INDUSTRIAL ROBOTS

PRESENTED BY:
Sachin Dhopade
B.E IV/IV
Ph No. 09866584839
sachin_dhopade2001@yahoo.com

Mechanical Engineering (Production)

MVSR
ABSTRACT:
Changes in today’s manufacturing environment allow
tedious,fatiguing and repetitive tasks to be mechanically
performed by robots, as manually controlled work is
transition to auto-cycle control equipment.Such changes tend
to take advantage of, and expand upon, an operators process
knowledge. As this trend continuous, the operator’s
contribution becomes more technically oriented and less
physically oriented with significantly greater product output
being released.
 A robot is a reprogrammable multifunctional manipulator
designed to move materials , parts , tools or specialized
devices through variable programmed motions for the
performance of variety of tasks.
 A robot may include a feedback-driven connection between
sense and action, not under direct human control, although
it may have a human override function. The action may take
the form of electro-magnetic motors or actuators (also
called effectors) that move an arm, open and close grips, or
propel the robot. The step by step control and feedback is
provided by a computer program run on either an external
or embedded computer or a microcontroller. By this
definition, a robot may include nearly all automated
devices.
 Two basic ways of using effectors are to move the robot
around (locomotion) or to move other objects around
(manipulation). This distinction divides robotics into two
mostly separate categories: mobile robotics (moving) and
manipulator robotics (grabbing). The most notable exception
to this rule is the self-reconfigurable robot which potentially
is able to use its effectors in three basic ways: locomotion,
manipulation and self-reconfiguration, where the robot
changes its own shape and/or function to better solve the task
at hand.
 Alternately, robot has been used as the general term for a
mechanical man, or an automaton resembling an animal, either real
or imaginary. It has come to be applied to many machines which
directly replace a human or animal in work or play. In this way, a
robot can be seen as a form of biomimicry. Lack of
anthropomorphism is perhaps what makes us reluctant to refer to
the highly complex modern washer-dryer as a robot. However, in
modern understanding, the term implies a degree of autonomy that
would exclude many automatic machine tools from being called
robots. It is the search for ever more highly autonomous robots or
cognitive robots which is the major focus of robotics research and
which drives much work in artificial intelligence.The term robot is
also often used to refer to sophisticated mechanical devices that
are remotely controlled by human beings, such as waldoes and
ROVs, even though these devices are not autonomous……
 In industries the robots are widely used for developing and
improving the productivity and quality of product . The
industrial are used in various fields applicable in following
categories . In this paper we deal with the current , feature
& future applications of industrial robots…..
INTRODUCTION:
AUTOMATION & ROBOTICS:

DEFINITIONS

The art of making processes or machines self-acting or self-

moving. Also pertains to the technique of making a device,
machine, process or procedure more fully automatic.

The automatic, self regulating control of equipment, systems,

or processes
A manufactured product that is made through a series of
machines all controlled through sensors, electronics, and
computer control.

Robotics is the science or study of the technology

associated with the design, construction, theory and
application of robots. Robotics requires a working
knowledge of electronics, mechanics and software
DESCRIPTION:
 
 Basically automation is classified into 3 types

1) Fixed automation
2) Flexible automation
3) Programmable automation
1.FIXED AUTOMATION:

Fixed automation is used when the volume

of production is very high and it is therefore appropriate to
design specialized equipment to process the product or
component of the product very effectively efficiently and at
high production rate.

Ex: The best example is in manufacturing of bolts & nuts of

same size.
2.FLEXIBLE AUTOMATION :
 
This type of automation is
categorized between Fixed and Programmable Automation, it
possess some of the features of both Fixed & Programmed
Automation. It must be programmed for different
configurations, but the variety of configurations is usually
more limited than for programmable automation, which
allows a certain amount of integration to occur in the system.

Ex: The best example is in manufacturing of bolts & nuts of

different sizes.
3.PROGRAMMABLE AUTOMATION :
 
It is used when volume of production is
relatively low and there are variety of products to be made
.In this case, the production equipment is designed to be
adoptable to variations in product configurations For a given
product the adaptability feature is accomplished under the
control of “ PROGRAM” of instructions.
EX:
 Of the three types of automation, robotics coincides most closely
with programmable automation. It is a step beyond
mechanization, where human operators are provided with
machinery to help them in their jobs. The most visible part of
automation can be said to be industrial robotics. ...

 An industrial robot is a general-purpose, programmable machine

which possess certain anthropomorphic, or human like
characteristics. The most typical characteristic of present-day
robots is there movable arms. The robot can be programmed to
move its arm through a sequence of motions in order to perform
some useful task. It will repeat the motion pattern over and over
until reprogrammed to perform some other task. Hence, the
programming feature allows robots to be used for a variety of
different industrial operations, many of which involve the robot
working together with other pieces of automated or semi-
automated equipment . These operations include Machine
loading& Unloading , Spot welding ,Spray painting……
 Robots may have various forms and may perform many
different tasks, but technically speaking, their structure and
behaviour are based much on the same principles.
 The structure of a robot is usually mostly mechanical and can
be called chain (its functionality is more or less like the
skeleton of a body). The chain includes the robot’s actuators
and is composed by links (that can be compared to bones),
which are connected by joints. Each section can pivot, bend
and/or rotate from one state to another. Additional components
may include some sensors to give information about the
surroundings or the robot itself and motors to move the
actuators (they perform actions – move the robot, move parts
of the robot, manipulate objects, etc.).
 Robots are used to do tasks that are too dull, dirty, or
dangerous for humans. Industrial robots used in
manufacturing lines used to be the most common form of
robots, but that has recently been replaced by consumer
robots cleaning floors and mowing lawns. Other applications
include toxic waste cleanup, underwater and space
exploration, surgery, mining, search and rescue, and
searching for IEDs and land mines. Robots are also finding
their way into entertainment and home health care
CONTROL SYSTEMS AND
COMPONENTS:
 Every robot consists of five major components:
 
1. The input to the system.
2. The controller and actuating devices.
3. The plant (process being controlled).
4. The out put of the system.
5. Feedback elements(sensors).
ROBOT ANATOMY:
Robot anatomy is concerned
with the physical construction
of the body, arm and wrist of
the machine. Most of the
robots used in plants
(industries) today are mounted
on a base which is fastened to
the floor. At the end of the arm
is the wrist. The Wrist consists
of no of components that allow
it to be oriented in a variety of
positions.
 Relative movements between the various components of the
body , arm and wrist are provided by series of joints .These
movements involve either rotating or sliding motions .These
components all together called Manipulators.. Attachment to
the robot’s wrist is a hand , technical name for hand is “End
Effectors”
END EFFECTORS:
 An End Effectors is a device that attaches to the wrist of the
robot arm and enables the general-purpose robot to perform a
specific task Special-purpose tools are attached to this End
Effectors.

 Types of End Effectors are:

1. Grippers
2. Tools
GRIPPERS
Grippers are end effectors used to
grasp and hold objects .The
objects are generally work-parts
that
are to be moved by the robot .
These part-handling
applications include
loading and unloading and
many more . Types of grippers
1.Vacuum cups
2.Magnetic Grippers
3.Adhesive Grippers
4.Hooks, Scoops ,and other
miscellaneous devices
TOOLS AS END EFFECTORS:
In many applications ,the robot is
required to manipulate a tool
rather than a work-part. In a limited
no. of these applications the end
effector is gripper that is designed
to grasp and handle the
tool . The use of a gripper permits
the tools to be exchanged during
the cycle, and thus facilitates this
multi-tool handling function.
Some of the tools used as end
effectors are:
1.Drilling
2.Welding
3.Painting and more…
APPLICATIONS OF INDUSTRIAL
ROBOTS:
 In industries the robots are widely used for developing
and improving the productivity and quality of product .
The industrial are used in various fields applicable in
following categories . In this paper we deal with the
current , feature & future applications of industrial
robots…..
CURRENT APPLICATIONS:
 In current applications the robots are used in the following
fields:-
 Material handling
 Handling and the manufacturing processes
 Welding
 Spray painting
 Assembly
 Machining
 Inspection
 Nuclear Fields
 Rehabilitation
1. MATERIAL HANDLING:
It is further classified into two types :
  1.Machine loading and unloading
2.Material transfer
2.WELDING:
To the robots wrists the welding gun is arranged and the
job is programmed and perform sequence of welding .
The robot can perform various welding processes :
 Spotwelding
 Arc welding
3.SPRAY PAINTING:
This is a dangerous operation
of human beings because of the
fire hazard and a fine mist of a
Car Cinogenic . To over come this
problem these robots are used.
ASSEMBLY:
It is an important application of
robots. The assembly systems
using the robots are mainly
used for small products .
The assembly robots can
be designed in a coordinate,
Cartesian and Articulated.
FEATURE APPLICATIONS:
The feature applications of robots are seen in the following
fields:
 Coal mines
 Waste disposals
 Security
 Agricultural
 Utilities , Military and Fire fighting operations
 Under sea
 Teaching
 Bank tellers
 Medical
 Space
FUTURE APPLICATIONS:
 Robotics will probably continue its spread in offices and
homes, replacing "dumb" appliances with smart robotic
equivalents. Domestic robots capable of performing
many household tasks, described in science fiction
stories and coveted by the public in the 1960s, are likely
to be eventually perfected.
 There is likely to be some degree of convergence between
humans and robots. Some humans are already cyborgs with
some body parts and even parts of the nervous system
replaced by artificial analogues, such as Pacemakers. In
many cases the same technology might be used both in
robotics and in medicine . As of 2005, the robotic arm
business is getting to a mature state, where they can provide
enough speed, accuracy and ease of use for most of the
applications . Other developments include downsizing
industrial arms for consumer applications and using
industrial arms in combination with more intelligent
Automated Guided Vehicles (AGVs) to make the
automation chain more flexible between pick-up and drop-
off. 
CONCLUSION:

 These industrial robots play a vital role in manufacturing

industries, and there is a bright and wide future for these
robots. Despite the enormous work put in by the earlier
researchers, there is an immense scope for research for
further development in this field.
BIBLIOGRAPHY:
 Industrial robotics P.Groover M. Weiss Roger N Nagel
 Robotics-Control Sensing Viscon & Inteligence K.S.F.V

 Fundementals Of Robotics Robert.Jschilling

 Automation & Cad-Cam Groover

 Industrial Robots YV.Kozyrev, Mir Publications