Robotics Introduction

CHAPTER-1

SUBMITTED BY:
Mrs. Mugdha Shrivastava
Mechanical Engg. Deptt.
 Introduction
1. Need and importance of the robot
2. Basic concepts,
3. Structure and classification of industrial
robots,
4. Terminology of robot motion,
5. Motion characteristics,
6. Resolution, accuracy, repeatability,
7. Robot applications.
 Automation vs. robots
• Automation –Machinery designed to carry out a specific task
– Bottling machine
(These are always better
– Dishwasher than robots, because they
can be optimally
– Paint sprayer designed for a particular
task).

• Robots – machinery designed

to carry out a variety of tasks
– Pick and place arms
– Mobile robots
– Computer Numerical Control
machines
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 A Robot
Robot Definition:
Robot comes from the Czech word “robota”, that means
tireless work
The difference between a robot and a manipulator
 Run by a computer or microprocessor not a human
 Controlled by feedback devices
 Mostly autonomous
 Definition of a Robot ?
 Random House Dictionary
A machine that resembles a human being and does
mechanical routine tasks on command.

 Robotics Association of America

An industrial robot is a re-programmable, multifunctional
manipulator designed to move materials, parts, tools, or
specialized devices through variable programmed motions for
the performance of a variety of tasks.
 Laws of Robotics
 Asimov proposed three “Laws of Robotics”

 Law 1: A robot may not injure a human being or

through inaction, allow a human being to come to
harm.
 Law 2: A robot must obey orders given to it by
human beings, except where such orders would
conflict with the first law.
 Law 3: A robot must protect its own existence

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 Components Of a Robots

Power Supply

Actuators

Electric motors (DC/AC)

Sensors

Controller
Power Supply
The working power to the robot is provided by batteries,
hydraulic, solar power, or pneumatic power sources.

Actuators
Actuators are the energy conversion device used inside a
robot. The major function of actuators is to convert energy
into movement.

Electric motors (DC/AC)

Motors are electromechanical component used for
converting electrical energy into its equivalent mechanical
energy. In robots motors are used for providing rotational
movement.
 Sensors
Sensors provide real time information on the task
environment. Robots are equipped with tactile sensor it
imitates the mechanical properties of touch receptors of
human fingerprints and a vision sensor is used for computing
the depth in the environment.

Controller
Controller is a part of robot that coordinates all motion of the
mechanical system. It also receives an input from immediate
environment through various sensors. The heart of robot's
controller is a microprocessor linked with the input/output and
monitoring device. The command issued by the controller activates
the motion control mechanism, consisting of various controller,
actuators and amplifier.
 Robot Consist of:
• A manipulator (or an industrial robot) is composed of
a series of links connected to each other via joints.
Each joint usually has an actuator (a motor for eg.)
connected to it.

• These actuators are used to cause relative motion

between successive links. One end of the
manipulator is usually connected to a stable base and
the other end is used to deploy a tool.
 Robotics?
Robotics is the art, knowledge base, and the know-
how of designing, applying, and using robots in human
endeavors.

Robotics is an interdisciplinary subject that benefits

from mechanical engineering, electrical and electronic
engineering, computer science, biology, and many
other disciplines.
 History of Robotics

1922: Karel Čapek’s novel, Rossum’s Universal Robots, word

“Robota” (worker)
1952: NC machine (MIT)
1955: Denavit-Hartenberg Homogeneous Transformation
1967: Mark II (Unimation Inc.)
1968: Shakey (SRI) - intelligent robot
1973: T3 (Cincinnati Milacron Inc.)
1978: PUMA (Unimation Inc.)
1983: Robotics Courses
21C: Walking Robots, Mobile Robots, Humanoid Robots
 Robot Anatomy
Robot Anatomy :
• Actuators : Actuators are the muscles of the manipulators. Common
types of actuators are servomotors, stepper motors, pneumatic
cylinders etc.

• Sensors : Sensors are used to collect information about the internal

state of the robot or to communicate with the outside environment.
Robots are often equipped with external sensory devices such as a
vision system, touch and tactile sensors etc which help to
communicate with the environment

• Controller : The controller receives data from the computer, controls

the motions of the actuator and coordinates these motions with the
sensory feedback information.
 Work Envelope concept
•Depending on the configuration and size of the links
and wrist joints, robots can reach a collection of points
called a Workspace.

•Alternately Workspace may be found empirically, by

moving each joint through its range of motions and
combining all space it can reach and subtracting what
space it cannot reach
 Robot Configurations
Some of the commonly used configurations in Robotics are

• Cartesian/Rectangular Gantry(3P) : These Robots are made of 3 Linear

joints that orient the end effector, which are usually followed by additional
revolute joints.
 Robot Configurations (cont’d)
• Cylindrical (R2P): Cylindrical coordinate Robots have 2 prismatic joints and
one revolute joint.
 Robot Configurations (cont’d)
•Articulated/anthropomorphic(3R) :An articulated robot’s joints are all
revolute, similar to a human’s arm.
 Robot Configurations (cont’d)
• Selective Compliance Assembly Robot Arm (SCARA) (2R1P): They have
two revolute joints that are parallel and allow the Robot to move in a
horizontal plane, plus an additional prismatic joint that moves vertically
 Robot Applications
(Configurations/Characteristics)
SCARA Robot Characteristics:
(Selective •Repeatability: < 0.025mm (high)
Compliance •No. of axes: min 4 axes
Assembly Robot •Vertical motions smoother,
Arm)
quicker, precise (due to dedicated
vertical axis)
•Good vertical rigidity, high compliance
in the horizontal plane.
•Working envelope: range < 1000mm
•Payload:10-100 kg
•Speed: fast 1000-5000mm/s

Applications:
•Precision, high-speed, light assembly
Robot Applications (Configurations / C h aracteristics)
Cylindrical Coordinate Characteristics:
Robot •Wide range of sizes
•Repeatability: vary 0.1-0.5mm
•No. of axes: min 3 arm axes (2
linear)
•Working envelope: typically large
(vertical stroke as long as radial
stroke)
• The structure is not compact.
•Payload: 5 - 250kg
•Speed: 1000mm/s, average
•Cost: inexpensive for their size
Applications:
and payload
•Small robots: precision small assembly tasks
•Large robots: material handling, machine
Robot Applications (Configurations / C h aracteristics)
Vertical Articulated Characteristics:
Arm Robot •Repeatability: 0.1-0.5mm (large sizes
not adequate for precision assembly)
•No. of axes: 3 rotary arm-axes,
2-3 additional wrist axis
(excellent wrist articulation)
•Working envelope: large relative to
the size, Structure compact, but not
so rigid
•Payload: 5-130kg
•Tool tip speed: fast 2000mm/s

Applications: Welding, painting, sealing, deburring, and material

handling
Robot Applications (Configurations / C h aracteristics)
Spherical Coordinate Characteristics:
Robot •Repeatability: poor 0.5-1mm
•No. of axes: 3 arm-axes (1 linear
radial), 1-2 additional wrist-axes.
•Working envelope: large vertical
envelope relative to the unit size
•Payload: 5-100 kg
•Speed: low (linear motions are not
smooth and accurate- require
coordination of multiple axes)

Applications: Material handling, spot welding, machine

loading
Robot Applications (Configurations / C h aracteristics)
Cartesian Coordinate Characteristics:
Robot •Repeatability: high (0.015-
0.1)
•No. of axes: 3 linear arm-
axis,
•Working envelope:relative
large
•Payload:5- 100kg
•Speed: fast

Applications: Precise assembly, arc welding, gluing, material

handling
Robot Applications (Configurations / C h aracteristics)
Gantry Characteristics:
Robot •Repeatability: 0.1-1mm
•No. of axes: 3 linear traverse-axes,
1-3 additional wrist axes
•Working envelope: very large
•Payload: vary function of size,
support very heavy 10-1000kg
•Speed: low for large masses

Applications:
Handling very large parts, moving material on long distances, welding,
gluing.
Robot Configurations
 Robots degrees of freedom
 Degrees of Freedom: Number of
independent position variables which
would has to be specified to locate all
parts of a mechanism.
 In most manipulators this is usually the
number of joints.
 Robots degrees of freedom

Consider what is the degree of Fig. 3

1 D.O.F. 2 D.O.F. 3 D.O.F.

Fig. 1.3 A Fanuc P-15 robot.

Reprinted with permission from Fanuc Robotics, North Amer-
ica, Inc.
 CONTROL METHODS
Classification According to control
system
• Non Servo Control
– implemented by setting limits or mechanical
stops for each joint and sequencing the
actuation of each joint to accomplish the
cycle
– end point robot, limited sequence robot, bang-
bang robot
– No control over the motion at the intermediate28
points, only end points are known
• Programming accomplished by
– setting desired sequence of moves
– adjusting end stops for each axis accordingly
– the sequence of moves is controlled by a
“squencer”, which uses feedback received from
the end stops to index to next step in the program
• Low cost and easy to maintain, reliable
• relatively high speed
• repeatability of up to 0.01 inch
• limited flexibility
• typically hydraulic, pneumatic drives

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Servo Control:
• Open loop
• Closed Loop control used to monitor
position, velocity (other variables) of
each joint, gives feedback of the system

Classification according to work system:

 Point to point Control e.g Pick and place,
Loading unloading.
 Continuous Path Control e.g. Arc welding,
Spray painting.
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 Point-to-Point Control
• Only the end points are programmed, the
path used to connect the end points are
computed by the controller
• user can control velocity, and may permit
linear or piece wise linear motion
• Feedback control is used during motion to
ascertain that individual joints have
achieved desired location

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• Often used hydraulic drives, recent trend
towards servomotors
• loads up to 500lb and large reach
• Applications
– pick and place type operations
– palletizing
– machine loading, unloading

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 Continuous Path Controlled
• in addition to the control over the
endpoints, the path taken by the end
effector can be controlled
• Path is controlled by manipulating the
joints throughout the entire motion, via
closed loop control
• Applications:
– spray painting, polishing, grinding, arc
welding

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Types of Mechanical Joints for Robots
Robot Joints

Prismatic Joint: Linear, No rotation involved.

(Hydraulic or pneumatic cylinder)

Revolute Joint: Rotary, (electrically driven with stepper motor, servo motor)
 Robot Coordinates

Fig. 1.4

 Cartesian/rectangular/gantry (3P) : 3 cylinders joint

 Cylindrical (R2P) : 2 Prismatic joint and 1 revolute joint
 Spherical (2RP) : 1 Prismatic joint and 2 revolute joint
 Articulated/anthropomorphic (3R) : All revolute(Human arm)
 Selective Compliance Assembly Robot Arm (SCARA):
2 paralleled revolute joint and 1 additional prismatic joint
Robot Workspace

Fig. 1.7 Typical workspaces for common robot configurations

 Motion Control Methods

– Point to point control

• a sequence of discrete points
• spot welding, pick-and-place, loading &
unloading
– Continuous path control
• follow a prescribed path, controlled-path
motion
• Spray painting, Arc welding, Gluing
 ROBOT CHARACTERISTICS
• Payload
Payload is the weight a robot can carry
• Reach
Reach is the maximum distance a robot can reach
within its work envelope.
• Precision
Precision is defined as how accurately a specifies point
can be reached
• Repeatability
Repeatability is how accurately the same position can
be reached if the motion is repeated many times.
 Wrist Configurations

 Wrist assembly is attached to end-of-arm

 End effector is attached to wrist assembly
 Function of wrist assembly is to orient end effector
 Body-and-arm determines global position of end
effector
Two or three degrees of freedom:
Roll

 Pitch

Yaw
 Repeatability
Ability to position back to a point that was previously
taught

• Repeatability errors form a random variable.

• Mechanical inaccuracies in arm, wrist components
• Larger robots have less precise repeatability values
 Spatial Resolution
(Precision)
Smallest increment of motion of the tool that can be controlled
by the robot

Depends on the position control system, feedback

measurement, and mechanical accuracy
 Accuracy
Capability to position the tool at a target point in the work
volume

•One half of the distance between two

adjacent resolution points
• Affected by mechanical Inaccuracies
• Manufacturers don’t provide the accuracy
(hard tocontrol)
 The Advantages of Industrial Robots
• Competitive Advantage
– Robots can do some things more efficiently and
quicker than humans.

• Mechanical
– Robots never get sick or need to rest, so they can
work 24 hours a day, 7 days a week.
– Greater output per hour with consistent quality
– Continuous precision in repetitive operation.
 Limitations of Robotics
Today's robots:
• Are not creative or innovative
• Can not think independently
• Can not make complicated decisions
• Can not learn from mistakes
• Can not adapt quickly to changes in
their surroundings
Every successful business must depend on
real people for these abilities.
 Robot Application
 Machine loading
 Pick and place operations
 Welding
 Painting
 Sampling
 Assembly operation
 Manufacturing
 Surveillance
 Medical applications
 Assisting disabled individuals
 Hazardous environments
 Underwater, space, and remote locations
 Advantages VS. Disadvantages of Robots
Advantage:
 Robots increase productivity, safety, efficiency, quality, and consis-
tency of products.
 Robots can work in hazardous environments without the need.
 Robots need no environmental comfort.
 Robots work continuously without experiencing fatigue of problem.
 Robots have repeatable precision at all times.
 Robots can be much more accurate than human.
 Robots replace human workers creating economic problems.
 Robots can process multiple stimuli or tasks simultaneously.
Disadvantage:
 Robots lack capability to respond in emergencies.
 Robots, although superior in certain senses, have limited capabili-
ties in Degree of freedom, Dexterity, Sensors, Vision system, real
time response.
 Robots are costly, due to Initial cost of equipment, Installation
costs, Need for Peripherals, Need for training, Need for program-
ming.
Thank You