Robotics and Automation

Professional Elective
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Introduction

What is Robotics:
• Robotics is a form of industrial automation.

• Robotics is the science of designing and building robots

suitable for real-life applications in automated manufacturing
and non manufacturing environment.

• ‘Robota’ means either a slave or mechanical item that would

help its master.

• A robot carries out the task done by a human being.

• A robot may do assembly work where some sort of

intelligence or
• decision making capability is expected.

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Various Definitions of Robot:

A Robotics Industries Association in November, 1979 defined Robot

as
“a re-programmable multifunctional manipulator
designed to move material, parts, tools or
specialized device through various programmed
motions for the performance of a variety of tasks”.
• The reprogrammability has got its meaning only when a
computer or a microprocessor is interfaced with it.

• It can perform various activities, sometimes it can use end

effectors to move raw materials for further processing.

• Webster’s defined robot as “an automatic device that

performs functions ordinarily ascribed to human beings”.

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Introduction

Industrial automation:

Automation is nothing but the “technology” that is

concerned with the use of mechanical, electronic
and computer based systems in the operation
and control of production.

The three basic classification of industrial automation

are:
(i) Fixed automation

(ii) Programmable automation

(iii) Flexible automation. 4

Industrial automation:
Fixed Automation :Volume of production is very high, then the
fixed automation is implemented.

Eg: Mainly finds its application in automobile industry, where the

product needs to be transferred to various number of
workstations.

Programmable Automation: Volume of production is very low,

then the programmable automation is implemented.

Eg: In this automation, the instructions are followed by the

‘program’.

Flexible Automation: It is a computer-integrated manufacturing

system. Flexible automation system consists of a series of
workstation that are interconnected by a material handling and
storage system.

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Industrial automation:

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LAWS OF ROBOTICS:
Law 1:
A robot may not injure a human being, or, through
inaction, allow a human to be harmed.

Law 2:
A robot must obey orders given by humans except
when they conflicts with the first law.

Law 3:
A robot must protect its own existence unless that
conflicts with the first or second law.

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History of Robotics:

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TYPES OF ROBOT:
The common types of robot are:

(i) Industrial Robot.

(ii) Laboratory Robot.

(iii) Explore Robot.

(iv) Hobbyist Robot.

(v) Class Room Robot.

(vi) Educational Robot.

(vii) Tele-Robots.

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TYPES OF ROBOT:
Types of Industrial Robot:
(i) Sequence Robot.
(ii) Playback Robot.
(iii) Intelligent Robot.
(iv) Repeating Robot.
Based on physical configuration:
(i) Cartesian co-ordinate
configuration.
(ii) Cylindrical co-ordinate
configuration.
(iii) Polar co-ordinate configuration.
(iv) Joined arm configuration.
Based on control system:
(i) Point to point robots.
(ii) Straight line robots.
(iii) Continuous robot.

Based on movement:
(i) Fixed robot. 10
(ii) Mobile robot.
 Based on Sensory systems:
TYPES OF ROBOT:
(i) Intelligent robot.

Based on Types of Drive: (ii) Vision robot.

(i) Pneumatic drive. (iii) Simple and blind robot.

(ii) Electric drive. Based on Application:

(iii) Hydraulic drive. (i) Manufacturing.
(ii) Handling.
Degrees of freedom: (iii) Testing.
(i) Single degree of freedom.
Based on path control:
(ii) Two degree of freedom.
(i) Stop-to-stop.
(iii) Three degree of
(ii) Point-to-point.
freedom.
(iii) Controlled path.
(iv) Six degree of freedom.
(iv) Continuous. 11
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1. Linear joint (L). The relative movement between the input link
and the output link is a linear sliding motion, with the axes
of the two links being parallel.
2. Orthogonal joint (O). This is also a linear sliding motion, but the
input and output links are perpendicular to each other
during the move.
3. Rotational joint (R). This type provides a rotational relative
motion of the joints, with the axis of rotation perpendicular
to the axes of the input and output links.
4. Twisting joint (T). This joint also involves a rotary motion, but
the axis of rotation is parallel to the axes of the two links.
5. Revolving joint (V). IN this joint type, the axis of the input link
is parallel to the axis of rotation of the joint, and the axis of
the output link is perpendicular to the axis of rotation.
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TYPES OF ROBOT:
A typical classification system of robot is based on skill of
operation

required in various manufacturing applications.

They are,

1.Low accuracy contouring (For spray painting, spot welding,

etc.)

2. Low accuracy point-to-point (Loading, unloading from heat

treatment furnaces, die casting machine, etc.)

3. Moderate accuracy contouring (arc welding, deburring etc.)

4. Moderate accuracy point-to-point (Forging,

loading/unloading
machine tools, part orientation, etc.)
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5. Close tolerance and assembly application.

ROBOT SPECIFICATION:
The common robot specifications are given as below:
1. Spatial resolution.
2. Accuracy.
3. Repeatability.
4. Compliance.
5. Pitch.
6. Yaw.
7. Roll.
8. Joint Notation.
9. Speed of motion.
10. Pay Load.

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ROBOT SPECIFICATION:
1. Spatial Resolution:
It is the smallest increment of movement into which the robot
can divide its work volume.

The spatial resolution depends on two factors.

1. Control resolution.

2. Mechanical resolution.

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ROBOT SPECIFICATION:
1. Control Resolution:
• Control resolution is determined by the robot’s position
control system and its feedback measurement system.

• Controller’s ability to divide the total range of movement

for the particular joint into individual increments that can
be addressed in the controller.
Number of increments = 2n

2. Mechanical Inaccuracy:
• Mechanical inaccuracy comes from elastic deflection in
structural members, gear backlash, stretching of pulley
cords, leakage of hydraulic fluids and other imperfections in
the mechanical system.

• These inaccuracies tend to be worse for larger robots simply

because the errors are magnified by the larger components.

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ROBOT SPECIFICATION:
2.Accuracy:
• Accuracy refers to a robot’s ability to position its wrist end
at a desired target point within the work volume.

• The accuracy of a robot can be defined in terms of spatial

resolution because the ability to achieve a given target point
depends on how closely the robot can define the control
increments for each of its joint motions.

• The moment the mechanical inaccuracy reduces the robot

accuracy, we could initially define accuracy under this worst
case assumption as one half of the control solution.

Accuracy = Control Resolution/2

Fig. Shows the mechanical inaccuracies would affect the ability to

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reach the target position.
ROBOT SPECIFICATION:
3. Repeatability:
• Repeatability is concerned with the robot’s ability to position
its wrist or an end effecter at a point in space that had
previously been brought.

• Repeatability refers to the robot’s ability to return to the

programmed point when commanded to do so.

• Repeatability errors form a random variable and constitute a

statistical distribution.

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ROBOT SPECIFICATION:
4. Compliance:
• The compliance of the robot manipulator refers to the
displacement of the wrist end in response to a force or torque
exerted against it.

•Compliance is important because it reduces the robot’s

precision of
movement under load. If the robot is handling a heavy load,
weight of the load will cause the robot arm to deflect.

• If the robot is pressing a tool against a work-part, the reaction

force of the part may cause deflection of the manipulator.

• Robot manipulator compliance is a directional features.

•The compliance of the robot arm will be greater in certain

directions
than in other directions because of the mechanical construction
of the arm.
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ROBOT SPECIFICATION:
5. Three degree of freedom wrist assembly:
5.1 To establish the orientation of the object, we can define
three degrees of freedom for the robot’s wrist as shown in
Figure.

• The following is one possible configuration for a three DOF,

wrist assembly.
1. Roll: This DOF, can be accomplished by a T-type joint to
rotate the object about the arm axis.

2. Pitch: This involves the up-and-down rotation of the

object, typically by means of a type R joint.

3. Yaw: This involves right-to-left rotation of the object, also

accomplished typically using an R-type joint.

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ROBOT SPECIFICATION:
5. Joint Notation scheme:

• The physical configuration of the robot manipulator can be

described by means of joint notation scheme.

• This notation scheme is given by using the joints L, R, T, V.

The common four types of joints are:
1. Linear (L)
2. Rotational (R)
3. Twisting (T)
4. Revolving (V)
• The joint notation scheme permits the designation of more or
less
than the three joints typically of the basic configurations.

• Joint notation scheme can also be used to explore other

possibilities for configuring robots, beyond the common four
types LVRT.
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ROBOT SPECIFICATION:
6. Joint Notation scheme:
•.For example:
•The notation TLR: TR represents a 5-d.o.f. manipulator whose
body-and-arm is made up of a twisting joint (joint 1).

•A linear joint (joint 2) and a rotational joint (joint 3).

•The wrist consists of two: a twisting joint (joint 4) and a

rotational joint (joint 5).

•A colon separates the body-and-arm notation from the wrist

notation.

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ROBOT SPECIFICATION:
7. Speed of Motion:
•The speed capabilities of current industrial robot range up to a
maximum of about 1.7 m/s.
•Generally the speed of motion is measured at the wrist.
• High speed can be obtained by large robot with the arm
extended to its maximum distance from vertical axis.
• Hydraulic robots are faster than the electric drive robots.

The factors by which the speed of the robot determined

are:

1.The accuracy with which the wrist must be positioned.

(inverse relationship between the accuracy and the speed).
2. The weight of the object that is being manipulated.
(Heavier object means greater inertia and momentum)
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3. The distance to be moved.
ROBOT SPECIFICATION:
7. Speed of Motion:

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ROBOT SPECIFICATION:
8. Pay load:
•The size, configuration, construction and drive systems are
determined payload of the robot.
•The load carrying capacity is specified under the condition of
robot’s arm in its weakest position.

•For polar, cylindrical or Joined-arm configuration, the robot arm

is at maximum extension.

The common pay load carrying capacity of industrial robot

ranges from 0.45 kg. for small robots and 450 kg. for very large
robot.

Example:
•If the rated load capacity of a given robot were 3 kg. and the
end
effectors weighed 1 kg., then the net weight carrying capacity31
of
the robot would be only 2 kg.
ROBOT SPECIFICATION:
*. ROBOT PARTS AND THEIR FUNCTIONS:

1. As per the application, the operator starts the cycle.

2. Signal is sent to the robot controller through an external feed

back.
3. On the basis of the command, the controller sends signal to
manipulator.
4.Once signal is received in the manipulator, the operation of
the
robot will start.

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Parts of a Robot:
*. A robot has six major components, they are as follows.
1. Power source
2. Controller
3. Manipulator
4. End effector
5. Actuator
6. Sensors.

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Advantages

*. BENEFITS OF ROBOT:

1. Increased accuracy.

2. Increased applications.

3. Rich in productivity.

4. Reduced labor charges.

5. Reduces scrap and wastage

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NEED FOR ROBOT
★ In initial stage, major applications of robot have been in
unpleasant and hazardous task.

★ Robots have found wide applications in doing repetitive and

monotonous job where consistency and product quality are
primary
importance.

★ Usually robots are suitable for automated task which requires

little sensing capability.

★ The need for robot is emerging in the field of Flexible

Manufacturing System (FMS).

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*. Flexible Manufacturing System (FMS).
FMS is an integrated group of processing CNC machines and material-handling
equipment under computer control for the automatic processing of palletized
parts.

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APPLICATIONS
*).MANUFACTURING APPLICATIONS OF ROBOT:

• Material handling
• Machine loading / unloading
• Spray painting
• Welding
• Machining
• Assembly
• Inspection

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APPLICATIONS :
NON MANUFACTURING ROBOTIC APPLICATIONS:
1. Hazardous Environment:
• Mining
• Service
• Nuclear
• Space
• Under sea
• Medical
• Distribution
• Others:
• Agricultural purpose.
• Hobby / household purpose.
• Military
• Non-manufacturing area.
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Scope
#) THE FUTURE OF ROBOTICS:

The trends in the future robotics are in the development of

1. Robotic vehicle.
2. Space robotics.
3. Humanoid and walking robots.
4. Personal and service robots.
5. Robots for biological applications.
6. Robots for medical applications.
7. Sensor integrated intelligent robot and for health care
some times called network robot.

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End of Unit-1

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