Robotics Engineering: ME 406T Unit-1 Robot Fundamentals Lecture-1

ROBOTICS
ENGINEERING
ME 406T
Unit-1
Robot Fundamentals
Lecture-1
Outline
 Development in Robotics
 Robots in Manufacturing
 Robot
 Laws of Robotics
 Robot Anatomy
 Links
 Joints
 Degrees of Freedom
 Arm Configurations
 Wrist Configuration
 The End- effector
The Robot Market
 Image URL:
 http://thefuturesagency.com/wp-content/uploads/2015/11/Robotics-Market-The-Futures-
Agency-Source-BCG.png
The Robot Market
 Some Other Info on following links:
 https://www.bcg.com/d/press/3sep2014-rise-
machines-2025-738
 http://fortune.com/2016/02/24/robotics-
market-multi-billion-boom/
Development in Robotics
 First generation:
 Repeating, non-servo, pick-and-place or point-to-point kind.
 Technology is fully developed
 Around 80% industrial robots are this kind, currently.
 Second generation:
 Sensor equipped robots
 Can alter its action based on feedback
 Path Control capabilities (Auditory, visual etc feedback)
 Third generation:
 Robots having human like intelligence
 Very high computing powers enabled implementation of
artificial intelligence, self learning and conclusion-drawing
capabilities by past experiences.
 Fourth generation:
 Futuristic
 “May be a true android or an artificial biological robot
or a super humanoid capable of producing its own
clones.”
Robots in Manufacturing
“The Definition”
 The official definition of an industrial robot
provided by the Robotics Industries
Associations (RIA):
 “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”
(Quoted as it is from ‘Industrial Robotics – Technology, Programming and

Applications’ by Mikell P Groover et al, Tata McGraw Hill)
“The Definition”
 In today’s modern age the previously
mentioned definition seems unable to
encompass all the features of a robot
 In general, Robot must be able to do some

or all of the following:
 Move Around
 Sense and Manipulate the environment
 Display Intelligent behaviour
Laws of Robotics
 Asimov’s three laws:
1. A robot should not injure a human being or
through action allowed the humans to be
harmed.
2. A robot must obey orders given by humans
except when that conflicts with the first law.
3. A robot must protect its own existence unless
that conflicts with the first or second law.
 How do you relate the above to Industrial

Robots?
An Industrial Robot
An Industrial Robot
Robot Anatomy
 Concerned with the physical construction
of the body, arm and wrist of the machine.
 Most industrial robots are mounted on a

base which is fastened to the floor.
Robot anatomy – Skeleton of Robot
 Manipulator/robotic arm – similar to human body.
 Mechanical structure of a manipulator essentially
has:
 Links connected using joints
 Arm formed by links and joints to ensure mobility and
reach
 Wrist which provides orientation
 End effector to perform the desired task
 Most manipulators are mounted on a base.

 The base could be fastened to floor or a moving platform.
Robot anatomy
Links
 Binary link:
 Rigid link
 Can be connected with two other links
 Open Kinematic Chain
Joints
 Many types of joints can be used between
links, two of them are very common:
 Revolute (R) – θ
 Prismatic (P) - d
Joints
Arm Configuration
 Arm must have following characteristics:
 Maximum Reach
 Mechanically robust design
 Four Basic Configurations are common

Arm Configuration
 Cartesian (Rectangular) Configuration
Arm Configuration
 Cylindrical Configuration
Arm Configuration
 Polar (Spherical) Configuration
Arm Configuration
 Articulated (Revolute or Jointed Arm)
Configuration
Arm Configuration
 Selective Compliance Assembly Robot Arm
(SCARA)
Arm Configurations
Wrist Configuration
 The arm configuration carries and positions the
wrist.
 The wrist orients the end-effector
The End-Effector
 Could be:
 Grippers
 Tools
Stay Golden !

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ROBOTICS

(Quoted as it is from ‘Industrial Robotics – Technology, Programming and

 In general, Robot must be able to do some

 How do you relate the above to Industrial

 Most industrial robots are mounted on a

 Most manipulators are mounted on a base.

 Four Basic Configurations are common

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