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DEPARTMENT OF MECHATRONICS ENGINEERING

UNIVERSITY OF ENGINEERING & TECHNOLOGY, PESHAWAR
Robotics MtE-405L, 7th Semester

Student Name: Imad Ahmad

Reg No: 20PWMCT0732
Instructor Name: Dr. Riaz Akbar Shah
Submission Date: October 5, 2023

Lab No 2:

Lab Rubrics:
BelowBasic (1)
Criteria Excellent (4) Proficient (3) Basic (2) Student’s
Score
Report is mostly
Report is
Report is as per as per the Sections/Steps
disorganized
To organize the the guidelines. are not ordered
guidelines and and follows
lab report and All and Report is
most some
practice sections/steps not as per the
sections/steps guidelines
th e writing skills are clearly guidelines
but most of
as per the organized in a are ordered well
the guidelines
guidelines logical order. but requires are missing
minor
improvements.
The report
completely The report The report The report is
discusses the discusses the discusses the totally irrelevant
To discuss the required task in required task lab work but to the lab work
actual own words with have
task some relevant irrelevant
additional information
information
Calculations Calculations and Most data and Calculations and
and data analysis observations data analyses of
were performed were lab were missing
data analyses
To perform accurately, but recorded
calculations and minor errors adequately,
were performed
data analysis were made both but with
clearly,
in calculations several
concisely, and
and in applying significant
accurately, with
correct units errors
correct
units. or omissions.
Graphs, if Graphs, if Graphs, if Major
necessary, were necessary, were necessary, components of
To present results drawn drawn were drawn but lab
in the form of accurately and adequately inadequately. were
graphs neatly and were missing
clearly labelled.

Course Instructor: Dr. Riaz Akbar Shah

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Table of Contents
Contents
Objectives..............................................................................................................................................................
Theory....................................................................................................................................................................
Types of Robotic Arm...........................................................................................................................................
Lab-Volt Automation 5250-A0 Servo Robot Training System.............................................................................
ProArm RS2200 Robot by Marcraft Int ................................................................................................................
Mobile Robot.........................................................................................................................................................
The Khepera IV Mobile Robot..............................................................................................................................
Unimate PUMA 500..............................................................................................................................................
Pick and Place Robotic Arm..................................................................................................................................
Conclusion............................................................................................................................................................
References.............................................................................................................................................................

Course Instructor: Dr. Riaz Akbar Shah

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Lab No: 2 Robot Types and its Applications

Objectives:
 To learn about Robotic Arm.
 To learn about different types of Robotic Arm.
 To learn about different applications of Robotic Arm.
 To learn about software RoboDK used in Lab.

Theory:
Robot:
A robot is a machine designed to carry out tasks autonomously or semi-autonomously. It can be
programmed to perform specific actions or functions, and it may be equipped with sensors, actuators, and
other hardware to interact with its environment.

Robotics:
Robotics is the interdisciplinary field of study and engineering that involves the design, construction,
operation, and use of robots.

Robotic Arm:
A robotic arm is a type of mechanical arm that is typically programmable and designed to perform a
variety of tasks. It is a key component of robotic systems and is often equipped with joints and links that
mimic the movements of a human arm.

CNC (Computer Numerical Control):

CNC stands for Computer Numerical Control. It's a technology that uses computers to control machine tools
and equipment for manufacturing and fabrication processes. CNC systems are widely used in various
industries to automate and precisely control the movement of tools and machinery.

PCB (Printed Circuit Board):

PCB stands for Printed Circuit Board. It is a flat board made of non-conductive material, typically fiberglass
or composite epoxy, on which electronic components such as resistors, capacitors, integrated circuits, and
connectors are mounted and connected using conductive traces.

Axis of Robot Used in PCB Design:

In the context of robotics used for PCB (Printed Circuit Board) design or assembly, the term "axis" typically
refers to the degrees of freedom or movement that a robotic arm possesses. These axes determine the robot's
Course Instructor: Dr. Riaz Akbar Shah
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ability to move and position its end effector (the tool or gripper) accurately in three-dimensional space.

A typical robotic arm used for PCB assembly may have multiple axes of movement. The most common
configurations include:

3-Axis Robot: A robot with three degrees of freedom can move in three directions: X, Y, and Z. This is
suitable for tasks that involve linear movement along three axes.

4-Axis Robot: In addition to X, Y, and Z movements, a 4-axis robot introduces a rotational movement around
one of the existing axes, typically the Z-axis. This additional axis allows for more flexibility in positioning.

5-Axis Robot: A 5-axis robot adds another rotational axis, often referred to as the A-axis or C-axis. This
enables the end effector to tilt or rotate, providing greater flexibility in approaching objects from different
angles.

Stepper Motor:
Stepper motors are a type of electric motor that divides a full rotation into a series of equally spaced steps.
Unlike traditional electric motors, which continuously rotate when voltage is applied, stepper motors move in
discrete steps. Each step corresponds to a specific angle of rotation.

Key features of stepper motors include:

Step Angle: The step angle is the angle of rotation for each step the motor takes. Common step angles are
1.8 degrees and 0.9 degrees, meaning the motor moves 1.8 or 0.9 degrees for each step.

Detent Torque: Stepper motors have detent torque, which is the holding torque when the motor is not
energized. This allows the motor to maintain its position without external force.

Coils: Stepper motors have coils of wire, and they are classified based on how these coils are energized. The
two main types are bipolar and unipolar stepper motors.

Bipolar Stepper Motors: Have two coils and require a reversing current to change the magnetic poles.
They generally provide more torque but require a more complex driver circuit.

Unipolar Stepper Motors: Have multiple center-tapped coils, and the magnetic poles can be changed by
energizing different coil phases. They are easier to control but may have lower torque compared to bipolar
Course Instructor: Dr. Riaz Akbar Shah
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motors.
Control: Stepper motors are commonly used in applications where precise control of position and speed is
required. They can be controlled using a stepper motor driver, which sends pulses to the motor in a specific
sequence to achieve rotation.

Open-Loop Control: Stepper motors operate in open-loop control systems, meaning they do not typically
provide feedback on their position. However, external sensors can be used for position verification in certain
applications.

Applications: Stepper motors are used in a variety of applications, including 3D printers, CNC machines,
robotics, camera systems, and other systems where precise and controlled motion is essential.

One of the advantages of stepper motors is their ability to move in precise increments, making them well-
suited for applications where accuracy is crucial. However, they may exhibit resonance at certain speeds and
can lose steps if overloaded, so proper sizing and control are important considerations in their use.

Laws of Robotics:
The "laws of robotics" typically refer to a set of fictional ethical guidelines devised by science fiction writer
Isaac Asimov. Asimov introduced these laws in his stories to explore the ethical implications of intelligent
machines. The three laws are:
 A robot may not injure a human being or, through inaction, allow a human being to come to
harm.
 A robot must obey the orders given to it by human beings, except where such orders would
conflict with the First Law.
 A robot must protect its own existence as long as such protection does not conflict with the First
or Second Law.

Applications of Robots:
Manufacturing: Robots are widely used in manufacturing for tasks such as assembly, welding, and
material handling.

Medical: Robots assist in surgeries, rehabilitation, and diagnostics, and they are used in the development of
prosthetics.

Space Exploration: Robots are employed in space missions for tasks like exploration, sample collection,
and satellite servicing.

Automotive: Robotic arms are used in car manufacturing for tasks like painting, welding, and assembly.

Agriculture: Robots are used for tasks such as planting, harvesting, and monitoring crop health.

Logistics and Warehousing: Robots assist in warehouse automation, including picking and packing of
goods.

Search and Rescue: Robots can be deployed in disaster-stricken areas to search for survivors and deliver
supplies.

Course Instructor: Dr. Riaz Akbar Shah

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Entertainment: Robots are used in theme parks, movies, and exhibitions for entertainment purposes.
Education: Educational robots are used to teach programming, engineering, and robotics concepts to
students.

Home Assistance: Robots like robotic vacuum cleaners and smart home devices assist with household
tasks

Symbolic Representation of Robot:

Various Types of Robotic Arms:

Cartesian Robot:
Geometry: Uses a three-linear-axis system (X, Y, Z) resembling the Cartesian coordinate system. Movements
are along straight lines.
Applications: Precision assembly, pick-and-place tasks.

Cylindrical Robot:
Geometry: Consists of a rotary joint at the base, followed by a linear joint and another rotary joint. Forms a
cylindrical coordinate system.
Applications: Handling and assembling objects along a cylindrical path.

Spherical Robot:
Geometry: Features a shoulder joint, an elbow joint, and a wrist joint. Movements are in a spherical
coordinate system.
Applications: Welding, painting, and tasks requiring a wide range of motion.

Course Instructor: Dr. Riaz Akbar Shah

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Articulated Robot:
Geometry: Has rotary joints at each joint, similar to the human arm. Usually, it has a minimum of three rotary
joints.
Applications: Versatile applications, including assembly, welding, and material handling.
SCARA Robot (Selective Compliance Articulated Robot Arm):
Geometry: Combines rotational and translational motions with two parallel rotary joints and one prismatic
joint.
Applications: Ideal for tasks that require both precision and speed, like assembly and material handling.

Delta Robot:
Geometry: Features three arms connected to a common base. Movement is achieved by varying the length of
the arms.
Applications: High-speed tasks such as pick-and-place operations in industries like packaging.

Polar or Radial Robot:

Geometry: Consists of a rotary joint at the base and a linear joint connecting to the end effector. Movement is
along radial coordinates.
Applications: Tasks requiring precise radial movements, such as painting or welding.

Parallel Robot:
Geometry: Employs multiple parallel kinematic chains to control the movement of the end effector.
Applications: High precision tasks, such as surgery or micro assembly.

Hexapod Robot:s
Geometry: Utilizes six legs for movement and stability, often resembling a spider.
Applications: Used in aerospace for tasks like simulator motion platforms.

Snake Arm Robot:

Geometry: Mimics the structure of a snake with multiple interconnected joints.
Applications: Inspection and maintenance in confined spaces or hazardous environments.
Each type of robotic arm has its advantages and is suited for specific applications based on its geometry and
capabilities. Depending on the task at hand, one type might be more suitable than another

RoboDK:
RoboDK is a simulation and offline programming software for industrial robots. It allows users to simulate
and program robot movements in a virtual environment before implementing them in the actual workspace.
Here are some key features and functions of RoboDK:

Simulation:
RoboDK provides a 3D simulation environment where users can model their robotic systems. This allows for
the visualization of robot movements, interaction with the environment, and validation of programs.

Offline Programming:
Users can program industrial robots offline, meaning without the need for the physical robot to be in
operation. This can save time and reduce downtime in industrial settings.

Support for Multiple Robots:

RoboDK supports a wide range of industrial robots from various manufacturers. This flexibility allows users
Course Instructor: Dr. Riaz Akbar Shah
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to work with different robot models within the same software.

Path Planning:
The software includes path planning algorithms to optimize robot movements, ensuring efficient and
collision-free paths.

Integration with CAD Software:

RoboDK can import 3D models from Computer-Aided Design (CAD) software, allowing users to create a
virtual representation of their work environment.

Robot Library:
It comes with a library of robot models and tools, making it easier for users to select and simulate specific
robotic systems.

Post-Processor:
The software generates robot-specific code (G-code) that can be used to control the actual robot. It provides
post-processors for various robot controllers.

Compatibility:
RoboDK is compatible with a wide range of robot controllers, making it a versatile tool for users working
with different robotic systems.

Industrial Applications:
It is used in various industrial applications such as welding, machining, pick-and-place, and other robotic
processes.
Overall, RoboDK is a valuable tool for engineers and programmers working with industrial robots, enabling
them to streamline the programming and implementation process while minimizing the risk of errors. It
facilitates the transition from the virtual simulation environment to real-world robot operations
Conclusion:
In this lab we learned about Robots. We learned how Robots are making humans life easier. We also
studied different types of Robot. And in Robotics Lab Hall we seen different types of robots, like mobile
robot, robotic arms etc.

References:
[1] https://www.indiamart.com/proddetail/pick-place-systems-6600798248.html
[2] https://www.ebay.com/itm/293659659435
[3] https://americanhistory.si.edu/collections/search/object/nmah_1028521
[4] %20a,dynamics%2C%20assuming%20zero%20initial%20conditions.

Course Instructor: Dr. Riaz Akbar Shah