Ch-5

Automation And Robotics

5.1. Historical development, definitions, basic structure of robots, robot

anatomy.
5.2. Classification of robots, fundamentals about robot technology,
Basic robot configurations
5.3. End effectors
 5.1. Historical development, definitions, basic structure of robots, robot
anatomy.
 The word "robot" entered the English language through a Czechoslovakian play titled
Rossum's Universal Robots. written by Karel Capek in the early 1920s.The Czech
word "robota'' means forced worker. In the English translation, the word was
converted to ‘robot’ The story line of the play centers around a scientist named
Rossum who invents a chemical substance similar to protoplasm and uses it to
produce robots. The scientist's goal is for robots to serve humans and perform physical
labor, Rossum continues to make improvements in his invention, ultimately perfecting
it. These "perfect beings" begin to resent their subservient role in society and turn
against their masters, killing off all human life.
 Rossum's invention was pure science fiction (at least in the 1920’s; however, advances
in the modern field of biotechnology may ultimately be capable of producing such
robotic beings).
Conti..

Definition

An industrial Robot is a general Purpose programmable machine possessing

certain characteristics; mechanical arm, sensory inputs, communicating with
other machines, and make decision.

Robotics technology followed NC Technology and both have quite similar

technologies; they both involve multiple axes (called joints in robotics) and
use dedicated digital computers as controller. But robots are designed for a
wider variety of tasks.
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Why we need Robot?
The reason for the importance of robot include:

• Substitution of human in hazardous and uncomfortable work

environment
• Consistency and repeatability of work cycle
• Robots can be programmed to perform altogether different tasks
• Connection to other systems to achieve CIM system

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5.2. Classification of robots and other attributes
Robots are classified based on:
1. Degree of Freedom of Motion
2. Geometric classification/configuration
3. Derive system
4. Control systems

1. Degree of Freedom of Motion

In principle; a robot must have 3 degree of freedom to reach any point in space.
However, it must have an additional 3 degrees of freedom to handle an object in space.

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Conti...
Joints and Links
the body-and-arm of an industrial robot is constructed from a series of
joints and links (rigid components). Each joint or axis provides the
robot with a degree of freedom of motion; controlled relative movement
between the input link and the out put link.

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The mechanical joints can be classified into five:- two translational and three
rotary motion.
1. Linear joint (L Joint): the relative movement is a translational sliding
motion with the axes of the two links being parallel.
2. Orthogonal Joint (O Joint) this also provide a translational sliding
motion but the input and out put links are perpendicular to each other
during move.

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3. Rotational Joint (R Joint) provides
rotational relative motion within the axis of
rotation being perpendicular to axes of the
links.
4. Twisting joint (T Joint) involves rotary
motion , but the axis of the rotation is
parallel to the axis of the two links.
5. Revolving joint (V Joint) the axis of the
input link is parallel to axis of rotation, and
the axis of the out put link is perpendicular
to the axis of rotation.

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2. Geometric Classification or Configuration
A robot configuration can be divided into two:
1) Body-and-Arm Configuration and
2) Wrist assembly
 Body-and-Arm Configuration
• Each of these classes can be mathematically described in its own coordinate,
which can be mapped into the Cartesian coordinate system.
There are five configurations:
1. Cartesian geometry
2. Cylindrical Geometry
3. Spherical geometry
4. Jointed arm or Articulated
geometry
5. SCARA
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1. Cartesian geometry (Rectangular):
have joints that move in rectangular
orthogonal directions. It is the easiest
to model and handle mathematically. It
is used where a very high positioning
accuracy.

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1. Cylindrical Geometry (Post Type)-
Has one rotational and two
transnational joints. The first three
joints of the cylindrical robot
correspond to the three principal
coordinate system.

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3. Spherical geometry (Polar Type)
has one transnational and two
rotational joints. The first three
joints of the spherical geometric
robot correspond directly to the
three principal variables of a
spherical coordinate system.

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4. Jointed arm / Articulated geometry : has three rotational joints.
This robot is very versatile which makes it good for cases where
the robot must reach over obstacles.

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5. SCARA: the motions of the major
joints in this robot are planar. It has
shoulder and elbow joints which rotate
about vertical axes. The configuration
provides substantial rigidity in the
vertical direction while allowing for
compliance in the horizontal plane

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 Wrist Configuration
• The wrist of a robot is used to establish the orientation of end-effectors.
• Robot wrists have two or three DOF. The three joints in wrist are defined as:
1.Roll; a T joint rotating about the robots arm axis
2.Pitch; R joint for up-and-down rotation;
3.Yaw; R joint for right –and-left rotation.

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5.3. End-effectors
The End-effectors are either:
1. Grippers for holding a work part
2. Tools for performing some process
Types of grippers
• Mechanical grippers
• Simple mechanical device, hook
• Dual grippers
• Interchangeable fingers
• Multiple fingered grippers
• Sensory fingers
• Magnetic gripper
• Vacuum grippers
• Adhesive devices
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3. Derive system
• Robot Joints are actuated using three types of derive systems.
1) Electric; use electric motors as joint actuators
2) Hydraulic, and
3) Pneumatic use linear pistons and rotary vane to actuate the joint.

• The drive system, position sensors (and speed sensors if used), and
feedback control systems determine the dynamic response characteristics
of the manipulator.

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4. Control System
• The actuation of every joint is controlled in a coordinated hierarchical
fashion.
Robot controls can be classified in to:
1. Limited sequence control is utilized for simple motion cycles such as
pick and place operation implemented by setting limits or mechanical
stop for each joint and sequencing the actuation
2. Playback with continuous path control, have playback capability
and the difference is the same in robotics as it is in NC; thus, it has
greater storage capacity and interpolation calculation

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3. Playback with point-to-point control, the control has a memory to
record the sequence of motion in a given work cycle as well as the
location and other parameter associated with each motion and then, to
subsequently playback the work cycle during execution of the program.
Values are set for each position representing locations.
4. Intelligent control, characteristics that make a robot appear intelligent
include
• Interaction with its environment and with humans
• Making decision when things go wrong during the work cycle
• Making computation during the motion cycle responding to advanced
sensor inputs such as machine vision

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G- Assignment Two (15%)
 Select any application which can be used a robot to perform its activities and
sketch it clearly? (N.B. The sketch should show the basic configuration ,
movements and parts of the robot)
 Describe
 The Degree of Freedom of the robot?
 What type of geometric configuration do the robot have?
 What kind of derive system is the robot used ?
 What are the control systems of the robot?

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