Unit 1

Q1- What is industrial robotics? Mention the types of industrial robots.?

Industrial robotics refers to the application of robotic technology in industrial settings to automate
various tasks and processes. It involves the use of programmable machines, often referred to as
industrial robots or simply robots, to perform repetitive, precise, and sometimes hazardous tasks
that were traditionally carried out by humans.

Industrial robots are designed to operate in manufacturing plants, warehouses, and other industrial
environments. They are typically equipped with mechanical arms or manipulators that can be
programmed to perform specific tasks, such as assembly, welding, painting, packaging, material
handling, and quality control.

Types of industrial robots

o Stationary Robots (Robotic Arms)
There are seven main types of stationary robots available on the market. By stationary, we mean
robots that are bolted to the floor, the ceiling, or some other surface - they are not
mobile
o Autonomous Mobile Robots
o Wheeled Carts
o Autonomously Guided Vehicles (AGV)
o AMRs with Robot Arms
o Legged Robots
o Spherical AMRs
o Flying Robots (Aerial Drones)
o Underwater robots

Q2- What are the different types of robotic arms? Mention their
characteristics and uses.
There are seven main types of stationary robots available on the market. By stationary, we mean
robots that are bolted to the floor, the ceiling, or some other surface - they are not
mobile. Generally, stationary robots are robotic arms designed for tasks like picking and
placing, sorting, assembling, welding, and finishing.

Different types of robotic arms, and their characteristics and uses.

i) Articulated Robotic Arms
ii) Cartesian or Rectangular Robots
iii) SCARA Robots
iv) Polar or Spherical Robots
v) Delta or Parallel Robots
vi) Gantry Robots
vii) Cylindrical
viii) Collaborative Robots/ Cobots
i) Articulated Robotic Arms:
- Characteristics: Consist of multiple rotary joints, offering a wide range of motion and flexibility. They
mimic the structure and movement of a human arm.
- Uses: Suitable for various applications, including welding, painting, material handling, assembly, and
precise operations in industries such as automotive, aerospace, and electronics.
-Advantages: Most flexible movement of all the robot arm types. Can be quite powerful, capable
of lifting heavy objects.

ii) Cartesian or Rectangular Robots:

- Characteristics: Have three linear joints, enabling movement along the X, Y, and Z axes in a
rectangular coordinate system. They operate in a Cartesian space.
- Uses: Ideal for tasks requiring precise and linear movements, such as pick-and-place operations,
assembly, packaging, and 3D printing.

iii) SCARA Robots (Selective Compliance Articulated Robot Arm):

- Characteristics: Feature rigid arms with two parallel rotary joints that provide compliance in the
horizontal plane. They offer fast and precise movements.
- Uses: Commonly used in assembly, packaging, material handling, and other applications that
demand speed and accuracy, such as electronics manufacturing and food packaging.

iv) Polar or Spherical Robots:

- Characteristics: Have a rotary base and at least one rotary joint for the arm, resembling a polar
coordinate system. They offer a large working envelope.
- Uses: Suitable for applications requiring a wide range of motion, such as painting, welding,
assembly, and inspection tasks.

v) Delta or Parallel Robots:

- Characteristics: Feature a parallel structure with multiple arms connected to a common base. They
use parallelograms to control the position and orientation of the end effector.
- Uses: Commonly used in high-speed pick-and-place operations, packaging, sorting tasks, and
applications that require fast and precise movements, particularly in the food and beverage industry.

vi) Gantry Robots:

- Characteristics: Utilize a gantry structure with three or more linear axes, where the robotic arm
moves along overhead rails or tracks.
- Uses: Suitable for applications that require large payloads, long reach, and high precision, such as
material handling, assembly, and CNC machining.

vii) Cylindrical Robots:

- Characteristics: Consist of a rotational joint at the base and a prismatic joint for vertical movement.
The arm forms a cylindrical coordinate system.
- Uses: Often used for assembly, pick-and-place tasks, and operations in circular workspaces, such as
loading and unloading machines or packaging.

viii) Collaborative Robots/ Cobots:

- Characteristics: Designed to work safely alongside humans in a shared workspace, often with built-
in sensors and safety features. They have varying configurations depending on the application.
- Uses: Used in collaborative tasks, including assembly, inspection, packaging, and other applications
where humans and robots work together, enhancing productivity and safety.

Each type of robotic arm has unique characteristics that make it suitable for specific applications, and
the choice depends on factors such as required reach, precision, payload capacity, and workspace
constraints.

Q3 - Draw the articulated robot arms with its movement axis. Why it is called
as End of Arm Tooling (EoAT)?

The term "End of Arm Tooling" (EoAT), it refers

to the equipment or attachments mounted at
the end of the robot arm. These tools or
attachments are specifically designed to
perform various tasks, such as gripping,
welding, painting, or any other application
required for a particular task. The EoAT is
interchangeable and can be customized based
on the specific application or task at hand. It is
called "End of Arm Tooling" because it refers to
the tools and devices positioned at the end of
the robot arm, directly interacting with the
workpiece or environment.
Q4- Draw the Cartesian robots with its movement axis. State its advantages
and disadvantages.

Advantages: Simple control system. Depending on the model, can

lift very heavy
objects. Accurate. Rigid in all three axes. Less expensive than
articulated arms.

Disadvantages: Cannot do rotational movements.

These robots use the Cartesian coordinate system (X, Y, and Z) for
linear movements along the
three axes (forward and backward, up and down, and side to side).
All three joints are
translational, which means the movement of the joint is restricted
to going in a straight line. This
is why such robots are also called “linear” robots.

Q5 - How SACRA robot and polar robot are different from cartesian robots?

• SCARA robots have a rigid arm with parallel rotary joints and excel in fast and precise
movements in the horizontal plane.
• Polar robots have a rotary base and offer a wide range of motion in a polar coordinate
system, making them suitable for tasks requiring dexterity in circular workspaces.
• Cartesian robots have linear joints and provide precise linear motion along the X, Y, and Z
axes. Each robot type is suited for specific applications based on their unique characteristics
and range of motion.

Q6- What are the general considerations in robotic material handling system?

Part positioning and orientation

In most parts-handling applications the parts must be presented to the robot in a known position
and orientation. Robots used in these applications do not generally possess highly sophisticated
sensors (e.g., machine vision) that would enable them to seek out a part and identify its orientation
before picking it up.
Gripper design
Special end effectors must be designed for the robot to grasp and hold the workpart during the
handling operation.
Minimum distances moved
The material-handling application should be planned so as to minimize the distances that the
parts must be moved.
This can be accomplished by proper design of the workcell layout (e.g., keeping the equipment
in the cell close together), by proper gripper design (e.g., using a double gripper in a machine
loading/unloading operation), and by careful study of the robot motion cycle.
Robot work volume
The cell layout must be designed with proper consideration given to the robot’s capability to
reach the required extreme locations in the cell and still allow room to maneuver the gripper.
Robot weight capacity

There is an obvious limitation on the material handling operation that the load capacity of the
robot must not be exceeded.
A robot with sufficient weight-carrying capacity must be specified for the application.
Accuracy and repeatability
Some applications require the materials to be handled with very high precision. Other
applications are less demanding in this respect. The robot must be specified accordingly.
Robot configuration, degrees of freedom, and control
Many parts transfer operations are simple enough that they can be accomplished by a robot with
two to four joints of motion.
Machine-loading applications often require more degrees of freedom. Robot
control requirements are unsophisticated for most material-handling operations.
Palletizing operations, and picking parts from a moving conveyor are examples where the control
requirements are more demanding.
Machine utilization problems
It is important for the application to effectively utilize all pieces of equipment in the cell.
In a machine loading/unloading operation, it is common for the robot to be idle while the
machine is working, and the machine to be idle while the robot is working.
In cases where a long machine cycle is involved, the robot is idle a high proportion of the time.
To increase the utilization of the robot, consideration should be given to the possibility for the
robot to service more than a single machine.
One of the problems arising in the multi machine cell is machine interference.

Material transfer, machine loading and unloading

Material-handling applications include material transfer and machine loading and unloading.
Material-transfer applications require the robot to move materials or work parts from one
location to another. Many of these tasks are relatively simple, requiring robots to pick up parts
from one conveyor and place them on another.
UNIT 2
Q1 - What is the meaning of robotic vision system? How it is useful in the
industries?

The Robotic vision system means process of extracting, characterizing and interpreting
information from images. It has a potential application in many industrial operations. Involves
selection from a bin or conveyer, parts identification, limited inspection like gauging, print
quality inspection etc. Researches undergoing in vision based guidance of robot arm, complex
inspection, improved recognition and part location capabilities. Challenges- Low cost, rapid
response time.
A robotic vision system refers to the integration of visual perception capabilities into a robotic
system. It involves the use of cameras, sensors, and image processing algorithms to enable robots to
perceive and understand their environment visually. The robotic vision system allows robots to
gather information from visual data, interpret it, and make informed decisions based on the visual
input.
The main purpose of a robotic vision system is to enhance the robot's ability to interact with the
surrounding environment. It provides robots with the capability to recognize objects, locate and track
targets, measure distances, detect defects or anomalies, and perform other visual tasks. The
information obtained from the vision system can be used to guide the robot's actions, enable object
manipulation and interaction, and facilitate complex tasks.
• Object Recognition: Robots can accurately identify and locate objects, facilitating tasks like
pick-and-place operations and assembly.
• Navigation: Robots equipped with vision systems can perceive obstacles, navigate complex
environments, and avoid collisions, improving efficiency and safety.
• Automation: Robotic vision systems play a vital role in automating processes, increasing
productivity, and reducing human intervention.
Overall, robotic vision systems enable robots to gather visual information, make informed decisions,
and interact intelligently with their surroundings, making them valuable tools in various industries.

Q2 - What are the basic steps involved in the robotic vision system?

Six Steps

● Sensing - Process that yields a visual image.

● Pre-processing – Noise reduction, enhancement of details.

● Segmentation – Partitioning of an image into object of interest.

● Description – Computation of features to differentiate objects.

● Recognition – Process to identify objects

● Interpretation – Assigning meaning to group of objects

Q3 - How to recognize the object and categorize the models?

Classification / object recognition and categorization
1. 2D or 3D model

Checking dimensions of a part, presence of a component on a subassembly etc can be done by

2D analysis which includes simple thresholding techniques.

3D requires special lighting and image processing algorithms.

2. Number of grey scale

Binary images using black or white. Otherwise, a grey scale is used.

Image Acquisition

● Capturing the image using vision camera.

● Relative light intensities from Analog to digital conversion.

● Sampled spatially.

● Quantized in amplitude

● Results in digital image

● The frame grabber for image storing (pixel array) and computation.

Hardware

● Vidicon tube

● Solid state imagers

1. CCD – Charged Coupled Devices

2. CID – Charge Injection Devices

3. CMOS – Complementary Metal Oxide Semiconductors.

4. Foveon – a chip of transparent quartz containing 3 layers of CMOS.

Illumination/depth representation

1. Diffuse lighting

● For smooth regular objects.

Back Lighting

● Binary image

● For recognition, measurement etc.

Q4 – What are the steps followed in the A/D signal conversion?

A/D signal Conversion

● Sampling

A given analog signal is sampled periodically to obtain a series of discrete time analog signals.

● Quantization

Each sampled discrete time voltage level is assigned to a finite number of defined amplitude

levels. These amplitude levels corresponds to the grey scale used.

● Encoding

Amplitude levels to binary digit sequence

Q5 - How to do the image processing and analysis in the robotic vision

system?
Image processing and analysis/ image data compression

1. Image data reduction

Objective is to reduce the volume of data.

● Digital Conversion
It reduces the number of grey levels used.

● Windowing
Portion of the total image for analysis.

● File formats and Compression

Orderly sequence of data used to encode digital information for storage or exchange.
Common file formats
I. Tagged Image File Format (TIFF)
II. Portable Network Graphic (PNG)
III. Joint Photographic Experts Group File Interchange Format (JPEG or JFIF)
IV. Graphic Interchange Format (GIF)

Compression
I. Redundancy reduction
Looks for patterns and repetitions can be expressed efficiently
II. Irrelevancy reduction
Removes or alter information that makes little or no difference to the perception of the image.
• Lossless compressions
Based on redundancy reduction and typically concentrate on more efficient ways of encoding the
image data.
• LZW compression
Lempel, Ziv and Welch. Looks for recurrent patterns in the image’s raster data, replacing these
with codes, giving the most common patterns the shortest codes. Eg. Gif files.
• Lossy compressions

Based on irrelevancy reduction, giving larger reduction and it is Irreversible

• Jpeg compression
First step is Discrete Cosine Transforms to shift the image’s colour values into a mode that can
be more efficiently compressed and coded.
Next step is Quantisation, simplifies and round the colour values before they are encoded.
• Blockiness
Higher compressions so low quality. Boundaries between the blocks will begin to show, causing the
“blockiness’
• Newer Approaches Fractal compression
Looks for recurrent shapes and patterns and replace with equations. More computing power. eg. STN
format

Q6- Explain the robotic visual inspection with its pipeline.?

Robotic visual inspection refers to a camera and lighting gear mounted on the end-effector of a
robot and the robot moves to inspect multiple points on the same object/test piece for features.
The robot can be programmed to automatically detect a sequence of locations on the object.

The addition of a new location for inspection and its features characteristics into the programmed
sequence is an easy step. With the option to control the incidence angle of the camera using the
robot’s end-effector orientation, the best images can be obtained for inspection.
The pipeline involves camera configuration, robot motion configuration, communication with
PLC for data logging, and final result generation. This helps today's factories ensure their
products are not sub-standard and the fault is detected at the origin and not multiple steps down
the complete production line.

Fig. Robotic visual inspection pipeline

High-resolution images from the camera are processed in real-time for feature matching and
success is determined by whether the matching percentage is greater than the user-configured
threshold value. Usually, the robot is connected to a PLC that synchronizes the motion of the
robot against the test piece and its various test locations. It also communicates with the conveyor
and how the test piece is presented to the robot.
UNIT 3

Q1 - How robots are used in the spot welding? Explain with its process
parameters.?

The spot welding of car bodies is the most well-known use of industrial robots, mainly because
the motor industry is in the public eye more than most; also, a spot-welding line with its showers
of sparks and large number of robots is more spectacular than a solitary robot unloading a die-
casting machine. A typical spot-welding line is shown in Figure 7.6. Twelve Cincinnati Milacron
HT 3 robots on each line together make 300 spot welds on each body shell; this line can handle
43 bodies an hour.

In spot welding, which is only useful for moderately resistive metals such as mild steel, in thin
sheets, two pieces to be joined are clamped between copper electrodes and enough current is
passed through the point of contact to heat the steel to melting point by resistance heating. AC
power can be used, and is applied for typically 1/5 s. The welding head needs thick cables and
cooling hoses and can weigh as much as 100 kg (unless supported, as manually operated welding
guns are), so a powerful robot is needed. Most of the time is spent moving between welds, so it
needs to be fairly fast. Accuracy need not be extreme: a few millimetres may be good enough.
Spot welding is done both on static assemblies on indexed conveyors or AGVs (such as Fiat's
Robogate system) and on assemblies on continuously moving lines; in this case the robot must
be capable of being taught on a static assembly and then tracking a moving one. It will be able to
make only a limited number of welds before the assembly moves out of the tracking window.
The production line of Figure 7.6 uses a discontinuous conveying method.

In spot welding using robots, the process involves

• the preparation of workpieces,
• fixturing them securely in a welding fixture,
• and programming the robot to follow a specific welding path.
Suitable welding electrodes are selected and configured on the robot's end effector.
The robot's control system is set up with welding parameters, including current, voltage, time, and
electrode pressure.
The robot then executes the welding process by moving along the programmed path, applying
pressure between the electrodes to create heat and melt the metal at the welding spots.
After the current is turned off, the metal solidifies, forming a spot weld. Quality assurance measures
may be employed during the process to monitor weld quality.
Spot welding using robots offers precise, repeatable, and efficient welds, making it a popular choice
in industries such as automotive and manufacturing.

Q2- Elucidate about the spine robot used for paint spraying with a neat
sketch.

Because many pigments and solvents are poisonous, the automation of paint and other types of
spraying is desirable for health reasons as well as for reasons of economy and consistency.
Continuous path robots are needed, but need not be very precise. Since the solvent-laden
atmosphere is potentially explosive; precautions have to be taken to avoid sparks. The
workpieces often move on a continuous conveyor, so the ability to program or teach on a
stationary workpiece and then to reproduce the action while tracking a moving one is commonly
needed.
The number of degrees of freedom needed depends on the workpiece: for spraying flat panels on
one side a rather simple robot can be used, whereas to reach into the interior of a car body shell
requires a more dexterous one, such as the Spine robot (Figure 7.10), whose unusual geometry
allows it to reach like a snake or elephant's trunk through small openings.

Fig 7.10 Paint spraying by a Spine robot

The successful use of robots for spraying depends very much on care of the spraying equipment
to avoid clogging, mixing of colours and so on. Spraying robots are generally taught by lead-
through or walk-through, sometimes using a teaching arm. When the stored program is replayed
the actual movements can be modified by feedback from a conveyor so as to track a moving
workpiece.

• A spine robot for spray painting is an industrial robot used to apply paint or coatings onto
surfaces using a spray nozzle.
• It consists of a rigid backbone structure with a movable carriage that holds the paint spray
equipment.
• The robot is programmed to follow a predefined path or trajectory, synchronized with the
workpiece movement if necessary.
• A paint supply system ensures a continuous and controlled flow of paint to the spray gun.
The robot executes the spray painting process by moving along the programmed path while
releasing paint onto the workpiece's surface.
• Multiple layers or overlapping passes may be programmed to achieve proper coverage.
Sensors and monitoring systems can be employed for quality assurance.
• Spine robots for spray painting offer precise and consistent application of paint, enhancing
efficiency and ensuring high-quality paint finishes.

Q3- Mention the types of robots used for assembly. Which type of robot is
used for fast, high precision and good repeatability?

TYPES OF ROBOT FOR ASSEMBLY

• Pick and place arms, usually of cylindrical polar geometry, are often
used as they are fast, relatively cheap and of high precision;
 • Among servo-controlled robots, the Cartesian and SCARA configurations dominate. Both of
these have a mechanically defined vertical axis, which allows components to be inserted
vertically without the straightness of the motion depending on servo quality.

• Despite not having a vertical prismatic joint, all-revolute jointed arms such as Unimation's
PUMA are often used for assembly. The PUMA does have a good working envelope, but its
popularity is probably due more to the fact that it was the first arm of its speed and precision
to become readily available.

Among the most recent assembly robots the SCARA configuration is

perhaps the most common. An example is the IBM 7545 (see Figure 7.16). Repeatability is
±0.05 mm (±0.002 in). IBM also make a gantry-Cartesian assembly robot , the 7565, which,
unusually for an assembly robot, is hydraulically powered using an actuator in which a group of
four rams on the moving assembly in sequence press rollers against a wavy cam-bar (Figure
7.17) . The position transducer is also unusual, based on the travel time of a magnetostrictively
generated pulse along a wire. The wrist uses vane-type rotary hydraulic actuators.
Figure 7.18 shows the Pragma 3000, a Cartesian robot used for assembly. In addition to robots of
conventional geometry, new types such as the parallel-structure Gadfly are intended for
assembly, being designed for high speed and precision.

Q4 - What are the functions of cables used in the underwater robots? How
remotely operated vehicles (ROVs) work under the water?

Functions of the cable

1) Launching and retrieval: the cable supports the submersible during launch and recovery from
a ship by gantry or crane.
2) Power supply: submersibles use tens or hundreds of kilowatts, which would need massive
batteries if there were no cable.
3) Data transmission: in particular, video signals from underwater cameras need so much
bandwidth that wireless transmission is not practicable, although low resolution, low frame rate
television pictures can possibly be sent over an acoustic link if data compression techniques are
used. Research on this subject is being done by Heriot-Watt University, Edinburgh.

Remotely Operated Vehicles (ROVs) are robotic systems used for various underwater tasks, such as
exploration, inspection, maintenance, and research. Here's a brief explanation of how ROVs work:

1. Structure and Components: ROVs are typically composed of a remotely operated vehicle itself, a
control system, and a tether. The ROV is a submersible device designed to operate in water and is
equipped with cameras, lights, manipulator arms, and various sensors, depending on the specific
application.

2. Tether and Control System: The ROV is connected to the control system on the surface through a
long umbilical tether. The tether serves multiple purposes, providing power, video and data
transmission, and control signals between the operator and the ROV.

3. Operator Control: The ROV is controlled by an operator who operates a control console on the
surface. The control console typically includes joysticks, buttons, and screens to monitor the ROV's
camera feeds and sensor data. The operator's commands are transmitted through the tether, and the
control system relays them to the ROV for execution.
4. Underwater Navigation: ROVs utilize thrusters for movement in different directions underwater.
These thrusters provide propulsion and maneuverability to the ROV, allowing it to move forward,
backward, up, down, and rotate. The operator controls these movements through the control
console.

5. Cameras and Lights: ROVs are equipped with high-definition cameras and powerful lights to
capture video footage and provide visibility in the underwater environment. The camera feeds are
transmitted to the control console, allowing the operator to monitor and navigate effectively.

6. Manipulator Arms: Many ROVs are equipped with manipulator arms that enable them to perform
various tasks underwater. These arms are remotely controlled by the operator and can be used for
tasks such as retrieving objects, conducting repairs, or collecting samples.

7. Sensors and Data Collection: ROVs may be equipped with additional sensors and instruments,
depending on the specific application. These sensors can collect data on water parameters,
temperature, pressure, and other environmental factors, providing valuable information for scientific
research or industrial purposes.

8. Safety and Redundancy: ROVs are designed with safety features, including multiple thrusters and
redundancy systems. These features ensure the ROV can safely navigate, operate, and return to the
surface in case of any issues or failures.

ROVs provide a valuable tool for exploring and working in the underwater environment, as they can
reach depths that are beyond the capabilities of human divers. They allow for precise and controlled
operations underwater while providing real-time video and data feeds to the operator on the
surface, enhancing safety, efficiency, and productivity in various underwater tasks.
Unit 4

Q1- What is end effector? Draw the end effector attached to the robotic
arm.?

• The function of a robot is to interact with the surroundings. The robot does this by
manipulating objects and tools to fulfill a given task. The robot end effector becomes a
bridge between the computer-controlled arm and the world around it.
In robotics, an end effector is a device or tool connected to the end of a robot
arm. Basically, it is a tool to grip, hold, and transport objects and position them in a desired
location. End effectors are the devices through which a robot interacts with the world around it,
grasping and manipulating parts, inspecting surfaces, and working on them.

• An end effector is often different from a human hand. It could be a tool such as a gripper, a
vacuum pump, tweezers, scalpel, blowtorch, etc. or just about anything that helps to do the
job.
• A robotic end-effector is any object attached to the robot flange (wrist) that serves a
function.
• Robot end effectors are also known as robotic peripherals, robotic
accessories, robot tools or robotic tools, end of arm tooling (EOA), or end-of-arm devices.

Q2 - How the selections of grippers are made? Mention the factors that need
to be considered for selection of the gripper.?

CLASSIFICATION OF END EFFECTORS

An end effector covers a wide range of different tools and devices that can be classified into two
main categories:
1. Grippers
2. Tools for process applications
Grippers are end effectors that actually grip a part for transfer operations in the work envelope of
the robot. A gripper is a component of the robot used to manipulate an object loose from the
robot itself. This can be a component it needs to pick up, or the waste it is programmed to find
and dispose of. In many grippers, the mechanism is activated through a pneumatic piston that
moves the gripper’s fingers. A robot gripper is shown in Figure

SELECTION OF GRIPPER
The selection of gripper is usually made by examining the geometry of the part, its orientation,
the space available, and the manufacturing treatment to be performed.
External gripping is the most widely used type, where the closing force is utilized to clench the part.
An internal grip makes way for unobstructed access to the outside surface of the part, which is
necessary for polishing/buffing, grinding, or painting applications.
The opening force of the gripper is used to hold the part.
There are numerous types of grippers both in style and power source. Determining
which is the best type to use is an important issue that robotics users must face. Selection of the
gripper is based upon a number of factors that may need consideration:
• Source of power
• Gripping force
• Gripping style
• Weight
• Environmental capabilities
• Sensor capabilities
• Number of jaws
• Other factors

Q3- What are the factors influencing the choice of a robot?

Factors influencing the choice of a robot

For robotics systems to be introduced to the industrial world, they must have positive factors that
would make a difference in using them. The motivating factors can be categorized as: Technical
factors, Economic factors, Social factors

Technical Factors
Robots can do incomparable tasks that humans can’t do. It is generally considered that humans
can’t match the speed, quality, reliability, and the endurance of a robotic system.
In that they offer:
• High flexibility of product type and variation.
• Lower preparation time than hard automation.
• Better quality of products.
• Fewer rejects and less waste than labor intensive production.

Economic Factors
• The needs to increase production rates to remain competitive.
 • Pressure from the market place to improve quality.
• Increasing costs.
• Shortage of skilled labor.

Social Factors
Some people think that the use of robotized systems increases the unemployment of workers and
prevents many people from a main income. But the usage of robots causes a reduction of
workload on workers and prevents dangerous working conditions as robots can be used in
hazardous environments.

ROBOT SELECTION
Once the application is selected, a suitable robot should be chosen from the many commercial
robots available in the market. The characteristics of robots generally considered in a selection
process include:
• Size of class
• Degrees of freedom
• Velocity
• Drive type
• Control mode
• Repeatability
• Lift capacity
• Right-left, Up-down, and In-out traverse Yaw, pitch, and roll
• Weight of the robot

Q4- What is the impact of robot on today’s industry and society?

Robots have had a significant impact on both industry and society. Here are some key impacts:

1. Increased Efficiency and Productivity: Robots have revolutionized industries by automating tasks
that were previously done manually. They can work continuously, without breaks, and with high
precision, resulting in increased efficiency and productivity. Robots can perform repetitive tasks
quickly and accurately, freeing up human workers to focus on more complex and creative activities.

2. Improved Safety: Robots are capable of working in hazardous or dangerous environments that
may pose risks to human workers. By replacing humans in these environments, robots help mitigate
the potential for accidents and injuries. They can handle tasks involving toxic substances, extreme
temperatures, or high-risk operations, ensuring the safety and well-being of workers.

3. Cost Reduction: While the initial investment in robots can be significant, they can lead to long-
term cost savings. Robots can perform tasks with higher speed and accuracy, reducing production
time and minimizing errors. This results in improved quality control, waste reduction, and overall cost
efficiency in industries.

4. Job Transformation: The introduction of robots has led to a transformation of jobs rather than
mass unemployment. While some repetitive and manual tasks may be replaced by robots, new job
opportunities emerge in robot programming, maintenance, supervision, and other high-skilled roles.
The workforce needs to adapt and develop new skills to work alongside robots effectively.

5. Economic Impact: The use of robots in industries has the potential to drive economic growth and
competitiveness. Increased productivity and cost efficiency can lead to improved profitability for
businesses. Moreover, the robotics industry itself generates job opportunities and contributes to
economic development.

6. Healthcare and Assistance: Robots play a crucial role in the healthcare sector, assisting in
surgeries, providing rehabilitation support, and aiding in patient care. They can perform delicate and
precise tasks, enhancing medical outcomes and improving the quality of life for patients. Robots are
also used in elder care, assisting with daily activities and monitoring patients.

7. Social and Ethical Considerations: The growing presence of robots in society raises social and
ethical considerations. Discussions around job displacement, privacy concerns, and the impact on
human interaction and relationships emerge. Balancing the benefits of robots with their potential
drawbacks requires careful consideration and appropriate regulations.

Overall, robots have had a profound impact on industry and society, driving increased efficiency,
safety, and economic growth. While there are challenges and considerations, embracing robotics
technology can lead to positive advancements in various sectors, ultimately improving the overall
quality of life.

Q5- Grippers – Continuation – Out of Internals

Source of Power of gripper
According to source of power, grippers are classified as
(a) Pneumatic,
Pneumatic grippers have no motors or gears. So it is simple to translate the power of a
piston/cylinder system into a gripping force.
(b) Hydraulic,
Hydraulic grippers are a cost effective alternative to pneumatic grippers. The primary
advantage of a hydraulic actuator is its gripping power. Hydraulic power is used when there is a
need for extra gripping force. Because hydraulic fluid is not a compressible medium as is air,
there is more gripping power available.
(c)Electrical.
Electricity is the other major option when looking for a source of power for robotic grippers.
Electric grippers are a fairly new technology. They have not been cost effective until recently.
Electric grippers are suitable for applications that require high speeds and for those requiring
light or moderate grip forces.

Gripping Force
When considering the gripping force required, a number of factors must be considered. Not only
must the mass of the object to be gripped be taken into account but also the accelerations
imposed on it by the robot must be taken into account.

Gripping Style
The configurations of grippers include parallel and angular styles, and those with two or three
jaws. Parallel jaws move in a motion parallel in relation to the gripper body, while angular jaws
open and close around a central pivot point, moving in an arcing motion.

GRIPPING MECHANISMS
A gripper is specifically end of arm tooling that uses a mechanical mechanism and actuator to
grasp a part with gripping surfaces. Fingers are designed to:
Physically mate with the part for a good grip.
Apply enough force to the part to prevent slipping.
Typical mechanisms
• Linkage actuation
• Gear and rack
• Cam
• Screw
• Rope and pulley
• Miscellaneous, e.g., bladder, diaphragm

TYPES OF GRIPPERS
Robotic end effectors include everything from simple two-fingered grippers and vacuum
attachments to elaborate multifingered hands. The grippers are classified as:
1. Passive grippers
2. Active grippers

Passive Grippers
Most end effectors in use today are passive, i.e., they emulate the grasps that people use for
holding a heavy object or tool, without manipulating it in the fingers. However, a passive end
effector may be equipped with sensors, and the information from these sensors may be used in
controlling the robot arm. Passive grippers can hold parts, but cannot manipulate them or
actively control the grasp force.

Active Grippers
These include active servo grippers and dexterous robot hands found in research laboratories and
teleoperated applications. Here the distinctions depend largely on the number of fingers and the
number of joints or degrees of freedom per finger. Servo-controlled end effectors provide
advantages for fine-motion tasks.
UNIT 5

Q1- How material handling is important part of work in the robotics field?

Using robots for handling materials are an essential component of today’s automated
manufacturing systems. Material handling and logistics is the movement, protection, storage, and
control of materials and products throughout the process of their manufacture and distribution,
consumption, and disposal.
The term “material handling” covers a lot of ground in the world of robotics: tiny work pieces
that people can’t handle very well, if at all; large, heavy parts like engine blocks and wheels;
bulky items like bags and boxes; delicate and expensive electronic components; medical
equipment.

1. Automation of Repetitive Tasks: Material handling involves the movement, transfer, and
manipulation of objects or materials. By automating material handling processes with robots,
repetitive and labor-intensive tasks can be efficiently performed. This automation reduces the
physical burden on human workers and allows them to focus on more complex and value-added
activities.

2. Increased Efficiency and Productivity: Robots excel in material handling tasks by offering speed,
accuracy, and precision. They can handle objects with consistent positioning and orientation,
resulting in increased productivity and reduced cycle times. Robots can operate continuously, leading
to efficient workflow and optimized production processes.

3. Improved Workplace Safety: Material handling tasks often involve heavy objects, awkward
shapes, or hazardous environments. By employing robots for material handling, the risk of workplace
accidents and injuries is significantly reduced. Robots are designed with built-in safety features and
can perform tasks in hazardous conditions, ensuring a safer work environment for human workers.

4. Flexibility and Adaptability: Robots in material handling can be programmed and configured to
handle a wide range of objects or materials. They can adapt to different shapes, sizes, weights, and
even variations in production requirements. This flexibility allows for seamless integration into
various manufacturing or logistics processes, providing agility and adaptability to changing needs.

5. Accuracy and Quality Control: Material handling robots can ensure consistent and precise
movement and placement of objects. This accuracy is crucial in applications where precise
positioning or alignment is required, such as assembly or packaging processes. By minimizing errors
and deviations, robots contribute to improved quality control and product consistency.

Q2 - What are the principles and considerations in material handling system

design?

Principles and considerations in material handling systems design

By fitting the robot with an appropriate end-effector (e.g., gripper), the robot can grasp the object
that needs to be moved.
The robot may be mounted either stationary on the floor or on atraversing unit, enabling it to move
from one workstation to another. The robot can also be ceiling mounted.
The primary benefits of using robots for material handling are reduction of
direct labour costs and removal of humans from tasks that may be hazardous, tedious, or fatiguing.
Also, the use of robots for moving fragile objects results in less damage to parts during handling.
Robots that are used for material handling can interface with other material handling equipment
such as containers, conveyors, guided vehicles, monorails, and automated storage/retrieval
systems. A handling process consists of eight sequences:
• Transfer of the robot arm up the workpiece
• Fine motion approaching the workpiece
• Grasping
• Fine motion uprising the workpiece
• Transfer the workpiece to the desired position
• Fine motion down to the destination position
• Release the workpiece
• Fine motion upward
The gripping sequence is the more delicate part of handling material. The gripper’s and the
robot’s positions have to be checked for collision with other objects in the environment. The

limitation of the robot’s workspace can also be a problem for all other planning sequences of the
handling.
The following are examples of material handling applications:
• Transferring parts from one conveyor to another.
• Transferring parts from a processing line to a conveyor.
• Loading bins and fixtures for subsequent processing.
• Moving parts from a warehouse to a machine.
• Transporting explosive devices.
• Transfer of parts from a machine to an overhead conveyor.

Q3- Explain the part transferring takes place by the robots?

Parts Transferring
Parts transferring refer to removing parts from pallets and placing them in bins or on conveyor
belts or removing parts from bins and conveyor belts and placing them on pallets.

Part transfer applications are generally referred to as material handling robot applications. With the
advancements in end-of arm tooling, and technology companies are taking a closer look into part
transfer robotics. As robots become more affordable, and competition becomes fierce, many
companies will look into a part transfer robot to automate their press operation. An integrated
part transfer robot (Refer to Figure 1) system is easy to install and brings many benefits to our
customers. A robot moves a part in and out of a press, with ease and no fatigue. The robot can
transfer a part 24 hours a day, giving more flexibility to the company.

Q4- Mention the sequence followed by the robots during handling process.?

The sequence followed by robots during the handling process may vary depending on the specific task
and application. However, here is a generalized sequence that robots typically follow:

1. Object Detection: The robot uses sensors, such as vision systems or proximity sensors, to detect the
presence and location of objects that need to be handled. This information is crucial for the robot to
plan its actions.
2. Gripper Selection and Configuration: Based on the characteristics of the object to be handled, such
as size, shape, weight, and fragility, the robot selects an appropriate gripper or end effector. Grippers
can be suction cups, mechanical claws, magnetic grippers, or customized tools designed for specific
objects.

3. Approach and Grasp: The robot moves its arm or manipulator to approach the object. With precise
positioning, the gripper is aligned with the object, and the robot closes the gripper to securely grasp
it. The grip strength and force applied may be adjusted based on the object's requirements.

4. Lift and Transfer: Once the object is securely grasped, the robot lifts it from its initial location, taking
into account factors such as weight, balance, and stability. The robot then moves the object to the
desired location or destination, either within the same workspace or to another location.

5. Placement or Assembly: Depending on the application, the robot may release or position the object
in its final location or proceed with an assembly process. If assembly is involved, the robot may use
additional tools or perform intricate manipulation tasks to fit or join parts together.

6. Release or Handoff: After the object is placed or assembled, the robot releases its grip or transfers
the object to another process or human operator. This step may involve carefully releasing the object
to ensure it is safely positioned or handing it off to another robot or station for further processing.

7. Return to Home Position: Once the handling task is complete, the robot may return to a designated
home position or wait for the next command. This ensures that the robot is ready for the next handling
task or can remain in a safe position to avoid obstacles or interference with other processes.

It's important to note that the sequence mentioned above is a generalized outline, and the actual
sequence may vary depending on the specific application and the programming of the robot.