DEPARTMENT OF MECHATRONICS ENGINEERING

UNIVERSITY OF ENGINEERING AND TECHNOLOGY, PESHAWAR

MtE-405L Robotics LAB, 7 th Semester

Student Name: Usama

Registration Number: 18pwmct0615

Lab No. 1: Introduction to Robotics and Robotics Lab

Criteria (Taxonomy Excellent (4) Proficient (3) Basic (2) Below Basic (1) Student’s
Level) Score
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Comments:

Course Instructor: Engr. Shahbaz Khan

 DEPARTMENT OF MECHATRONICS ENGINEERING
UNIVERSITY OF ENGINEERING AND TECHNOLOGY, PESHAWAR
MtE-405L Robotics LAB, 7 th Semester

Lab No: 01

Title:

Introduction to Robotics & Robotics Lab

Objectives:

a. To know the basics of Robots (joints).

b. To study different types of robots
c. To clarify the difference in the robots available.
d. To know the layout of the Robotics Lab.
e. To know about the Robotics Lab and the different robots available there.

Apparatus and Tools:

a. MS word

Theory:

1. Robot:
A robot is a term coined by Karel Capek in the 1921 play RUR (Rossum's Universal
Robots). A robot describes a computerized machine designed to respond to input received
manually or from its surroundings. Today, robots perform repetitive and often difficult
tasks, such as building cars or computer equipment. (htt)

Figure 1: Robot and its parts (htt1)

Course Instructor: Engr. Shahbaz Khan

 DEPARTMENT OF MECHATRONICS ENGINEERING
UNIVERSITY OF ENGINEERING AND TECHNOLOGY, PESHAWAR
MtE-405L Robotics LAB, 7 th Semester

2. Types of robots:
The different types of robots are as follow:
a. Cartesian:
The most commonly used robot type for the majority of industrial applications is
Cartesian. Plant operators often default to this type because they are easy to use and
program. The linear movements of the Cartesian elements give the robot a cube-
shaped workspace that fits best with pick-and-place applications and can range
from 100 millimeters to tens of meters. These robots are also a popular choice
because they are highly customizable. (VALIN, n.d.)

Figure 2:Cartesian Robot

b. Cylindrical Robots:
Cylindrical robots are very simple and similar to Cartesian in their axis of motion.
Most Cylindrical robots are made of two moving elements: rotary and linear
actuators. Because they have a cylindrical work envelope, machine designers might
select them for their economy of space. The robot can be placed in the middle of a
workspace and, because of its rotation element, it can work anywhere around it.
(VALIN, n.d.)

Figure 3: Cylindrical Robot

Course Instructor: Engr. Shahbaz Khan
 DEPARTMENT OF MECHATRONICS ENGINEERING
UNIVERSITY OF ENGINEERING AND TECHNOLOGY, PESHAWAR
MtE-405L Robotics LAB, 7 th Semester

c. Selective Compliance Articulated Robot Arm (SCARA):

SCARA robots offer a more complete solution than the Cartesian or Cylindrical.
They are all-in-one robots, meaning a SCARA robot is equipped with x, y, z, and
rotary motion in one package that comes ready-to-go, apart from the end-of-arm
tooling. The work envelope is similar to Cylindrical robots but it has more degrees
of motion in a radius or arch-shaped space. Applications are also similar to
Cylindrical and Cartesian robots, but SCARA robots can move quicker than the
other two. They are seen often in Biomed applications due to their small work area.
(VALIN, n.d.)

Figure 4: SCARA (VALIN, n.d.)

d. 6-Axis Robot:
Another all-in-one robot type is the 6-Axis. Though sometimes 6-Axis robots can
be almost toy-sized, they are typically very large and used for large assembly jobs
such as putting seats into a car on an assembly line. These robots operate like
human arms and can pick up materials and move them from one plane to another.
An example of this would be picking it apart up from a tabletop and putting it into a
cupboard — something the other robot types cannot do easily. 6-Axis robots can
move quickly and come in complete solutions like SCARAs, however, their
programming is more complicated. (VALIN, n.d.)

Figure 5: 6-Axis Robot (VALIN, n.d.)

Course Instructor: Engr. Shahbaz Khan

 DEPARTMENT OF MECHATRONICS ENGINEERING
UNIVERSITY OF ENGINEERING AND TECHNOLOGY, PESHAWAR
MtE-405L Robotics LAB, 7 th Semester

e. Delta Robot:
As the fifth and final type, Delta robots are the fastest and most expensive. They
have a unique, dome-shaped work envelope in which they can achieve very high
speeds. Delta robots are best for fast pick-and-place or product transfer applications
like moving parts from a conveyor belt and placing them in boxes or onto another
conveyor belt. They also come as complete solutions for machine designers but are
more complicated in use than the 6-Axis or SCARA robots. The main advantage of
Delta robots is the speed and precision with which they operate. (VALIN, n.d.)

Figure 6: Delta Robot (VALIN, n.d.)

Course Instructor: Engr. Shahbaz Khan

 DEPARTMENT OF MECHATRONICS ENGINEERING
UNIVERSITY OF ENGINEERING AND TECHNOLOGY, PESHAWAR
MtE-405L Robotics LAB, 7 th Semester

Lab Tasks:
a. Robotics Lab Layout:

Course Instructor: Engr. Shahbaz Khan

 DEPARTMENT OF MECHATRONICS ENGINEERING
UNIVERSITY OF ENGINEERING AND TECHNOLOGY, PESHAWAR
MtE-405L Robotics LAB, 7 th Semester

b. Lab Robots:
Following robots are present in the Robotics Lab:
a) Mini Robot (RB-4/EV):
From an electronic point of view, Robotics represents the more complete
application of all control, regulation, and digital techniques of Personal
Computers for machine control. The suggested equipment constitutes a first
approach to the performances and uses of the robot. The robot has a contained
size and performance, to respect the educational needs. But it enables maximum
interaction with the user; practically, it is an open “machine”. The Robot mod.
RB-4/EV has 6 degrees of freedom, controlled by 6 stepper motors, moving the
base, the shoulder, the arm, the wrist, and the grip constituting the hand; the
wrist can move vertically or rotate using the same two motors. (htt2)

Figure 7: Mini Robot (RB-4/EV)

Geometry:
The mini Robot (RB-4/EV) have RRR geometry.

Figure 8:RRR geometry

Course Instructor: Engr. Shahbaz Khan

 DEPARTMENT OF MECHATRONICS ENGINEERING
UNIVERSITY OF ENGINEERING AND TECHNOLOGY, PESHAWAR
MtE-405L Robotics LAB, 7 th Semester

b) Mobile Robot:
A mobile robot is a machine controlled by software that uses sensors and other
technology to identify its surroundings and move around its environment.
Mobile robots function using a combination of artificial intelligence (AI) and
physical robotic elements, such as wheels, tracks, and legs. Mobile robots are
becoming increasingly popular across different business sectors. They are used
to assist with work processes and even accomplish tasks that are impossible or
dangerous for human workers. (htt2)

Figure 9: Mobile Robot

c) Gryphon Serpent 1 (35-003):

The Serpent is a SCARA type robot with the working axis in the horizontal
plane. This type of robot is used extensively in the industry in ‘pick and place
applications. SCARA is an acronym for Selectivity Compliant Articulated
Robotic Arm, which means there is a small amount of compliance in the plane
of operation. The Serpent has three horizontal axes that are controlled by dc
motors and a fourth (the end-effector) that moves in the vertical plane under the
force of compressed air; the vertical travel is controlled by two adjustable
mechanically positioned end stops. The rotational position of the end effector is
controlled from a motor situated above the back of the mounting column and
connected by belts. This arrangement maintains a constant angle of the end-
effector relative to the bench as the arm moves around. (htt3)

Course Instructor: Engr. Shahbaz Khan

 DEPARTMENT OF MECHATRONICS ENGINEERING
UNIVERSITY OF ENGINEERING AND TECHNOLOGY, PESHAWAR
MtE-405L Robotics LAB, 7 th Semester

Figure 10:Gryphon Serpent 1 (35-003)

Geometry:
The Gryphon Serpent 1 (35-003) robot have RRR geometry.

Figure 11: RRP geometry

d) Gryphon Serpent 1 (35-002):

The Gryphon Robot is the largest in the range, standing at 970mm tall from the
base to the center of the gripper with the arm fully extended. The Mentor stands
at 780mm to the center of the gripper from the mounting base. As the Mentor,
the Gryphon is an anthropomorphic robot with six degrees of freedom,
including the gripper, and can be mounted on a bench-top. The Gryphon has
digital encoders on each axis and offers higher positional accuracy. It is
therefore suited to applications requiring greater precision (htt3)

Course Instructor: Engr. Shahbaz Khan

 DEPARTMENT OF MECHATRONICS ENGINEERING
UNIVERSITY OF ENGINEERING AND TECHNOLOGY, PESHAWAR
MtE-405L Robotics LAB, 7 th Semester

Figure 12: Gryphon Serpent 1 (35-002)

Geometry:
The geometry of Gryphon Serpent 1 (35-002) is RRP.

Figure 13: RRP Geometry

Course Instructor: Engr. Shahbaz Khan

 DEPARTMENT OF MECHATRONICS ENGINEERING
UNIVERSITY OF ENGINEERING AND TECHNOLOGY, PESHAWAR
MtE-405L Robotics LAB, 7 th Semester

References:
(n.d.). Retrieved from https://www.computerhope.com/jargon/r/robot.htm
(n.d.). Retrieved from https://www.razorrobotics.com/all-about-robots/
(n.d.). Retrieved from
http://www.medilab.com/index.php?option=com_virtuemart&view=productdetails&virtue
mart_pro
(n.d.). Retrieved from http://catalogue.techno-test.com/products/pieces-jointes/257-
VALIN. (n.d.). Retrieved from VALIN: https://www.valin.com/resources/articles/five-types-of-
industrial-robots-and- how-to-choose-the-best-fit

Course Instructor: Engr. Shahbaz Khan