ROBOTICS QUARTER 1

TRENDS, INNOVATIONS AND PRACTICES IN CREATIVE TECHNOLOGIES, POWER SUPPLY AND

PRIMARY ELEMENTS, HISTORY OF ROBOTS AND ROBOTICS,

ROBOTICS
- The branch of technology that deals
TRENDS, INNOVATIONS AND PRACTICES
with the design, construction,
operation, and application of robots.
INVENTION
- “I begin with an idea, and then it
HISTORY OF ROBOTS AND ROBOTICS
becomes something else.”
- the action of inventing something,
original The Origins of Robots
INNOVATION CTESIBIUS
- “Easiest way to be creative: Try - ≈250 B.C.
something different, even if you don’t - An ancient Greek engineer and
think it’ll work.” mathematician,
- to a change made to an existing - invented a water clock which was the
product, idea, or field most accurate for nearly 2000 years.
HERO OF ALEXANDRIA
- ≈60 A.D.
POWER SUPPLY AND PRIMARY ELEMENTS
- designs the first automated
programmable machine.
ROBOT BISHOP ALBERTUS MAGNUS
- Reprogrammable, Multifunctional, - ≈ 1250
Sensible for environment. - holds a banquet at which guests were
WHAT IS A ROBOT? served by metal attendants.
1. Manipulator - Saint Thomas Aquinas smashed the
2. Legged Robot, Wheeled Robot attendants to bits and called the bishop a
3. Autonomous Underwater Vehicle, sorcerer.
Unmanned Aerial Vehicle DESCARTES
WHAT CAN ROBOTS DO? - 1640
● Jobs that are dangerous for humans. - builds a female automaton which he
Ex: Decontaminating Robot – Cleaning calls “Ma fille Francine.” She
the main circulating pump housing in the accompanied Descartes on a voyage
nuclear power plant. and was thrown overboard by the
● Repetitive jobs that are boring, captain, who thought she was the work
stressful, or labor-intensive for humans. of Satan.
Ex: Welding Robot. JACQUES DE VAUCANSON
● Manual tasks that humans don’t want to - 1738, built a mechanical duck made of
do. Ex: The SCRUBMATE Robot more than 4,000 parts.
- The duck could quack, bathe, drink
water, eat grain, digest it and void

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TRENDS, INNOVATIONS AND PRACTICES IN CREATIVE TECHNOLOGIES, POWER SUPPLY AND
PRIMARY ELEMENTS, HISTORY OF ROBOTS AND ROBOTICS,

Whereabouts of the duck are unknown 1950s̀

today. - Computer technology advances and
MAILLARDET control machinery is developed.
- 1805, Doll that wrote in either French or 1954
English and could draw landscapes. - The first silicon transistor was
NIKOLA TESLA produced by Texas Instruments.
- 1898, The first radio-controlled GEORGE DEVOL
submersible boat - 1954, replaced the slave manipulator in
KAREL CAPEK a teleoperator with the
- 1921, The term "robot" was first used in programmability of the CNC controller,
1920 in a play called "R.U.R." Or thus creating the first “industrial robot”,
"Rossum's universal robots" by the called the “Programmable Article
Czech writer Transfer Device”.
MARVIN MINSKY
- 1955, The Dartmouth Summer
➤ Robot comes from the Czech word robota,
Research Conference marks the birth of
which means “servitude, forced labor.”
AI.
- it could first explore solutions within
SPARKO, WESTINGHOUSE DOG the internal abstract model of the
- 1940, uses both mechanical and environment and then attempt external
electrical components. experiments”.
ISAAC ASIMOV - This approach dominated robotics
- 1941, introduced the word 'Robotics' in research for the next 30 years.
the science fiction short story 'Liar!‘ 1956
WILLIAM GREY WALTER - Researchers aim to combine
- 1948, builds Elmer and Elsie, two of the “perceptual and problem-solving
earliest autonomous robots with the capabilities,” using computers,
appearance of turtles. The robots used cameras, and touch sensors. The idea is
simple rules to produce complex to study the types of intelligent actions
behaviors. these robots are capable of. A new
discipline is born: A.I.
➤ Cybernetics is a discipline that was created in JOSEPH ENGELBERGER
the late 1940’s by Norbert Wiener, combining - 1956, a Columbia physics student
feedback control theory, information sciences bought the rights to Devol’s robot
and biology to try to explain the common - founded the Unimation Company.
principles of control and communications in GEORGE DEVOL
both animals and machines. - 1956, applied for a patent for the first
programmable robot, later named
'Unimate'.

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TRENDS, INNOVATIONS AND PRACTICES IN CREATIVE TECHNOLOGIES, POWER SUPPLY AND
PRIMARY ELEMENTS, HISTORY OF ROBOTS AND ROBOTICS,

SPUTNIK 1 1970
- 1957, Launch of the first artificial - Luna 17 lands on the moon, carrying
satellite the roving remote-controlled robot,
1960s̀ Lunokhod 1.
- Industrial Robots created. Robotic 1971
Industries Association states that an - Intel introduced the first commercially
“industrial robot is a re-programmable, available microprocessor, the 4004.
multifunctional manipulator designed 1971 -1973
to move materials, parts, tools, or - The Stanford Arm is developed, along
specialized devices through variable with the first language for
programmed motions to perform a programming robots - WAVE.
variety of tasks”. 1972
1961 - First snake-like robot – ACM III – Hirose
- The first Unimate robot is installed in a – Tokyo Inst. Of Tech.
Trenton, NJ General Motors plant to 1970’s
tend a die casting machine. - JPL develops its first planetary
- The key was the reprogrammability and exploration Rover using a TV camera,
retooling of the machine to perform laser range finder and tactile sensors.
different tasks. 1975
1962 – 1963 - The space probes Viking 1 and 2 were
- The introduction of sensors is seen as a launched each with an articulated robot
way to enhance the operation of robots. arm.
1965 1976
- Gordon E. Moore introduces the - The film Star Wars is released
concept 'Moore's law', which predicts introducing R2-D2 and C-3PO
the number of components on a single 1977
chip would double every two years. - Development of mobile robot Hilaire at
1966 – 1968 Laboratoise d’Automatique et d’Analyse
- 'Shakey‘, a mobile robot developed by des Systèmes (LAAS) in Toulouse,
SRI (Stanford Research Institute). France. This mobile robot had three
- 'Shakey' was capable of planning, wheels and it is still in use.
route-finding and moving objects. Puma (Programmable Universal Machine for
1968 Assembly),
- Kawasaki Heavy Industries in Japan - 1978, by Unimation.
acquired a license for Unimate. SCARA (Selective Compliant Articulated
1969 Robot for Assembly)
- The Apollo 11 mission puts the first man - 1979, introduced in Japan and the US
on the moon. Landing was made inside (by Adept Technologies).
the Lunar Module 'Eagle'.

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TRENDS, INNOVATIONS AND PRACTICES IN CREATIVE TECHNOLOGIES, POWER SUPPLY AND
PRIMARY ELEMENTS, HISTORY OF ROBOTS AND ROBOTICS,

1980’s 1990’s
- Innovation in improving the - modifiable robots for assembly. Mobile
performance of robot arms – feedback autonomous robots. Vision controlled
control to improve accuracy, program robots. Walking robots.
compliance, the introduction of - Humanoid robots – Cog, Kismet (MIT),
personal computers as controllers, and Wasubot, WHL-I – Japan, Honda P2
commercialization of robots by a large (1.82m, 210kg), and P3 (1.6m, 130kg),
number of companies: KUKA ASIMO.
(Germany), IBM 7535, Adept Robot - Entertainment and Education Robots –
(USA), Hitachi, Seiko (Japan). SARCOS (“Jurassic Park”), Sony AIBO,
- Legged and hopping robots (BIPER – LEGO Mindstorms, Khepera, Parallax.
Shimoyama) and Raibert 1986. - Introduction of space robots
Early 1980’s (manipulators as well as rovers – the
- Multi-fingered hands developed, MARS rover 1996), parallel
Utah-MIT arm (16 DOF) developed by manipulators (Stewart-Gough
Steve Jacobsen Salisbury’s hand (9 Platforms), multiple manipulators,
dof). precision robots (“Robotworld”),
1977-1983 surgical robots (“RoboDoc”), first
- Stanford cart/CMU rover developed by service robots (as couriers in hospitals,
Hans Moravec, later on became the etc)
Nomad mobile robot. 1991
1984 -1991 - First HelpMate mobile autonomous
- V. Braitenberg revived the tortoise robot used in hospitals.
mobile robots of W. Grey Walter ROBOCUP
creating autonomous robots exhibiting - the competition simulating the game of
behaviors. soccer played by two teams of robots
1986 having been held around the world
- Honda started work on its first since 1997 (Osaka)
humanoid robot named 'E0' (later to SOJOURNER
become ASIMO). - 1997, became the first rover to land on
1988 Mars as part of the Mars Pathfinder
- SCAMP was designed as the first robot mission.
pet with emotions. 1998
1989 - Lego enters the robotics market with
- Mark Tilden introduces BEAM robotics, its first version of Lego Mindstorms.
beam being an acronym for Biology, AIBO
Electronics, Aesthetics, and Mechanics. - 1999, an autonomous robotic dog
capable of seeing, walking and
interacting with its environment. This
was followed a year later by the

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TRENDS, INNOVATIONS AND PRACTICES IN CREATIVE TECHNOLOGIES, POWER SUPPLY AND
PRIMARY ELEMENTS, HISTORY OF ROBOTS AND ROBOTICS,

SDR-3X humanoid robot later known as ROBONAUT-2

QRIO (both discontinued in 2006). - In 2010, NASA and General Motors
2000’s joined forces to develop Robonaut-2,
- ASIMO, the first non-prototype release the new version of NASA's humanoid
of its humanoid robot. robot astronaut.
- ROOMBA, IRobot introduces the first
autonomous vacuum MECHANICAL ENGINEERING
- SMART DUST, Mini and micro robots, - concerned primarily with
“Smart Dust” – Pister @ Berkeley, UTA, manipulator/mobile robot design,
EPFL/Lausanne, microfactories. kinematics, dynamics, compliance and
- Military applications - Robotic actuation.
assistants for dangerous environments ELECTRICAL ENGINEERING
and reconnaissance, AUV’s and UUV’s, - concerned primarily with robot
etc. actuation, electronic interfacing to
- Intuitive Surgical introduces the Da computers and sensors, and control
Vinci surgical robot. algorithms.
- Robotic Deployment of Sensor COMPUTER SCIENCE
Networks - concerned primarily with robot
MQ-1 PREDATOR programming, planning, and intelligent
- 2001, the first armed unmanned aerial behavior.
vehicle (UAV) fitted with two Hellfire
missiles.
KEY ELEMENTS OF ROBOTS
ACTROID
- 2003, the term given for a humanoid
robot with strong visual human ● Carrying out Actions automatically.
characteristics. 1. Automata - simpler machines,
DARPA GRAND CHALLENGE simpler automation.
- 2004, Sponsored by the US ● Programmable by a computer
Department of Defense the challenge is 1. Sensors - A crucial Element of
designed to create autonomous Robots. Enable a robot to
vehicles for warfare. carry out complex tasks.
2004
- The Mars rovers Spirit and Opportunity
land on Mars. As of November 25th
2009 The rover Spirit has completed
2150 days of its 92 day (90 sol)
mission.

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TRENDS, INNOVATIONS AND PRACTICES IN CREATIVE TECHNOLOGIES, POWER SUPPLY AND
PRIMARY ELEMENTS, HISTORY OF ROBOTS AND ROBOTICS,

CLASSIFICATION OF ROBOTS BY
ENVIRONMENT AND MECHANISM OF
INTERACTION

CLASSIFICATION OF ROBOTS BY
ENVIRONMENT AND MECHANISM OF
INTERACTION

CLASSIFICATION OF ROBOTS BY
APPLICATION FIELD

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TRENDS, INNOVATIONS AND PRACTICES IN CREATIVE TECHNOLOGIES, POWER SUPPLY AND
PRIMARY ELEMENTS, HISTORY OF ROBOTS AND ROBOTICS,

TYPES OF ROBOTS AND THEIR USES/

POWER SUPPLY AND PRIMARY ELEMENT
FUNCTIONS

1. INDUSTRIAL ROBOTS BASIC ELEMENTS OF ROBOTICS

- Autonomous Mobile Robots 1. Power Supply
- Automated Guided Vehicle 2. Sensors
2. SERVICE ROBOTS 3. Electrical AC/DC Motors
3. DOMESTIC ROBOTS 4. Driving Mechanism
4. SECURITY ROBOTS 5. Servo Motors
5. MEDICAL ROBOTS 6. Manipulators
6. AGRICULTURAL ROBOTS 7. End Effectors
7. TOY ROBOTS 8. Locomotion Devices
8. EDUCATIONAL ROBOTS 9. Controllers
9. PRE-ASSEMBLED MOBILE ROBOTS 10. Pneumatics
10. ROBOTICS KITS 11. Programming Languages
11. HUMANOID ROBOTS
12. ARTIFICIAL INTELLIGENCE POWER SUPPLY
- Human-machine Interaction - source of energy for the robots
- Voice recognition - include batteries, hydraulic, solar
- Gesture Recognition power, or pneumatic power source
- Facial expression analysis SENSORS
- Artificial Emotions - robots cannot perform their functions
- Artificial personality traits effectively without sensors that provide
- Artificial social intelligence them with environmental data
- critical in detecting elements like heat
5 TYPES OF ROBOTS and light by converting them into
● Pre-programmed Robot digital form, which is understandable by
● Humanoid Robots machines.
● Autonomous Robots TYPES OF SENSORS:
1. Vision sensors
● Teleoperated Robots
- eyes of a robot
● Augmentation Robots
- responsible for detecting and
3 MAIN ENVIRONMENTS OF ROBOTS
sensing obstacles and other
● Aquatic
things
● Terrestrial
2. Proximity sensors
● Airborne
- responsible for detecting and
CONCERNS OF ROBOTS & ROBOTICS
sensing obstacles and other
● Protection for humans
things
● Data Protection

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TRENDS, INNOVATIONS AND PRACTICES IN CREATIVE TECHNOLOGIES, POWER SUPPLY AND
PRIMARY ELEMENTS, HISTORY OF ROBOTS AND ROBOTICS,

3. Proprioceptive sensors ELECTRIC AC/DC MOTORS

- used for monitoring the - used in robots to provide rotational
robot’s self-maintenance movement that allows them to move.
feature and for controlling its You can use both AC and DC motors in
internal status. your robot.
- This includes monitoring the DRIVING MECHANISM
heat, battery, and sensing the - comes under the category of main
electric current. robot elements, including gears, chains,
- They provide a signal pulleys, and belts.
proportional to the TYPE OF DRIVING MECHANISMS:
displacement measured 1. Water Drive
between a part and a 2. Gas Expansion
reference position: Linear, 3. Solution gas
Angular 4. Rock or compaction drive
TYPES OF PROPRIOCEPTIVE SENSORS: 5. Gravity drainage
A. Encoders, potentiometers SERVO MOTORS
- Measure angle of turn via - used in robots as they are a powerful
change in resistance or by way of converting the rotational motion
counting optical pulses into linear motion.
B. Gyroscopes - They are easily programmable and are
- Measure rate of change of perfect for repeating a robot’s
angles movement.
- Fiber-optics (newer, better) - They adjust themselves until they
magnetic (older) match a signal.
C. Compass - Also, these motors come in
- Measures which way is north radio-controlled versions, called R/C
or south servo motors
D. GPS MANIPULATORS
- Measure location relative to - are extensions added to the robot and
globe are used for interacting with the
4. Logical Sensors surroundings
- These are the hands and arms of a
- responsible for making logical decisions
robot to interact with the environment
and performing arithmetic operations,
and nearby objects physically.
such as addition, subtraction,
- their prices range from $1,295 to
multiplication, and division.
$22,000
- logic sensors handle the calculations
END EFFECTORS
that help make the robot perform as
- is relied upon to perform assignments
desired.
by replicating the use of palms,
otherwise done by humans.

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TRENDS, INNOVATIONS AND PRACTICES IN CREATIVE TECHNOLOGIES, POWER SUPPLY AND
PRIMARY ELEMENTS, HISTORY OF ROBOTS AND ROBOTICS,

LOCOMOTION DEVICES
ROBOT DRIVES
- In humans, the muscles provide the
energy and power for the movement of
the arms. Similarly, that’s how FUNCTIONS OF DRIVE SYSTEMS:
locomotion devices work. ➤ The main motive power of robots is in the
- called the power of the movement that drives.
comes from the motors. ➤ Various transmitting elements are employed
- Three types of locomotion devices are to drive the mechanical links to a desired
used in robots depending on the source position and orientation in the envelope of the
of energy they use, such as electricity, robot-manipulator.
hydraulics, and pneumatics. ➤ At present, direct drives to the arms of robots
CONTROLLERS are preferred though power is transmitted or
applied to various joints of the robot through
- A digital computer acts as the main
gears, belts, cable chains and many other
controller of the robot; it functions like
means.
a human brain. The tasks assigned are
4 BASIC METHODS OF DRIVE:
carried out with the help of this
1. Hydraulic
controller.
2. Pneumatic
- sends the signals to the robot and
3. Electrical (AC/DC Motors)
commands the movement of the
4. Electrical Stepper Motors
manipulator and end effector
THE DRIVE SYSTEMS ARE CHOSEN BASED ON
- the robot is managed and controlled by
THE FF:
this device.
- power consumption
PNEUMATICS
- positional accuracy
- use of actuators to produce motion.
- Repeatability
- use air cylinders to generate rotary and
- speed of operation
linear motion.
- stability
PROGRAMMING LANGUAGES
- reliability
- Robots require programming because,
- cost
without instructions, they simply
➤ The drive methods are also selected on the
cannot work. This is because robots
basis of using open loop or closed loop controls.
will not know what to do unless you
program it. You have to program it so it
VARIOUS ACTUATORS USE THE FF
can work the way you want it to.
DEPENDING ON THE DRIVE METHODS:
- Many programming languages are used
- Hydraulic Cylinders that handle oil
to program robotic systems; some of
under pressure and use
the best ones include: VAL, Robo ML,
electrohydraulic valve
ROBOFORTH, ROSSUM, and XRCL.
- Pneumatic Cylinders using air as the
fluid medium with solenoid controlled
valve and usually d.c. electric motors

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TRENDS, INNOVATIONS AND PRACTICES IN CREATIVE TECHNOLOGIES, POWER SUPPLY AND
PRIMARY ELEMENTS, HISTORY OF ROBOTS AND ROBOTICS,

with electrical amplifiers and to a little extent corrosive because of

controllers and electrical stepper the presence of oxygen and water.
motors with suitable circuitry (ramping
circuit) to control the pulses.
ROBOT CONTROLS
GENERAL TYPES OF FLUIDS:
➤ Fluids may be gasses or liquids.
1. LIQUIDS are considered to be The most common kind of robot failure is not
incompressible (higher bulk modulus) mechanical or electronic failure but rather
as their volume does not change with failure of the software that controls the robot.
the change in pressure.
2. GASSES on the other hand are readily
compressible. The volume of the gas
decreases or increases due to the
increase or decrease of pressure.
3. HYDRAULIC FLUIDS
- The commonly used hydraulic fluids
are petroleum-based fluid with some
additives to satisfy the requirements of
desired viscosity index, resistance to HUMAN-MACHINE INTERACTION LEVELS OF
oxidation, good lubrication properties, AUTONOMY:
chemical stability, low density and foam 1. Direct Control / manual Control
resistance. 2. Supervision/ Wireless Control
4. - Sometimes, fire resistant fluids are 3. Semi- autonomous Robots/ Fully auto
used with high flash points in some & wireless Control
5. hazardous operating conditions. 4. Autonomous Robots
6. - Additives are used with hydraulic
fluids to prevent wear and tear. The ROBOTIC ARMS/END EFFECTORS
above categories of fluids are the END EFFECTOR
liquids used in hydraulic systems. - the device at the end of a robotic arm,
4. PNEUMATIC SYSTEMS designed to interact with the environment.
- In pneumatic systems, an important - a generic term that includes all the devices
fluid is air. that can be installed at a robot wrist.
- Air is inexpensive. There is no - Synonyms of end effector are end of arm
possibility of fire hazard. Used air is tooling (or EOAT), robot peripherals or robot
thrown out into the atmosphere as accessories although these last two terms are
exhaust. Clean air can be readily not as precise and can include devices that are
obtained using a filter. Fine oil can be not necessarily installed and the end of the
injected into the clean air by a robot arm.
lubricator.
- On the other hand, air is sluggish and

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ROBOTICS QUARTER 1
TRENDS, INNOVATIONS AND PRACTICES IN CREATIVE TECHNOLOGIES, POWER SUPPLY AND
PRIMARY ELEMENTS, HISTORY OF ROBOTS AND ROBOTICS,

KINDS OF MAIN END EFFECTORS: COLLISION SENSORS

1. Grippers - used to prevent damaging the robot
2. Tools - They function to perform a tooling and the parts being processed.
process. - They can disengage or send a signal to
TYPES OF TOOLS: the robot to stop at any moment when
1. Force-Torque Sensors a collision is detected.
2. Material Removal Tools - Brands of collision sensors are ATI, RAD
3. Welding Torches and Applied Robotics.
4. Collision Sensors TOOL CHANGERS
5. Tool Changers - are used when many different end
FORCE-TORQUE SENSORS effectors need to be used in sequence
- Are pucks installed between the robot by one robot.
flange and the tool that interacts with - They are used to standardize the
the part. interface between the robot flange and
- They measure the force and torque that the base of the tool.
the robot applies to the part through - They can be manual or automatic.
the tool. - Brands of tool changers are ATI, RAD,
- They are called 6 axis force-torque Applied Robotics and De-Sta-Co.
sensors because they measure 3 force GRIPPERS
components (x-y-z) and 3 torques - The most common type of end effector.
around those axes. - They can use different gripping
- are used when the force that the robot methods and actuation styles.
applies need to be controlled. - They function to grasp and hold
- Brands of force-torque sensors include objects.
ATI, JR3 and Robotiq. - Classification: single gripper, double
MATERIAL REMOVAL TOOLS gripper, multiple gripper
- This category includes cutting, drilling TYPES OF GRIPPERS:
and deburring tools installed as robot 1. Mechanical Gripper
tools. - Actuated by a mechanism.
- Brands of robot cutting tools include - Fingers also called “Jaws”
ATI and RAD - Attached or integrated part of
WELDING TORCHES the mechanism.
- very efficient end effectors that can be 2. Magnetic Gripper
controlled in a sophisticated way for - Handle ferrous materials
optimized welding. - Advantages: Pick times are
- Some torches also come with wire very fast, variations in part
feeders for an even better control of size can be tolerable, handle
the process. metals parts with holes,
- Brands of robot welding torches are require only one surface for
Tregaskiss, Binzel, SKS and Fronius. gripping.

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TRENDS, INNOVATIONS AND PRACTICES IN CREATIVE TECHNOLOGIES, POWER SUPPLY AND
PRIMARY ELEMENTS, HISTORY OF ROBOTS AND ROBOTICS,

- Disadvantages: residual
magnetism in the workpiece,
can’t pick a single sheet from
a stack.
3. Adhesion Gripper
- Handle fabrics and other light
weight materials
4. Vacuum Gripper
- Also called “Suction Cups”
- Objects- flat, smooth and
clean like glass.
- Cup material- elastic, rubber
or soft plastic
5. Humanoid Hands
- can generate larger grasping
force than a traditional pure
soft hand
6. Hooks
- Loading and unloading from
overhead conveyors
7. Scoops
- to handle liquid or powder
form of materials
8. Inflatable bladder or diaphragm
- For gripping fragile objects.

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