linear motion is produced. The L joint is another term
for this type of joint.

• Revolving joints

Things work a little differently in the rotating joints than in the others. These joints can
also rotate, which comes in handy in a variety of situations. Motion between the two links
is produced by the movement of these joints. The input link's axis needs to line up with
the rotation. Joint’s axis. On the other hand, the axis of the output connection is designed
to be perpendicular to the rotational axis of the joint. The Type V joint is another term for
this type of joint.

2. Find the different types of actuators.

• Mechanical Actuators
• Pneumatic Actuators
• Hydraulic Actuators
• Piezoelectric Actuators
• Electrostatic Actuators
3. Examine the workspace of the manipulator.

One important piece of information that maximizes the dimensions of the robot manipulator is
the workspace. Workspace analysis is important because workspace geometry can be seen as a
basic problem for manipulator design, robot positioning, and trajectory planning in a working
environment. is very interested in the case of serial manipulators. The space where a robot uses
its mechanism to operate is called its workspace.

1. Joint Limits: The robotic arm's joints are each limited in its range of motion. These restrictions
restrict the final impact's direction and reachable locations.

2. Link length and geometry: The joints are connected by links, and their length and geometry
also had an impact on the workplace. Links that are longer have a wider reach than those that
are shorter.

3. Difficulties and Hindrances: The existence of physical barriers in the surroundings

Restrict the workspace.

4. Degrees of freedom: A robot arm's flexibility is influenced by the number of degrees of freedom
(DOF) it possesses. the extent of movement. Greater DOF enables more intricate and adaptable
movements, expanding the workspace for work area inspection. Several techniques can be
employed, such as analytical computations. Software for simulation or in-person experiments.
These methods can be applied to map end-effector orientation and reachable locations inside the
kinematic bounds of a robotic arm.

4.find the links of the robots.

Robotic arms are composed of stiff components known as links, which connect the joints and allow
the arm to move and control objects. They are essential components of robots used in automation,
healthcare, and manufacturing, among other sectors. A robot arm is usually made up of several linked
joined at the joints. The links can be divided into three categories:
1. Base link: This is the initial connection between the arm and the mounting platform or robot's
base.
2. Intermediate links: These establish a connection between the end effector and the base link. One
or more intermediary links may exist, depending on the particular design of the robot arm in question.
3. End-effector link: This is the last connection that houses the instrument or equipment needed to
complete the task.
4. . Describe the robot working principle.

The working principle of a robot arm involves a combination of mechanical components,

sensors, and control systems that work together to manipulate objects or perform tasks. Here is
a general overview of the working principle.

1.Mechanical Structure: Rigid links joined by joints make up the robot arm. The joints
allow the arm to move in various directions, providing the necessary degrees of freedom to
reach different positions and orientations.

2. Actuators: A hydraulic cylinder or electric motor serves as an actuator at each joint in the robot
arm. The torque or force required to move the joints and the links that are attached to them is
produced by these actuators.

3. Sensors: The robot arm's position, orientation, and interactions with its surroundings are all
monitored by sensors. These sensors can be vision systems for object recognition and
tracking, force sensors for pressure or contact detection, and encoders for measuring joint
angles.
4. Control System: The robot arm's movements are synchronized by the control system. It
gathers data from sensors, interprets it, and sends commands to the actuators. Several control
algorithms can be used to program this control system, including force control, trajectory
planning, or inverse kinematics.
5. Programming and Commands: It is possible to program the robot arm to carry out actions or
to travel along predetermined paths. The operator can manually guide the arm to record
desired movements with a teach pendant, or they can program the device through a computer
interface.
6. Task Execution: Following receipt of the commands, the robot arm carries out the intended
motions to handle objects, carry out assembly duties, or execute any other assigned operations.
The control system continuously modifies the torques and joint positions in accordance with the
input from sensors to guarantee precise and accurate task execution. In general, a robot arm's
operation entails the integration of mechanical parts, sensors, and control mechanisms to allow
for exact and regulated movements for carrying out a variety of jobs in several industries,
including manufacturing, logistics, medical care, among other things.
6. Elaborate with some industrial examples of similar robot mechanisms.

• Electronic Circuit Board Assembly.

Robot Arm: During assembly, a robotic arm is used to install electronic components onto
circuit boards.

Conveyor Belt: A conveyor system is used to move the assembled circuit boards to various
testing and inspection locations.

• Automated Packaging in Food Industry

Robot Arm: A robotic arm selects food items and places them onto the conveyor belt.
Conveyor Belt: The conveyor transports the packaged food items from the robotic
work-cell to the packing area.
Parts Dispenser: An automated dispenser that fills bags and boxes with packaging supplies
so the robot may package things.
Sensors: Thanks to vision systems and sensors, the right packaging materials are
employed, and the final products are sealed appropriately.

• Material Handling in Warehouses

Robot Arm: Robotic arms are used in warehouses to do material handling tasks such as
pallet loading and unloading, inventory arrangement on shelves, and merchandise
stacking.

Conveyor Belt: Conveyor systems in warehouses facilitate the efficient transportation of

goods from one location to another and enable order fulfilment.

7. State the advantages and disadvantages of the manipulator.

Advantages
• Precision and Accuracy
• Repeatability
• Versatility
• Safety
Disadvantages
• Robots are not creative or innovative
• Technical Know-how limitation