Robotics & Automation

ROBOTICS &
AUTOMATIO
N
SUBMITTED TO: SUBMITTED BY :
Prof . Dr . BOBY K GEORGE PhD HANS WILSON C
MSM DEPT.
ROBOTICS?
 Robotics is a branch of engineering that involves the conception,

design, manufacture, and operation of robots.
 Robotics is an interdisciplinary branch of engineering and science

that includes mechanical engineering, electronics engineering,
computer science, and others.
DEFINITION OF ROBOTS?
 Programmable and Automatic Manipulators.
 “Device that performs functions ordinarily ascribed to human
beings, or operates with what appears to be almost human
intelligence”
OR
 “programmable, multifunction manipulator designed to move
materials, parts, tools, or special devices through variable
programmed motions for the performance of a variety of tasks”
ELEMENTS OF A ROBOTIC SYSTEM
 The Robot Manipulator
 Control system
 Computer system
(I)Components Of The Robot Manipulator:
 A manipulator (the base and arm assembly)
 End-of-arm tooling, such as a gripper or end effecter
 Actuators (motors or drives that move the links of the robot) and
associated equipment
 Transmission elements like belts, pulleys, ball screws, gearing

and other mechanical components.
(II) Control system:
The control system is used to generate the necessary signals co-

ordinate the movements of the robot.
It includes:
 Mechanical, hydraulic, pneumatic, electrical, or electronic (either
open loop or closed loop) controls.
 Sensors including cameras, amplifiers, and related hardware.
 Equipment interfaces.
(III)Computer system:
This provides the data processing capability necessary to interpolate

the intermediate positions and control the movement of the links or
arms the robot.
It includes:
 Microprocessor or a programmable logic controller or a personal
computer
 User interfaces (e.g. keyboard, display, teach pendant)
 Control software to manipulate the robot for various applications.
NEED FOR USING ROBOT
 Robots can be built with performance capabilities superior to those of

human beings in terms of strength, size, speed, accuracy and
repeatability
 Robots are better than humans to perform simple and repetitive tasks
with better quality and consistency.
 Robots can replace humans in performing tasks that are difficult and
hazardous because of factors such as size, weight, reach, precision or
environment (e.g., heat (as in pressure die casting), dust (as in foundries),
chemicals (detection of mines), nuclear radiation, and pollution).
 Robots can be used to perform tasks which human operators do not like to do -
jobs that are considered unskilled, demeaning, or low-paying or that involve
poor working conditions.
 Robots do not have the limitations and negative attributes of human workers,
such as fatigue, need for rest, diversion of attention, absenteeism, need for
refreshments etc.
 Robots can lower costs, through reduction in usage of materials, through their
efficiency and consistency.
 Robots become more economical as labour costs increase.
 Robots are flexible compared to hard automation since they can be

reconfigured and reprogrammed
TYPES OF ROBOTS
Robots classified based on a few basic characteristic features. These are listed
below:
• The physical geometry of the manipulator arm and base unit and their
degrees of freedom (DOF) (Movements along different axes).
• The complexity of the path in which the manipulator can move. (Point to
point in the case of a pick and place robot, continuous in the case of a
welding robot).
• The type of power source used to move the manipulator. (Electrical ,
hydraulic, pneumatic etc.).
• The techniques and systems used to control the motion of the manipulator.
(Servo and non-servo).
• Depending on whether the robot is stationary or mobile
CLASSIFICATION OF ROBOTS BASED ON
MECHANICAL CONFIGURATION
 Rectangular Co-ordinate Robots
(I) also known as the Cartesian co-ordinate robots
(II) three linear axes using sliding joints, which are typically arranged in a cantilever
configuration whose motion traces a box like shape.
(III) configuration is ideal for straight-line and side-to-side movements.
(IV) used for tasks involving pick and place operations like material handling and
loading and unloading
 Revolute Co-ordinate Robots

(I) This configuration is also known as anthropomorphic (i.e. like a human arm) or
articulated arm or jointed arm
(II) robot has three axes of motion involving a base, a shoulder, and an “elbow” that
rotate.
 Cylindrical Co-ordinate Robots
(I) referred to as a rectilinear co-ordinate robot

(II) A robot with this geometry has three axes of motion that trace the shape of a cylinder.
(III) It has a base unit, which rotates, a vertical extension, and a horizontal arm that moves
in a line
 Spherical Co-ordinate Robots
(I) also known as the polar co-ordinate robot

(II) A robot with this geometry has three axes of motion that trace the shape of a sphere.
(III) It has a base unit that rotates, a main body that tilts, and arm that slides in and out.
Several variations of these basic geometries have also been developed to provide optimum
performance for certain applications. Two of these are:
(i)Gantry or box frame (ii) Selective Compliance Assembly Robot Arm (SCARA)
FREEDOM OF MOTION
 There are three basic types of wrist motions:
(I) Roll: Rotational or swivel movement in a plane perpendicular to the end of the arm
(II) Pitch: Rotational or bending movement in a plane vertical to the arm.
(III) Yaw: Rotational or twisting movement in a plane horizontal to the arm.
DRIVE SYSTEMS
 Pneumatic Actuator System
(I) Systems are driven by compressed air.
(II) Pneumatic-drive robots are usually small and limited flexibility.
(III) Inexpensive to build and use
(IV) Suitable in certain application like nuclear reactors and places were fire hazards are
likely to occur.
 Hydraulic Actuator System:
(I) Systems are driven by a fluid that is pumped through motors ,cylinders, or other
hydraulic actuator mechanisms.
(II) Hydraulically driven robots can be relatively compact yet provide high levels of
force, power, and speed with accurate control.
(III) Power supply can be isolated from the robot and no electric power is required in
the manipulator, hydraulic robots are safe and reliable in wet, dusty, and potentially
explosive environments
(IV) robots are suitable for operations in foundries.
 Electric Actuator System:
(I) Systems are driven by rotational electric motors.
(II) Electrically driven robots are best suited for applications involving light
payloads, which require high accuracy and fast response.
(III) Require more sophisticated electronic controls and can fail in high
temperature, wet, or dusty environments.
(IV) AC Servo drives are preferred now because of their ruggedness.
SPECIFICATIONS
 Axes of motion:
 The number of degrees of freedom of the robot’s joints determines the complexity of
motion it is capable of.
 Work envelope:
 The maximum reach or range of arm movement varies in shape and size, depending on
the configuration and size of the robot. The work envelope can be described in terms of
degrees of rotation, vertical motion, and radial arm extension.
 Speed:
 The speed of the robot - which is measured at the end of the arm, where the task is to be
performed.
 Acceleration:
 rate at which the robot can reach its programmed speed
 Payload capacity:
 The maximum weight the robot can carry is normally specified at low or normal speeds.
It depends on the size and configuration of the robot.
 Accuracy:
 The Accuracy denotes how closely the end of the robot arm can be moved to a specific
position.
 Resolution:
 This may also be referred to as the precision of the robot. Resolution is the smallest
increment of motion for which the robot can be controlled.
 Repeatability:
 Repeatability is the ability of the manipulator to repeatedly return to exactly the same
position
 Reliability:
 measured in terms of the average time between failures.
KEY FEATURE CAPABILITIES
 QUALITY
 SERVICEABILITY
 SAFETY
 MODULARITY
 DEXTERITY
THANKYOU

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ROBOTICS &

 Robotics is a branch of engineering that involves the conception,

 Robotics is an interdisciplinary branch of engineering and science

 The Robot Manipulator

 A manipulator (the base and arm assembly)

 End-of-arm tooling, such as a gripper or end effecter

 Transmission elements like belts, pulleys, ball screws, gearing

The control system is used to generate the necessary signals co-

This provides the data processing capability necessary to interpolate

 Robots can be built with performance capabilities superior to those of

 Robots become more economical as labour costs increase.

 Robots are flexible compared to hard automation since they can be

 Revolute Co-ordinate Robots

(I) referred to as a rectilinear co-ordinate robot

 Spherical Co-ordinate Robots

(I) also known as the polar co-ordinate robot

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