UNIT - I FUNDAMENTALS

OF ROBOT
 History of Robot

1968
Shakev, first mobile robot with vision capacity
made at SRI.
1970 The Stanford Arm designed either electrical actuators
and controlled by a computer
1973 Cincinnati Milacron‘s (T3) electrically actuated
mini computer controlled by industrial robot.

1976 Viking II lands on Mars and an arm scoops Martian

soil for analysis.
1982 First educational robots by Microbot and Rhino.
 History of Robot Cont..

2000 Honda demonstrates Asimo humanoid robot capable of

walking.

2001 Sony releases second generation Aibo robot dog.

2004 Spirit and Opportunity explore Mars surface

and detect evidence of past existence of water
2007 Humanoid robot Aiko capable of ―feeling‖ pain.

2009 Micro-robots and emerging field of nano-robots

marrying biology with engineering.
 Robot Generations

First Generation : The first generations robots are

repeating, non-servo controlled type used for pick
and place point to point operations

Second generation: The addition of sensing

devices and enabling the robot to alter its
movements in response to sensory feedback
marked in the second generation. These robots
exhibit path control capabilities
 Robot Generations Cont.,

Third generation: This generation is introduced

in late 1970‘s have human like intelligence. The
growth in computers led to high speed processing of
information, robot acquired artificial intelligent
technique and decision making capability by past
experiences. Online computations & control

Fourth generation: These are artificial biological

robots or a super humanoid capable of producing its
own clones
 Introduction

Robots are devices that are programmed to move parts,

or to do work with a tool

Robotics is a multidisciplinary engineering field

dedicated to the development of autonomous devices,
including manipulators and mobile vehicles

Robotics develop man-made mechanical devices that can

move by themselves, whose motion must be modeled,
planned, sensed, actuated and controlled, and whose
motion behavior can be influenced by “programming”
 Introduction Cont.,

Robots are called “intelligent” if they succeed in

moving in safe interaction with an unstructured
environment, while autonomously achieving their
specified tasks.

This definition implies that a device can only be

called a “robot” if it contains a movable mechanism,
influenced by sensing, planning, actuation and
control components
 Definition for Robot

The term comes from a Czech word, robota,

meaning "forced labor." The word robot first
appeared in a 1920 play by Czech writer Karel Capek,
R.U.R.: Rossum's Universal Robots. In the play, the
robots eventually overthrow their human creators.
 Definition for Robot Cont.,

A robot is a reprogrammable and multifunctional

manipulator, devised for the transport of materials,
parts, tools or specialized systems, with varied and
programmed movements, with the aim of carrying
out varied tasks

The term manipulator is used here to mean any

device with an arm bearing a hand or gripper
 Robot Anatomy

The anatomy of robot is also known as structure of

robot. The basic components or sections in anatomy
of robots are as follows.
 Robot Anatomy Cont.,

The Anatomy of Industrial Robots deals with the

assembling of outer components of a robot such as
wrist, arm, and body. Some of the key facts about
robot anatomy.
End Effectors: A hand of a robot is considered as
end effectors. The grippers and tools are the two
significant types of end effectors. The grippers are
used to pick and place an object, while the tools are
used to carry out operations like spray painting, spot
welding, etc. on a work piece
 Robot Anatomy Cont.,

Robot Joints: The joints in an industrial robot are

helpful to perform sliding and rotating movements of
a component.
Manipulator: The manipulators in a robot are
developed by the integration of links and joints. In
the body and arm, it is applied for moving the tools
in the work volume. It is also used in the wrist to
adjust the tools
Kinematics: It concerns with the assembling of
robot links and joints. It is also used to illustrate the
robot motions.
 Coordinate Systems

A coordinate system defines a plane or space by axes

from a fixed point called the origin. Robot targets
and positions are located by measurements along the
axes of coordinate systems. A robot uses several
coordinate systems, each suitable for specific types of
jogging or programming.
The Robots are mostly divided into four major
configurations based on their appearances, sizes, etc.
 Coordinate Systems cont.,

Cylindrical Configuration

Polar Configuration

Jointed Arm Configuration

Cartesian Co-ordinate Configuration

Coordinate Systems cont.,
 Coordinate Systems cont.,

Cylindrical Configuration : This kind of robots

incorporates a slide in the horizontal position and a
column in the vertical position. It also includes a
robot arm at the end of the slide. Here, the slide is
capable of moving in up & down motion with the
help of the column. In addition, it can reach the work
space in a rotary movement as like a cylinder.

Example: GMF Model M1A Robot.

 Coordinate Systems cont.,

Cylindrical Configuration:  
Advantages:
Increased rigidity, and
Capacity of carrying high payloads.
Disadvantages:
Floor space required is more, and
Less work volume.
 Coordinate Systems cont.,

Polar Configuration: The polar configuration

robots will possess an arm, which can move up and
down. It comprises of a rotational base along with a
pivot. It has one linear & two rotary joints that allows
the robot to operate in a spherical work volume. It is
also stated as Spherical Coordinate Robots.

Example: Unimate 2000 Series Robot.

 Coordinate Systems cont.,

Polar Configuration:
Advantages:
Long reach capability in the horizontal
position.
Disadvantages:
Vertical reach is low.
 Coordinate Systems cont.,

Jointed Arm Configuration: The arm in these

configuration robots looks almost like a human arm.
It gets three rotary joints and three wrist axes, which
form into six degrees of freedoms. As a result, it has
the capability to be controlled at any adjustments in
the work space. These types of robots are used for
performing several operations like spray painting,
spot welding, arc welding

Example: Cincinnati Milacron T3 776 Robot

 Coordinate Systems cont.,

Jointed Arm Configuration :

Advantages:
Increased flexibility
Huge work volume
Quick operation
Disadvantages:
Very expensive
Difficult operating procedures
Plenty of components
 Coordinate Systems cont.,

Cartesian Co-ordinate configuration: These

robots are also called as XYZ robots, because it is
equipped with three rotary joints for assembling XYZ
axes. The robots will process in a rectangular work
space by means of this three joints movement. It is
capable of carrying high payloads with the help of its
rigid structure

Example: : IBM 7565 Robot

 Coordinate Systems cont.,

Cartesian Co-ordinate configuration:

Advantages:
Highly accurate & speed
Fewer cost
Simple operating procedures
High payloads
Disadvantages:
Less work envelope
Reduced flexibility
 Work Envelope Types and Classification

It is the shape created when a manipulator reaches

forward, backward, up and down. These distances
are determined by the length of a robot's arm and the
design of its axes. Each axis contributes its own
range of motion
A robot can only perform within the confines of this
work envelope. Still, many of the robots are
designed with considerable flexibility
 Work Envelope Types and Classification Cont.,

Some have the ability to reach behind themselves.

Gantry robots defy traditional constraints of work
envelopes. They move along track systems to create
large work spaces.
Work Envelope Types and Classification Cont.,
 Technical Features of an Industrial Robot

The technical features of an industrial robot

determine its efficiency and effectiveness at
performing a given task. The following are some of
the most important among these technical features.
 Robot Classification

Degree of Freedom (D.O.F)

Work Volume/Workspace
Pneumatic Robot
Scara Robot
Gantry Robot
Cartesian robot
Painting Robot
6-Axes Industrial Robot Arm
Welding Robot
 Robot Classification

Degree of Freedom (D.O.F) : Each joint on the

robot introduces a degree of freedom. Each of can
be a slider, rotary, or other type of actuator. Robots
typically have 5 or 6 degrees of freedom

Work Volume/Workspace :The robot tends to

have a fixed and limited geometry. The work
envelope is the boundary of positions in space that
the robot can reach
 Robot Classification Cont.,

Pneumatic Robot: The pick and place machine is

the simplest of the robots. Pneumatic powered, it has
no servo motors driving the axes, but an air cylinder
instead.
 Robot Classification Cont.,

Scara Robots: Scara means Selective, Compliant,

Robot arm. This robot is especially designed for
assembly automation and uses 4-axes of motion,
each axes driven by a servo motor
 Robot Classification Cont.,

Gantry Robot: This type of robot is generally

mounted direct to the shop floor and usually has a
large work envelope
 Robot Classification Cont.,

Cartesian robot: These machines are usually

mounted on a table and are similar in concept to the
gantry robot but on a smaller scale. The axes can be
air or servo motor powered
 Robot Classification Cont.,

6-Axes Industrial Robot Arm: the most

recognized industrial robot. It is available in a wide
range of sizes and payloads
 Robot Classification Cont.,

Painting Robot: When used in a painting

application, the robot does not need a large payload
capability but does need good repeatability and
accurate path following
 Robot Classification Cont.,

6-Axes Industrial Robot Arm: the most

recognized industrial robot. It is available in a wide
range of sizes and payloads
Wrist configuration
 Wrist configuration Cont.,

Roll- This is also called wrist swivel, this involves

rotation of the wrist mechanism about the arm axis

Pitch- It involves up & down rotation of the wrist.

This is also called as wrist bend

Yaw- It involves right or left rotation of the wrist

 Wrist configuration Cont.,

Notation TRL: ƒ 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)
 
Notation TLO: ƒ Consists of a vertical column, relative
to which an arm assembly is moved up or down ƒ the arm
can be moved in or out relative to the column
 
Notation LOO:ƒ Consists of three sliding joints, two of
which are orthogonal Other names include rectilinear
robot and x-y-z robot
 Speed of Motion

Point-to-point (PTP) control robot

Continuous-path (CP) control robot
Controlled-path robot
 Speed of Motion

Point-to-point (PTP) control robot: is capable

of moving from one point to another point. The
locations are recorded in the control memory. PTP
robots do not control the path to get from one point
to the next point. Common applications include
component insertion, spot welding, whole drilling,
machine loading and unloading, and crude assembly
operations
 Speed of Motion

Continuous-path (CP) control robot: with CP

control, the robot can stop at any specified point
along the controlled path. All the points along the
path must be stored explicitly in the robot’s control
memory. Typical applications include spray painting,
finishing, gluing, and arc welding operations.
 Speed of Motion

Controlled-path robot: the control equipment

can generate paths of different geometry such as
straight lines, circles, and interpolated curves with a
high degree of accuracy. All controlled- path robots
have a servo capability to correct their path
 Laws

A robot may not injure a human being or, through

inaction, allow a human being to come to harm
A robot must obey the orders given it by human
beings except where such orders would conflict with
the First Law.
A robot must protect its own existence as long as
such protection does not conflict with the First or
Second Laws.
 Pay Load-Robot Parts and their Functions

Maximum payload is the weight of the robotic wrist,

including the EOAT and work piece. It varies
with different robot applications and
models. Determining your payload requirements
is one way to narrow down your robot search
 Pay Load-Robot Parts and their Functions

The controller is the "brain" of the industrial

robotic arm and allows the parts of the robot to
operate together. It works as a computer and allows
the robot to also be connected to other systems. The
robotic arm controller runs a set of instructions
written in code called a program. The program is
inputted with a teach pendant. Many of today's
industrial robot arms use an interface that resembles
or is built on the Windows operating system
 Pay Load-Robot Parts and their Functions

Industrial robot arms can vary in size and shape.

The industrial robot arm is the part that positions
the end effector. With the robot arm, the shoulder,
elbow, and wrist move and twist to position the end
effector in the exact right spot. Each of these joints
gives the robot another degree of freedom. A simple
robot with three degrees of freedom can move in
three ways: up & down, left & right, and forward &
backward. Many industrial robots in factories today
are six axis robots.
 Pay Load-Robot Parts and their Functions

The end effector connects to the robot's arm and

functions as a hand. This part comes in direct
contact with the material the robot is manipulating.
Some variations of an effector are a gripper, a
vacuum pump, magnets, and welding torches. Some
robots are capable of changing end effectors and
can be programmed for different sets of tasks.
 Pay Load-Robot Parts and their Functions

The drive is the engine or motor that moves the

links into their designated positions. The links are the
sections between the joints. Industrial robot arms
generally use one of the following types of drives:
hydraulic, electric, or pneumatic. Hydraulic drive
systems give a robot great speed and strength. An
electric system provides a robot with less speed and
strength. Pneumatic drive systems are used for
smaller robots that have fewer axes of movement.
Drives should be periodically inspected for wear and
replaced if necessary.
 Pay Load-Robot Parts and their Functions

Sensors allow the industrial robotic arm to receive

feedback about its environment. They can give the
robot a limited sense of sight and sound. The sensor
collects information and sends it electronically to the
robot controlled. One use of these sensors is to keep
two robots that work closely together from bumping
into each other. Sensors can also assist end effectors
by adjusting for part variances. Vision sensors allow
a pick and place robot to differentiate between items
to choose and items to ignore
Need for Robots and Different Applications

Industrial Applications : Industrial robots are used

to assemble the vehicle parts, as shown in the
figure. As the assembly of the machine parts is a
repetitive task to be performed, the robots are
conveniently used instead of using mankind (which
is more costly and less précised compared to
robots.)
 Need for Robots and Different Applications Cont.,

Auto Industry : The auto industry is the largest

users of robots, which automate the production of
various components and then help, assemble them on
the finished vehicle. Car production is the primary
example of the employment of large and complex
robots for producing products. Robots are used in that
process for the painting, welding and assembly of the
cars. Robots are good for such tasks because the tasks
can be accurately defined and must be performed the
same every time, with little need for feedback to
control the exact process being performed.
 Need for Robots and Different Applications Cont.,

Auto Industry : The auto industry is the largest

users of robots, which automate the production of
various components and then help, assemble them on
the finished vehicle. Car production is the primary
example of the employment of large and complex
robots for producing products. Robots are used in that
process for the painting, welding and assembly of the
cars. Robots are good for such tasks because the tasks
can be accurately defined and must be performed the
same every time, with little need for feedback to
control the exact process being performed.
 Need for Robots and Different Applications Cont.,

Material Transfer , Machine Loading And

Unloading :There are many robot applications in
which the robot is required to move a work part or
other material from one location to another. The
most basic of these applications is where the robot
picks the part up from one position and transfers it
to another position.
 Need for Robots and Different Applications Cont.,

Robotic arm The most developed robot in

practical use today is the robotic arm and it is seen
in applications throughout the world. We use
robotic arms to carry out dangerous work such as
when dealing with hazardous materials. We use
robotic arms to carry out work in outer space
where man cannot survive and we use robotic arms
to do work in the medical field such as conducting
experiments without exposing the research
 Need for Robots and Different Applications Cont.,

Medical Applications Medical robotics is a

growing field and regulatory approval has been
granted for the use of robots in minimally invasive
procedures. Robots are being used in performing
highly delicate, accurate surgery, or to allow a
surgeon who is located remotely from their patient
to perform a procedure using a robot controlled
remotely. More recently, robots can be used
autonomously in surgery
 Need for Robots and Different Applications Cont.,

Future Applications : We can theorize a likely profile of

the future robot based on the various research activities that
are currently being performed. The features and capabilities
of the future robot will include the following
Intelligence
Sensor capabilities
Tele presence
Mechanical design
Mobility and navigation
Universal gripper
Systems integration and networking
 Need for Robots and Different Applications Cont.,

Industrial Applications
We will divide our presentation of future industrial
applications into three areas:
 Manufacturing
 Hazardous and inaccessible environments,

 Service industries
 Need for Robots and Different Applications Cont.,

Service Industry And Other Applications:

Teaching robots
Retail robots
Fast-food restaurants
 Garbage collection in waste disposal operations
Cargo handling and loading and distribution operations
Security guards
Medical care and hospital duties
Agricultural robots
House hold robots
 Important Questions – Two Marks

Define robot (Nov/Dec 2011)

Define base and tool coordinate systems. (Nov/Dec-2012)
Name the important specifications of an industrial robot. (Nov/Dec-
2012)
What is meant by pitch, yaw and roll? (Nov/Dec-2008)
What is work volume? (Nov/Dec-2008), (Nov/Dec 2011)
What is meant by a work envelope? (Nov/Dec-2007), (Apr/May-
2010), (May/Jun 2013)
Sketch a robot and name its parts. (Nov/Dec-2007)
What are the four basic robot configurations available commercially?
(Apr/May-2010)
Classify the robot as per the type of control and mobility (May/Jun
2013)
 Important Questions – Big Questions

(i) Explain the speed of motion in industrial robots. (8)(Apr/May 2010)

(ii) Explain the load- carrying capacity of a robot.(8) (Apr/May 2010)
(i) With a neat sketch explain the three degrees of freedom associated with the robot
wrist.
(10) (Apr/May 2010) (ii) Discuss the four types robot controls (6) (Apr/May 2010)
(i) Classify the industrial robots and briefly describe it.(8)
(ii) Describe the major elements of an industrial robot (8) (Nov/Dec-2012)
(i) Describe in detail the anatomy of an industrial robot(8)(16) (May/Jun 2013)
(ii) Describe the industrial application of robots.(8) (Nov/Dec-2012)
Describe the specifications of an industrial robot and with its configuration (16)
(i) Sketch a robot wrist and explain it’s the joint movements.(8) (Nov/Dec 2007)
(Explain the various parts of a robot with neat sketch. (Nov/Dec 2008)
(i) Explain the different types of robots(8) (Nov/Dec 2008)
(ii) What are the specifications of robots?(8) (Nov/Dec 2008)
Sketch and explain the following configuration of robot. i) TRR ii) TRL R iii) RRR