SUGUNA COLLEGE OF ENGINEERING

(Approved by AICTE, New Delhi & Affiliated to Anna University)

Nehru Nagar, Kalapatti, Coimbatore - 641014

Name :

Class :

Roll No :

Dept :

Register No.:

Certified that this is the bonafide record of work done by

him/her in the MT8781 - ROBOTICS LABORATORY during the year
2020-2021.

Lab-in-Charge Head of the Department

Submitted for the Practical Examination to be held on ……………………………….

Internal Examiner External Examiner

 INDEX

EXP. NO. DATE EXPERIMENT NAME PAGE MARKS STAFF

NO. INITIAL
 SUGUNA COLLEGE OF ENGINEERING
Nehru Nagar, Kalapatti Coimbatore – 641014.

Coimbatore – 641 014.

DEPARTMENT OF MECHATRONICS ENGINEERING

MT8781 - ROBOTICS LABORATORY

OBJECTIVES:

To introduce different types of robotics and demonstrate them to identify different parts and
components.
To write programming for simple operations.

LIST OF EXPERIMENTS

1. Determination of maximum and minimum position of links.

2. Verification of transformation (Position and orientation) with respect to gripper and
world coordinate system
3. Estimation of accuracy, repeatability and resolution.
4. Robot programming and simulation for pick and place
5. Robot programming and simulation for Color identification
6. Robot programming and simulation for Shape identification
7. Robot programming and simulation for machining (cutting, welding)
8. Robot programming and simulation for writing practice
9. Robot programming and simulation for any industrial process (Packaging, Assembly)
10. Robot programming and simulation for multi process.
 MT8781 ROBOTICS LABORATORY

LIST OF EXPERIMENTS
1. Determination of maximum and minimum position of links.
2. Verification of transformation (Position and orientation) with respect
to gripper and world coordinate system
3. Estimation of accuracy, repeatability and resolution.
4. Robot programming and simulation for pick and place
5. Robot programming and simulation for Colour identification
6. Robot programming and simulation for Shape identification
7. Robot programming and simulation for machining (cutting, welding)
8. Robot programming and simulation for writing practice
9. Robot programming and simulation for any industrial process
(Packaging, Assembly)
10.Robot programming and simulation for multi process.
EX.NO: DATE:

STUDY OF DIFFERENT TYPES OF ROBOTS BASED ON

CONFIGURATION AND APPLICATIONS
AIM:
To study the different types of robots based on configuration and applications
ROBOT PHYSICAL CONFIGURATION:
Wrist component, arms, body.The limits of the robot joint movement
ROBOT WORK VOLUME:
It is the form that refers to the space in which the robot can manipulate its wrist
end. work volume for various anatomies the work volume is determined by the above
configurations.
TYPES OF ROBOTS:
Cylindrical configurations
Spherical configuration
Polar configuration
Cartesian arm robot
POLAR CONFIGURATION:
It uses a telescopic arm that can be raised or lowered about a horizontal pivot.
The point is mounted on a rotating base. These various joints are pivoted provide
the robot.
Its capacity to move it arm with in a separate spherical space and hence the name
spherical co ordinate robot is sometimes applied to this type.
Advantages:
 Simple Design
 High Pay Load
 Light in Weight
 Easy to Program
 Good Precision

Disadvantages:
  Low Mechanical Rigidity
 More sophisticated Control System than Cartesian or Cylindrical
 Limited Vertical Movement
 Positional Error is proportional to the radial at which the arm is operating.

CYLINDRICAL CONFIGURATION:
The cylindrical configuration uses a vertical column and a slide that can be
moved up or down along the column.
The robot arm is attached to the slide so that it can be moved radially with
respect to the column.
By rotating the column, the robot is capable of achieving a workspace that
approximates a cylinder.
Advantages:
 Rigid Structure
 Easy to program off line
 Good Repeatability and Accuracy

Disadvantages:
 Lower Mechanical Rigidity
 Repeatability and lower accuracy in direction of Rotary movement.

CARTESIAN CO-ORDINATE:
The Cartesian co-ordinate robot uses three perpendicular slides to construct the
x, y, z axes.
Other names are sometimes applied to this configuration including x, y, z and
rectilinear.
By moving the three slides, relative to one another, the robot is capable of
operating within a rectangular work envelope.
Gantry robot is another name used for Cartesian robots that are generally large
and posses the appearance of a gantry-type one.
Advantages:
 Simple Control
  Easy to visualize
 Rigid structure
 High Degree of Mechanical rigidity

Disadvantages:
 Limited in movement
 Require large Floor space for the large Structure

JOINT-ARM ROBOT:
Its configuration is similar to that of the human arm.
It consists of two straight components corresponding to the human forearm
and upper arm mounted on a vertical pedestal.
These components are connected by two rotary joints corresponding to the
shoulder and elbow.
A wrist is attached to the end of the forearm, thus providing several additional
joints.
Advantages:
 Most Flexible
 Versatile Configuration
 Range Work Envelope

Disadvantages:
 Sophisticated Controller is required
 Complex Programming

RESULT:
Thus the different type of robots configuration are studied.
Polar (Spherical) Robot

Cartesian Industrial Robot

Cylindrical Robot

Jointed Arm Robot

Polar Coordinate Robot Application
EX.NO: DATE:

STUDY OF DIFFERENT ROBOT APPLICATIONS

AIM:
To study the different type of robots applications.
TYPE OF ROBOT APPLICATIONS:
* Polar configuration robot
*Cylindrical configuration robot
*Cartesian configuration robot
*Joint arm robot.
ROBOT APPLICATIONS:
Robots are employed in a wide assortment of applications in industry. Today
most of the applications are in manufacturing to move materials, parts and tools of
various types.
Future applications will increase non-manufacturing tasks such as construction
works, exploration of space and medical care.
Sometimes in the distant future, a household robot may become a mass
produced item, perhaps as automobiles.
APPLICATION OF POLAR CONFIGURATIONS:
In this polar configuration, the robots are used in industrial application like
material handling and unloading application.
In these robots, the robots function is to move material or parts from one
location in the work to some other location.
The MAKER110 in material handling operation, loading and unloading of a
production machine is included within the scope of the material handling applications.
APPLICATION OF JOINT ARM ROBOTS:
Processing applications includes spot welding, spray painting and other
operations in which the function of the robot is to manipulate a tool to accomplish
some manufacturing process in the work cell.
Spot welding represents particularly important applications in the processing.
APPLICATIONS OF CARTESIAN ROBOT:
Assembly &inspection: T000hese are two separate operations which we
include together in this category.
Robotic assembly in a field is of great importance cause of its economic
potential.
The SCARA robot is performing assembly operation.
Inspection would make use of sensors to gauge and measure quality
characteristics of manufactured product.

RESULT:
Thus the different types of robots applications are studied.
 CARTESIAN ROBOT IN INSPECTION

JOINT ARM ROBOT FOR PICK AND PLACE APPLICATION

EX.NO: DATE:

STUDY OF DIFFERENT TYPES OF LINKS & JOINTS USED

IN ROBOTS
AIM:
To study the different types of links & joints used in robots.
ROBOT MANUALS:
Industrial robots are designed to perform productive work. The work is
accomplished by enabling the robot to move its body, arm and wrist through a series
of motions and positions.
Attached to the wrist is the end effector which is used by the robot to perform a
specific work task.
The robot’s movements can be divided into two general categories: arm and
body motions, and wrist motions.
The individual joint motions associated with these two categories are
sometimes referred to by the term “degrees of freedom”, and a typical industrial robot
is equipped with 4-6 degrees.
The robot’s motions are accomplished by means of powered joints. The joints
are normally associated with the action of the arm and body, and two or three joints
are generally used to actuate the wrist.
TYPES OF JOINTS
Linear – L
Rotational – R
Twisting – T
Revolving – V

L-JOINTS:
Linear motions involve a sliding or translational motion of the connecting
links.
 Our concern here is not with the mechanical details of the joint ,but rather with
the relative motion of the adjacent links.
We shall refer to the linear joint as a type L joint. The term prismatic
joint is sometimes used in the literature in the place of linear joint.
R- JOINTS:
In this type of R joint the axis of rotation is perpendicular t the axes of the two
connecting links.
The second type of rotating joint involves a twisting motion between the input
and output links.
The axis of rotation of the twisting joint is parallel to the axes of both links.
T- JOINTS:
It is the third of rotating joint. A revolving joint in which the input link is
parallel to the axis of rotation and the output link is perpendicular to the axis of
rotation.
V-JOINTS:
In essence, the output link revolves about the input link as if it were in orbit.
This joint will be designed as a type V joint. The arm& body joints are
designed to enable the robot to move its end effectors to a desired position within the
limits of robot’s size & joints.
THREE – DEGREES OF FREEDOM:
We know that these degrees of freedom must be used by links and joints; it is
associated with the arm & body of polar coordinate robot.
For robots of polar, cylindrical, joined –arm configuration, the 3degrees of
freedom associated with the arm & body motions are:
Vertical Traverse – this has the capability to move the wrist up or down to
provide the desired vertical attitude.
Radial Traverse – this involves the extension or retraction of the arm from the
vertical centre of the robot.
Rotational Traverse – this is the rotation of the arm about the vertical axis
The degrees of freedom are associated with the cylindrical configuration robot.
 For a Cartesian coordinate robot the three degrees of freedom are vertical
movement (z- axis movement) in & out movement.
And right or left movement (x-axis movement). These are achieved by
corresponding movements of the three orthogonal slides of the robot arm.
3-DEGREES OF FREEDOM ASSOCIATED WITH ROBOT WRIST:
The robot wrist movement is designed to enable the robot to orient the end
effectors properly with respect to the task to be performed.
The hand must be oriented at the appropriate angle with respect to the
workspace in order to grasp it.
To solve this orientation problem, the wrist is normally provided with up to 3
degrees of freedom
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 its center position, the pitch
would involve the up or down rotation of the wrist. Wrist pitch is also sometimes
called wrist band.
WRIST YAW – again, given that the wrist swivel is in the center position of
its range, wrist yaw would involve the right or left rotation of the wrist.

RESULT:
Thus the different types of links & joints used in robots were studied.
DIFFERENT TYPES OF ROBOTIC LINKS

DEGREES OF FREEDOM
DEGREES OF FREEDOM ASSOCIATED WITH ROBOT WRIST
EX.NO: DATE:

STUDY OF COMPONENTS OF ROBOTS WITH DRIVE

SYSTEM & END EFFECTOR
AIM:
To study of components of robots with drive system and end effectors
ROBOTS DRIVE SYSTEM:
The robots capacity to move its body, arm and wrist is provided by the drive
system used power the robots.
The drive system determines the speed of the arm movement, the strength of the
robot and its dynamic performance.
To some extent, the drive system determines the kind of application that the robot
can accomplish.
TYPES OF DRIVE SYSTEM:
Commercially available industrial robots are powered by one of three types of
drive system. These three systems are
 Hydraulic drive
 Electric drive
 Pneumatic drive

HYDRALIC DRIVE:
Hydraulic drive is generally associated with the larger robots, such as the unimate
2000 series.
The usual advantage of hydraulic drive system is that it provides the robot with
greater speed& strength.
Rotary vane actuator can be utilized to provide rotary motion, and hydraulic piston
can be used to accomplished linear motion.
Disadvantages:
It is typically, adds to the floor space required by the robot and that are hydraulic
drive system can be designed to designed to accurate either rotational joints or linear
joints.
ELECTRIC DRIVE SYSTEM:
Electrical drive systems do not generally provide us much speed or power as
hydraulic system.
However the accuracy and repeatability of electric drive robots are usually
better.
Electric motor can be used to actuate linear joints by the means of the pulley
system o other translational mechanism.
PNEUMATIC DRIVES:
Pneumatic drive is generally reversed for smaller robots that posses fewer degree
of freedom.
These robots are often limited to simple “PICK AND PLACE” operation with fact
cycle.
Pneumatic power can be easily adapted to the actuator of piston devices to provide
transition movements of sliding joints.
END EFFECTOR:
The end effectors is a devices that attaches to the wrist of the robot arm and
enables the general purpose robot to perform a specific task it is also called as hand of
robot.
TYPES OF END EFFECTOR:
 Gripper
 Tools

GRIPPER:
 Gripper or eng effectors are used to gross and hold objects.
 Gripper as to move work parts cartons, saw materials and tools
 Gripper can be classify as single gripper
RESULT:
Thus the components of robot with drive system and end effectors work studied
Types of End Effectors
EX.NO: DATE:

ESTIMATION OF ACCURACY & RESOLUTION OF ROBOTIC ARM

AIM

To estimate the accuracy and resolution of five axis controlled robot

PROCEDURE

1. Being the robot to the reference position.

2. Then move the robotic arm in the required direction to do work using a teach pendent.
3. Mark the position on accuracy of position somewhere in the workplace of the robot.
4. Mark the arm to pick the job and place of the robot.
5. Execute the program to verify the accuracy.
6. Return the robot to the reference position.
7. Provide the small in technical changes to robot to determine its resolution.
8. The return for the robot to the reference position

RESULT:

Thus the Resolution and Accuracy of the 5 axis Robot is determined.

FLOW CHART:

Home

Axis 1 300

Axis 2 65

Axis 3 75

Axis 4 120

Axis 5 80
FIRST OPERATION

Gripper pick

Axis 1 200

Axis 2 25

Axis 3 25

Axis 4 90

Axis 5 75

Axis Gripper place

Delay 200
EX.NO: DATE:
ROBOT PROGRAM EXERCISE
MAX & MIN POSITION LINKS
AIM
To program the robot to study its point of continuous motion
PROCEDURE
 Bring robot to ref position.
 Then move the robot arm in the required direction to do the work using a teach
pendant.
 Make arm to place the job & place it in a specialized place.
 Execute the program to perform the task for a number of times.

TABULAR COLUMN:
 Maximum Position Link length Max Position Link length

A1 A1

A2 A2

A3 A3

A4 A4

A5 A5

RESULT:
Thus the program was executed to verify the robot continuous path movement.
 POLAR TYPE ROBOT WORL ENVELOPE

CYLINDRICAL TYPE ROBOT WORL ENVELOPE

CARTESIAN TYPE ROBOT WORL ENVELOPE
EX.NO: DATE:

DETERMINATION OF ROBOT - CONTINUOS POSITION

LINKS

AIM

To program & to determine the maximum & minimum position links

PROCEDURE

 At the minimum position of links at 0 & the link length is 487

 At each axis of minimum levels the limit length is changed
 At the maximum level determine the method
 At the maximum level position value is 320 & link length is 487
 At each axis of minimum levels both the position & link is changed
 Then the max position of home is reached
 Hence the max & min position of the link is determined
FLOW CHART:

Home

Axis 1 300

Axis 2 65

Axis 3 75

Axis 4 120

Axis 5 80 Place the object

Pick the object Axis5 75

Axis1 200
Axis4 90

Axis2 25 Axis3 35
RESULT

Thus the position was executed & determined the max & min position of links.
EX.NO: DATE:

ROBOT PROGRAM EXERCISE – PONT TO POINT MOTION

AIM

To program the robot to study its point to point motion

PROCEDURE

* Bring the robot to reference position.

* Then move the robot arm in the required direction to do the work using teach pendent.

* Make arm to piece the job & place it in specified place.

* Execute program to program to perform task for number of times.

FLOW CHART:

Home

Axis 1 300

Axis 2 65

Axis 3 75

Axis 4 120

Axis 5 80 Place the object

Pick the object Axis5 75

Axis1 200
Axis4 90

Axis2 25 Axis3 35
RESULT

Thus the point to point motion in a robot is executed.