Institute of Technology of

Cambodia

Lab Part 03
Homework 01: To choose a robot
(Robot Arm)
Supervised By:
Mr. Yong Ann

Group: I4-EA1 (team2)

STUDENT NAME ID:

CHHAM Vannov e20180085

CHEA Pheng Ou e20180292
HENG Udom e20180067

ENGINEERING’S DEGREE
DEPARTMENT OF ELECTRICAL AND ENERGY ENGINEERING
INSTITUTE OF TECHNOLOGY OF CAMBODIA PHNOM PENH

2021-2022
 I. Introduction
What is Industrial robot?
An industrial robot is a robot system used for manufacturing. Industrial robots are automated,
programmable and capable of movement on three or more.
Typical applications of robots include welding, painting, assembly, disassembly,[2] pick and
place for printed circuit boards, packaging and labeling, palletizing, product inspection, and
testing; all accomplished with high endurance, speed, and precision. They can assist in material
handling.
II. Type and feature
1. Articulated robots
Articulated robots are the most common industrial robots. They look like a human arm,
which is why they are also called robotic arm or manipulator arm. Their articulations
with several degrees of freedom allow the articulated arms a wide range of movements.

2. Cartesian coordinate robots

Cartesian robots called rectilinear, gantry robots, and x-y-z robots have three prismatic
joints for the movement of the tool and three rotary joints for its orientation in space. To
be able to move and orient the effector organ in all directions, such a robot needs 6 axes
(or degrees of freedom). In a 2-dimensional environment, three axes are sufficient, two
for displacement and one for orientation.
3. Cylindrical coordinate robot
The cylindrical coordinate robots are characterized by their rotary joint at the base
and at least one prismatic joint connecting its links. They can move vertically and
horizontally by sliding. The compact effector design allows the robot to reach tight
workspaces without any loss of speed.

4. Spherical coordinate robots

Spherical coordinate robots only have rotary joints. They are one of the first robots to
have been used in industrial applications. They are commonly used for machine
tending in die-casting, plastic injection and extrusion, and for welding.
5. SCARA robots
SCARA is an acronym for Selective Compliance Assembly Robot Arm. SCARA
robots are recognized by their two parallel joints which provide movement in the X-Y
plane. Rotating shafts are positioned vertically at the effector. SCARA robots are
used for jobs that require precise lateral movements. They are ideal for assembly
applications.

6. Delta robots
Delta robots are also referred to as parallel link robots. They consist of parallel links
connected to a common base. Delta robots are particularly useful for direct control
tasks and high maneuvering operations (such as quick pick-and-place tasks). Delta
robots take advantage of four bar or parallelogram linkage systems. Furthermore,
industrial robots can have a serial or parallel architecture.
 7. Serial manipulators
Serial architectures a.k.a Serial manipulators are the most common industrial robots
and they are designed as a series of links connected by motor-actuated joints that
extend from a base to an end-effector.

SCARA,
Stanford
III. How robot works

Most industrial robots work in auto

assembly lines, putting cars together. Robots
can do a lot of this work more efficiently
than human beings because they are so
precise. They always drill in the same place,
and they always tighten bolts with the same
amount of force, no matter how many hours
they've been working. Manufacturing robots
are also very important in the computer
industry. It takes an incredibly precise hand
to put together a tiny microchip.

https://science.howstuffworks.com/robot2.htm#:~:text=The%20computer%20controls
%20the%20robot,same%20movement%20over%20and%20over.
IV. Components and Methodology
1. Type of component
Depending on how advanced you want to get into for the physics behind a robotic arm quite
a bit. The most basic physics would be the simple kinematics behind a robot arm. For a 2D
planar robot arm with only rotary joints you can generate the kinematic equations by simply
using trigonometry to solve for the end effectors with the given lengths and angles. From
there by taking derivatives you can easily find the velocities and the accelerations.

2. Type of Motor
stepper motors are usually the standard motors used for robotic arms. However, stepper
motors require external motor controllers as well as a microcontroller to operate and
therefore connecting, managing and controlling five of them can be a headache. Stepper
motors can have up to 6 wires to connect!
 3. Analysis of Robotic Arms
A robot arm typically comprises a number of joints. The number of joints in an arm depends
on the task that the robot is designed to accomplish. Simple tasks like picking up objects and
placing them in containers or at desired locations can be accomplished with only 3 joints. To
move to any location on a 2-D plane requires two joints, but a third joint is needed to also
control the orientation of the end effector. A robot designed to move to any pose within its
reach in three dimensions needs to have 6 joints (6 degrees of freedom). Many industrial
robot arms have 6 joints. Some robots need to move within a constrained workspace, so they
may have several more joints than 6. Most joints rotate about a pivot point (axle). This is
called a revolute joint. Some robot arms also have prismatic joints, which change their length
using a telescopic or sliding mechanism.
In the serial chains, the solution is always unique: one given joint position vector always
corresponds to only one single end effector pose. The FK problem is not difficult to solve,
even for a completely arbitrary kinematic structure.
Methods for a forward kinematic analysis:
• using straightforward geometry
• using transformation matrices

 Methodology usage
Although way more useful than forward kinematics, this calculation is much more complicated.
There are several methods to solve the inverse kinematics.

Analytic

Method
 4. Type of programable
4.1. Hardware Feasibility
On the hardware side, we should have a development kit with serial commination port to send
data and USB port to program the chip.

4.2. Technical Feasibility

Minimum requirements for the project are given in the table:
 4.3. Software implementation
Software implementation includes user interface. User controls the robot arm and
simulates in space with 3 dimensions.
The section of the script is normal C++ code for including the Servo library, and for
defining all variables

 10 INDUSTRIAL ROBOTIC ARMS MANUFACTURERS WHO STOOD OUT IN THE

LAST YEARS
Robotic automation has found a foothold in a record number of industries. Robotic arms are one
of the most common and iconic types of robots found on factory floors. Yet, it’s just a few key,
innovative companies responsible for making most of those machines. Here are ten of the best
industrial robotic arm manufacturers in the industry and what makes them stand out above the
rest.

1. FANUC Robotics
2. Universal Robots
3. Yaskawa Electric
4. ABB
5. Omron Adept Technologies
6. Kuka Robotics
7. UC Berkley
8. Stäubli
9. DENSO
10.EVS Tech Co. LTD.
https://diy-robotics.com/article/industrial-automation/10-industrial-robotic-arms-
manufacturers/

V. Robots Affect the Economy

1. The Rise of the machines
Technology has played a role in making work more efficient for thousands of years, from
simple farming tools to current-day assembly-line robots in factories. Robots are becoming
present in more and more situations in business. They work right alongside human workers or
completely replace them.
 2. Productivity Growth
• Growth results from one or a mixture of three things: increases in the quality of labor
• increases in capital and total factory productivity (TFP)
• multi-factor productivity.

3. Gross Domestic Product Growth

3.1. Job Creation
Many people fail to realize that robots are actually creating new, high-paying jobs
that require skilled workers. While it is true that robots are replacing low-skilled
workers and automating the tasks that they perform, robots and automation are
requiring jobs that focus workers on higher-value work.

VI. Conclusion
Robot is a machine that collects the information about the environment using some sensors
and makes a decision automatically. People prefers it to use different field, such as industry,
some dangerous jobs including radioactive effects. In this point, robots are regarded as a
server. They can be managed easily and provides many advantages.