Name: P.Jyothi Branch: Bio-Medical Engineering Institute: Govt. Institute of Electronics Subject: Robotics
Name: P.Jyothi Branch: Bio-Medical Engineering Institute: Govt. Institute of Electronics Subject: Robotics
JYOTHI
BRANCH : BIO-MEDICAL ENGINEERING
INSTITUTE : GOVT. INSTITUTE OF ELECTRONICS
SUBJECT : ROBOTICS
OBJECTIVES
Upon completion, you should be able to understand about
• Definition of automation and robotics.
• List the types of industrial automation and definition of fixed,
programmable and flexible automation.
• Explain history of robotics.
• Classify Robots.
• Mention the four common robot configurations.
• Explain three laws of robotics(Asimov).
• Explain Anatomy of Robot.
OBJECTIVES
• Explain Robot motions.
• List the three degrees of freedom associated with arm and body
motions.
• Explain the several types of joints used in robots with necessary
diagrams.
• Mention about joint notion scheme.
• Mention the physical characteristics of robot to determine the
work volume.
• List various Robot specifications.
• List the various applications of robots.
Automation and Robotics
• Automation :- Automation is a technology that is concerned with the
use of mechanical, electronic and computer based system in the
operation and control of production. Examples of this technology
include transfer lines, mechanized assembly machines, feedback
control systems, numerically controlled machine tools and robots.
• Robotics:- An industrial robot is a reprogrammable, multifunctional
manipulator designed to move materials ,parts, tools or special devices
through variable programmed motions for the performance of a variety
of tasks.
List the types of industrial automation and definition of fixed,
programmable and flexible automation
There are three broad classes of industrial automation:-
1. Fixed Automation
2. Programmable Automation
3. Flexible Automation
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 products
very efficiently and at high production rates. A good example of fixed automation can be
found in the automobile industry, where highly integrated transfer lines consisting of
several dozen work stations are used to perform machining operations on engine and
transmission components. The risk encountered with fixed automation is that since the
initial investment cost high, if the volume of production turns out to be lower than
aniticipated, then the unit costs become greater than anticipated.
Relationship between fixed automation, programmed automation and
flexible automation as a function of production volume and production
velocity
• Programmable Automation:- Programmable Automaton s used when the
volume of production s relatively low and there are a variety of products to
be made. In this case, the production equipment is designed to be adaptable
to variations in product configuration. This adaptability feature is
accomplished by operating the equipment under the control of a program
instructions which has been prepared especially for the given products.
• Flexible Automation:- There is a third category between fixed automation
and programmable automation which is called “flexible automation” other
terms used for flexible automation include “flexible manufacturing systems”
and “computer integrated manufacturing systems”. The concept of flexible
automation has only developed into practice within the past 15 or 20 years.
Experience thus for with this type of automation suggests that it is most
suitable for the mid volume production range as shown in diagram.
As indicated by its position relative to the other two types flexible systems
posses some of the features of both fixed automation and programmable
automation. It must be programmed for different product configuration ,but
the varieties of configuration is usually more limited than for programmable
automation, which allows a certain amount of integration to occur in the
system.
History of robotics
Date Development
Mid 1700’s Built several human sized mechanical dolls that played music.
1801 Invented a programmable machine for weaving threads or yarn into cloth.
1805 Invented a mechanical doll capable of drawing pictures.
1946 Developed a controller device that could record electrical signals magnetically and play them back to
operate a mechanical machine .
1951 Development work on tele operators for handling radio active materials.
1952 Pan programming language called APT(automatically programmed tooling) subsequently developed.
1960 First “unimate” robot introduced, based on programmed ankle transfer. It used numerical controlled
principles for manipulator control and was a hydraulic drive robot.
1961 Unimate robot installed.
1966 Built and installed a spray painting robot.
1968 A mobile robot was developed. It was developed with variety of sensors, including a vision camera and touch
sensors and can move on the floor
1983 A pilot projects for a flexible automated assembly line using wools.
1990’s Robot development diversified into walking robots at MIT, Honda etc….Rehabilitation robots for health care,
as well as robots for defense and space applications.
2000’s Micro and Nano robots using smart materials , unnamed Ariel vehicles and underwater robotics.
Classification of Robots
Robots can be classified into 2 broad categories.
• Based on Application :
1. Industrial robots
2. Tele robots
3. Explorer robots
4. Laboratory robots
5. Educational robots
6. Medical robots
• Based on Configuration:-
1. Polar configuration
2. Cylindrical configuration
3. Cartesian coordinate configuration
4. Jointed Arm configuration
Four Robot Configurations
• Polar configuration
The polar configuration uses a telescoping arm that can be raised or
lowered about a horizontal pivot is mounted on a rotating base. These
various joints provide the robot with the capability to move its arm with
in a spherical space, and hence the name “Spherical coordinate”robot is
sometimes applied to this type .
• 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 radically with respect to the column. By rotating
the column the robot is capable of achieving a work space that approximates
a cylinder.
• Cartesian coordinate configuration
The cartesian coordinate robot uses three perpendicular slides to construct
the x y and z axis. Other names are sometimes applied to this configuration
including x y z robot and rectilinear robot. By moving the three slides relative
to one another, the robot is capable of operating with a rectangular work
together.
• Joint Arm configuration
The joint arm robot is made up of rotating joints this robots configuration is
also sometimes is called anthropomorphic as its anatomy is similar to human
arm.
The joints used in the design of industrial robots typically involve a relative
motion of the adjoining links that is either linear or rotational. Linear joints
involve a sliding or translational motion of connecting links. The motion can
be achieved in a number of ways. There are at least three types of rotating or
revolute joints that can be distinguished in robot manipulators. The three
types [rotational, revolving, Twisting] and in each case the difference is that
rotation takes place about an axis perpendicular to the axis or parallel to the
axis between the two adjacent links. Sometimes the revolute joint is further
classified as pure rotational[R], Twisting[T], and revolving[R]. The Revolute
joint is mostly referred to as a type R joint ( R stands for revolute). Both the
prismatic joint and the revolute joint have one degree freedom each.
Combining a revolute joint prismatic joint we can get a cylindrical joint, that
has two degree of freedom [cylindrical figure], An another type of joint is not
very common in robots but very common in biological systems is the ball and
socket joint as shown in spherical joint. The joint has the largest range of
motion and has three degree of freedom.
Joint notion scheme