A

SEMINAR
On

“ROBOTICS”
Submitted in the partial fulfillment of the requirement for

THERD YEAR
MECHANICAL ENGINEERING
By

MR. G H U T U K A D E RA G H U N A T H B I R A

Under the guidance of

Prof. MANE.S.G.

DEPARTMENT OF MECHANICAL ENGINEERING

Fabtech Technical Campus, College of

Engineering and Research, Sangola
2022 - 2023
 Fabtech Technical Campus, College of
Engineering and Research, Sangola

This is to certify that the Seminar Report entitled “ROBOTICS"

has been submitted by Mr. RAGHUNATH BIRA GHUTUKADE for
partial fulfillment of Final Year Mechanical Engineering as per
curriculum laid by the DBATU University, Lonere during the academic
year 2022-2023.

Prof. S. G. Mane. Prof. R. S. Autade. Dr.R.B.Shendge.

(Guide) (HOD) (Principal)

Date:

Place:
 ABSTRACT

The 21st century is a century for robotics. Robots have long borne the potential
to bridge the gap between the cybernetic world (the internet of things) and the physical
world. As the most promising candidate to theme the next major industrial revolution
succeeding the present third (digital) industrial revolution, robotics is set to play an ever
increasingly important role in society for its influence in every aspect of life in Hong
Kong, including medicine and healthcare, building service, manufacturing, food
production, logistics and transportation. The 21st century is also the century for Asia,
or greater China in particular. China has become the biggest and fastest-growing
country in the global industrial robot market for its changing manufacturing
environment and improving quality-of-living standards, with foreseeable demand of
robots not only in the manufacturing industry, but also other service and societal
sectors. With its strong tradition in innovation and close ties to global research frontiers,
Hong Kong currently holds a leading edge in sectors such as medical, logistics, and
domestic service robots. However, with its sheer size, financial commitment, and strong
industrial foundation, the Mainland is rapidly picking up speed, especially in the
industrial and entertainment sectors. It is hence a critical moment for Hong Kong
researchers to join efforts and form a critical mass in robotic research to maintain the
regional, and towards global lead in service robotic research. Hong Kong researchers,
working on the cutting-edge of robotics that is closely associated with the future
economy of Hong Kong, have many top-level work for robotic surgical assistance, cell
manipulation, manufacturing, and warehousing management, leading to highly
translational and profitable outcomes that would help establish and thrive the Hong
Kong unique industry in medical and service robots, complemented by a vast
fabrication hub and grand market in the Mainland

i
 INDEX

Page
Contents
No.

Abstract i

Index ii

List of Figures iii

iv

1. Chapter 1
1.1 Introduction
1.2 Basic Idea

2. Chapter 2
Concept 2

3. Chapter 3
3.1 Design Of Robot

4. Chapter 4
Main Components 7

5. Chapter 5
Construction 14

6. Chapter 6
6.1 Robot Welding
6.2 Drilling
6.3 Grinding operation of robot

7. Chapter 7
Working Principle 19

ii
8. Chapter 8
Working 20

9. Chapter 9
9.1 Advantages
9.2 Dis-Advantages
9.3 Application

10. Chapter 10
Conclusion 24
References 25

LIST OF FIGURES

Title Page
Fig. No No.
Fig. 3.1 Robot 3
Fig. 4.1 Manipulators 7
Fig. 4.2 End effector 8
Fig. 4.3 Feedback device 9
Fig. 4.4 Controller 10
Fig. 4.5 Locomotion device 11
Fig. 4.6 screw nut spring mechanism 12
Fig. 4.7 Battery 13
Fig. 5.1 Construction Diagram OF Robot 14
Fig. 6 1 Robot Welding 15
Fig. 6.2 Deep Hole Drilling Machine 17
Fig. 6.3 Grinding Operation robot 18
Fig. 7.1 Working principle of robot 19

iii
 ROBOTICS

CHAPTER 1
1.1 Introduction

Robotics develops machines that can substitute for humans and replicate human actions.
Robots can be used in many situations for many purposes, but today many are used in
dangerous environments (including inspection of radioactive materials, (bomb detection
and detactivation), manufacturing processes, or where humans cannot survive (e.g., in
space, underwater, in high heat, and clean up and containment of hazardous materials
and radiation). Robots can take any form, but some are made to resemble humans in
appearance. This is claimed to help in the acceptance of robots in certain replicative
behaviors which are usually performed by people. Such robots attempt to replicate
walking, lifting, speech, cognition, or any other tasks mainly performed by a human.
Many of today's robots are inspired by nature, contributing to the field of bio-inspired
robotics.
Certain robots require user input to operate, while other robots’ function autonomously.
The concept of creating robots that can operate autonomously dates back to classical
times, but research into the functionality and potential uses of robots did not grow
substantially until the 20th century. Throughout history, it has been frequently assumed
by various scholars, inventors, engineers, and technicians that robots will one day be
able to mimic human behavior and manage tasks in a human-like fashion. Today,
robotics is a rapidly growing field, as technological advances continue; researching,
designing, and building new robots serve various practical purposes, whether
domestically, commercially, or militarily. Many robots are built to do jobs that are
hazardous to people, such as defusing bombs, finding survivors in unstable ruins, and
exploring mines and shipwrecks. Robotics is also used in STEM (science, Technology,
engineering, and mathematics) as a teaching aid.

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 ROBOTICS

CHAPTER 2

concept:-
robotics involves the creation of robots to perform tasks without further
intervention, while ai is how systems emulate the human mind to make decisions and
'learn. ’While you can have robotics with an ai element (and vice versa), both can, and
usually do, exist independently of each other.

robotics is a sub-domain of engineering and science that includes mechanical

engineering, electrical engineering, computer science, and others. robotics deals with
the design, construction, operation, and use of robots and computer systems for their
control, sensory feedback, and information processing.

robotics deals with the design, construction, operation, and use of robots and
computer systems for their control, sensory feedback, and information processing. a
robot is a unit that implements this interaction with the physical world based on sensors,
actuators, and information processing.

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 ROBOTICS

CHAPTER 3

3.1 Design of Robot: -

Fig.3.1 Robot

Design of Robot: -
Robotic design is creating a plan or convention for constructing a robot or a robotic
system. These plans can be architectural blueprints, engineering drawings, operation
processes, and circuit diagrams. The term design has different meanings in different
fields.

Robotics is the intersection of science, technology, and engineering that creates

machines called robots. A robot is a programmable machine that can assist humans or
mimic human actions.
Robots were initially built to handle monotonous tasks such as making cars on an
assembly line but have since expanded beyond their initial uses to perform tasks like
fighting fires, cleaning homes, and assisting with intricate surgeries. Robots have
different levels of autonomy, from human-controlled bots that carry out tasks that a
human has complete control over to fully autonomous bots that perform tasks without
any external influences.

As technology advances, so does the scope of what is considered robotics. For

example, in 2005, 90% of all robots could be found assembling cars in automotive
factories. These robots are mainly just mechanical arms tasked with welding or
screwing on certain parts of a car. Today, there is an evolved and expanded definition
of robotics.
Robotic design is creating a plan or convention for constructing a robot or a robotic
system. These plans can be architectural blueprints, engineering drawings, operation
processes, and circuit diagram.

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 ROBOTICS

1 kgcm means that the motor can lift 1kg weight on a distance of 1cm from the axis of
rotation, or 0.5kg at the distance of 2cm and so on. Using that knowledge and the fact
that you are lifting 1kg we can say that arm's length 1kg must be less than the
maximal torque of the motor.
The stronger the motor - the longer the arm can be. How strong motor you'll use
depends on how much money you'll spend and what length you need for your design.
Size and shape of robot
They range in size from 180 mm to 1,200 mm. SCARA robots are typically employed
in plastic injection molding automation applications for loading and unloading vertical
injection molding machines. Smaller side entry robots are single-axis machines
focused on a specific application.
Height of robot
Existing communication robots have various heights, rang- ing from 400mm to around
1800mm
Long is the robot arm
The 7-foot-long robotic arm on Perseverance can move a lot like yours. It has a
shoulder, elbow and wrist "joints" for maximum flexibility.
Capacity of robot
A robot's payload capacity refers to the amount of mass its wrist can support. While
many may think payload only applies to the weight of workpieces handled by the
robot, it also applies to the weight of any end of arm tooling (EOAT) and bracketing
integrated with the robot wrist.
Weight of robot
A robot with a lifting capacity between 5 and 7 kg has about 300 kg average weight.

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 ROBOTICS

CHAPTER 4

*Main Components: -

Manipulators: -
End Effectors: -
Feedback devices: -
Controllers: -
Locomotive devices: -

Manipulators: -
Robotic manipulation refers to the ways robots interact with the objects Around them:
grasping an object, opening a door, packing an order into a box, folding laundry… All
these actions require robots to
Plan and control the motion of their hands and arms in an intelligent way.

Fig.4.1 Manipulators

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 ROBOTICS

END EFFECTOR:-

A robot's wrist, allowing the robot to interact with its task. Most end effectors are
mechanical or electromechanical and serve as grippers, process tools, or sensor

Fig.4.2 end effector

End Effector
In robotics, an end effector is the device at the end of a robotic arm, designed to
interact with the environment. The exact nature of this device depends on the
application of the robot.
In the strict definition, which originates from serial robotic manipulators, the end
effector means the last link (or end) of the robot. At this endpoint, the tools are
attached. In a wider sense, an end effector can be seen as the part of a robot that
interacts with the work environment. This does not refer to the wheels of a mobile
robot or the feet of a humanoid robot, which are not end effectors but rather part of a
robot's mobility.
End effectors may consist of a gripper or a tool. When referring to robotic prehension
there are four general categories of robot grippers: Impactive: jaws or claws which
physically grasp by direct impact upon the object.

Ingressive: pins, needles or hackles which physically penetrate the surface of the object
(used in textile, carbon, and glass fiber handling).
Astrictive: attractive forces applied to the object's surface (whether by vacuum,
magneto-, or electro adhesion).
Contigutive: requiring direct contact for adhesion to take place (such as glue, surface
tension, or freezing).

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 ROBOTICS

Feedback Device :-

Fig.4.3 Feedback devices

Feedback sensors are used to detect the actuator's output so that the control system can
correct for external factors. For example, many robots are propelled forward by wheels
connected to DC motors.

A feedback control system basically has five components – input (set value), output
(process variable), process being controlled, sensing devices, and actuating / control
devices. Have a look at the below figure.

Let me explain this with a simple example of an air conditioner. Consider the
following things –
Temperature Set point set by the remote controller – Input
Temperature – Output
Temperature sensor – sensing device
AHU – process being controlled
Compressor – control device

Now, relate this to the concept we are trying to explain. You set the temperature at 26
°C. You start the AC. On starting, it is found by the sensor that the current temperature
is 32 °C. Based on this feedback, the controller inside will start the compressor. The
compressor will try to bring down the temperature.
The way in which actuators perform is determined by the combination of several
factors. The robot's control system sends the actuator some sort of control signal, and
various factors of the environment affect what happens for any given control signal.
Feedback sensors are used to detect the actuator's output so that the control system can
correct for external factors.

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 ROBOTICS

Controller: -

Fig.4.4 Controller
Robot controller main components of industrial robot. The robot controller is a
computer system that connects to the robot in order to control the movements of the
industrial robot arm. In addition to the robot arm, the controller is also responsible for
the end effector and to prevent interference from occurring within the robots work
area. All industrial robot are paired with a controller in order to be able to operate.

The teach pendant is a key component of the control system as is serves as the main
programming method for the robot. This handheld device consists of buttons, switches,
or a touchscreen to allow for the input of programming commands. These commands
are inputted through the pendant’s keyboard by a robot operator. Once the program has
been entered into the teach pendant, the controller sends the coded instructions to the
robot’s CPU. The CPU is a small chip and is the central processing unit of the robot.
The CPU receives the programming code, processes the code, and then instructs the
robot how to operate according to the application program. Using a controller and
teach pendant is the preferred programming method for the majority of robotic users.
The robotic controller is often referred to as the “brains” of a robot. This is because it
interrupts coding that serves as the program for a given robot application. The
controller deciphers the code into instructions for the articulated robot to use in order
to operate and carry out the steps of the application. Robotic programs are coded into
the controller through the controller’s teach pendal.

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 ROBOTICS

Locomotion Device:-
Robot locomotion is the collective name for the various methods that robots use to
transport themselves from place to place. Wheeled robots are typically quite energy
efficient and simple to control.

The most widespread types of locomotion are motions using special outer devices like
wheels, legs, tracks, and propellers. Also, locomotion of multibody systems can be
based upon periodic change of configuration of the system.

Fig.4.5 Locomotion device

Wheeled robots are typically quite energy efficient and simple to control. However,
other forms of locomotion may be more appropriate for a number of reasons, for
example traversing rough terrain, as well as moving and interacting in human
environments. Furthermore, studying bipedal and insect-like robots may beneficially
impact on biomechanics.
A major goal in this field is in developing capabilities for robots to autonomously
decide how, when, and where to move. However, coordinating numerous robot joints
for even simple matters, like negotiating stairs, is difficult. Autonomous robot
locomotion is a major technological obstacle for many areas of robotics, such
humanoids (like Honda's Asim ).

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 ROBOTICS

Screw nut spring mechanism:-

Fig. 4.6 screw nut spring mechanism

The common principle of all screws is that a rotating helix can cause linear motion.
A screw is a mechanism that converts rotational motion to linear motion, and a torque
(rotational force) to a linear force.
It is one of the six classical simple machines. The most common form consists of a
cylindrical shaft with helical grooves or ridges called threads around the outside.
The screw passes through a hole in another object or medium, with threads on the
inside of the hole that mesh with the screw’s threads.
When the shaft of the screw is rotated relative to the stationary threads, the screw
moves along its axis relative to the medium surrounding it; for example rotating a
wood screw forces it into wood.

In screw mechanisms, either the screw shaft can rotate through a threaded hole in a
stationary object, or a threaded collar such as a nut can rotate around a stationary screw
shaft.
Geometrically, a screw can be viewed as a narrow inclined plane wrapped around a
cylinder.

Other mechanisms that use the same principle, also called screws, don’t necessarily
have a shaft or threads.
For example, a corkscrew is a helix-shaped rod with a sharp point, and an Archimedes’
screw is a water pump that uses a rotating helical chamber to move water uphill.
The common principle of all screws is that a rotating helix can cause linear motion.

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 ROBOTICS

Battery:-

Who doesn’t know what a battery is? They are everywhere; wall clocks, wristwatches;
calculators, mobile phones, flashlights, cars, motorbikes and most other electrical
gadget you can imagine.

To answer the above question, a battery is a device which converts chemical energy
into electrical energy. As most of our robots use batteries, we will spend some time
understanding what a battery is, and the different types of batteries available. Later we
will understand which battery best suits our robots.

Fig. 4.7 Battery

Lithium Polymer Batteries (Li-Po) – These are becoming the most popular type of
batteries for use in robotics because of their lightweight, high discharge rates and
relatively good capacity, except the voltage ratings are available in increments of 3.7
V.
Battery technology is vital to delivering significant advances in a wide range of industr
from autonomous vehicles, robotics, and drones to renewable power. The majority of
robots are required to be autonomous and free from an AC supply; therefore, they must
rely wholly on batteries for their source of power.

They should be portable, compact, lightweight, maintenance-free, economical, rugged,

resistant to abuse and safe in use and under accident conditions, stable to provide
enough power over most of the discharge, and capable of recharging with a capacity of
many charges and discharge cycles. This catapulted battery technology to the top of the
priority list for many players, leading to a massive boom in investment, as companies
try to build key positions in the market.

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 ROBOTICS

CHAPTER 5

Construction:-

Fig. 5.1 Construction Diagram

Fig 5.1 shows the construction diagram of Construction robots are a subset of
industrial
robots used for building and infrastructure construction at site. Despite being
traditionally slow to adopt new technologies, 55% of construction companies in the
United States, Europe, and China now say they use robots on job sites. Most of the
robots working on jobsites today are designed to remove strains on humans, e.g.,
excavating and lifting heavy objects. Robots that survey and layout markers, tie rebar,
and install drywall are also now on the market.
Other robots are being developed to perform tasks such as finishing the exterior, steel
placement, construction of masonry wall, reinforcement concrete, etc. The main
challenge to use robots in site is due to limitation in workspace.
General features include:

It must be able to move.

It must be able to handle components of variable size and weight.
It must be able to adjust with changing environment.
It must be able to interact with its surroundings.
It must be able to perform multiple tasks.

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 ROBOTICS

CHAPTER 6

*Fabrication:-

Robot Welding:-

Fig. 6.1 Robot Welding

Historically, heavy fabrication processes have been mostly manual for a number of
reasons. For one, robotic technology of the past simply could not keep up with the
extreme demands of heavy fabrication applications, such as those found in the welding
of construction vehicles, loader buckets or cutting of large plates. Robots were
originally built for controlled environments, such as working on an assembly line in an
automotive manufacturing plant.

Another main reason heavy fabricators haven’t used robotic welding and other
automation technology is because of the cost of the initial investment, and wariness
surrounding the time it takes to achieve return on investment (ROI).

Today’s robotic welding technology, however, is more than capable of automating

most heavy fabrication processes while delivering ROI and gains in productivity.

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 ROBOTICS

Part Manipulation

One of the primary obstacles to automation has been securing, moving, and
repositioning large, heavy parts. Now, custom headstock and tailstock positioners,
along with several coordinated track-mounted welding robots, can lift and rotate parts
that are several tons in order to automate the entire welding process. Even welding of
long wall coal mining equipment, which can weigh in excess of 50,000 pounds, can be
fully automated (read the case study here). Today’s robotic welding technology can
reposition large, heavy parts to provide welding access to the entire part.

Smart Sensors

Smart sensors help compensate for material tolerances for processes like welding
heavy steel. Parts like profiles, beams and tubes can distort from their correct
dimensions during the welding process. A robotic welding system equipped with smart
sensors for seam tracking allows the robot to adjust for this distortion during the
welding cycle, maintaining weld accuracy even when dimensions change from what’s
programmed into the robot. Material tolerances have always been a challenge to
robotic welding, but today there is plenty of technology to account for part distortion.

Offline Programming

Most robotic welding systems today feature offline programming capabilities, which is
a major appeal for heavy fabricators. A highly complex robotic welding system with
track-mounted robots, part positioners, smart sensors and integrated software can be
extremely difficult to program. In the past, this would significantly lengthen project
delivery times and complicate maintenance, as most heavy fabricators did not keep
programmers on staff. Today, offline programming allows robotic welding systems to
start welding as soon as they’re installed on the factory floor, helping reduce the initial
cost and time associated with automation investment, and reduces downtime when
reprogramming is required.

Robotic welding capabilities are changing heavy fabrication. New robotic welding
technology is capable of overcoming traditional obstacles to automation for large and
heavy parts, and now heavy fabricators are undergoing a technological revolution.

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 ROBOTICS

Drilling:-

Fig. 6.2 Deep Hole Drilling Machine

Robot drilling is a type of automated machining operation where a drilling tool is fixed
to the end of an industrial robot. Unlike conventional computer numerical controlled
(CNC) drilling machines, robots have a larger workspace and can handle more
complex shapes.

One of the major benefits of using robot drilling systems is their flexibility. With
conventional CNC drilling, you are usually restricted to drilling in one or maybe two
planes. With robots, however, you can drill in almost any orientation that you like.

This flexibility is very clear when you look at projects like the artwork produced by
RoboDK users Neoset designs for artist Robert longo a few years ago. The artwork
consisted of a huge metal sphere that was drilled with thousands of holes and
positioned at regular intervals across the surface.

You could only achieve this type of project with robot drilling. Manual drilling would
be too labor-intensive and the accuracy would be inconsistent. Other forms of drilling
automation just wouldn’t be able to drill from so many different orientations.

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 ROBOTICS

Grinding:-

Fig. 6.3 Grinding Operation Robot

Grinding is one of the most physically demanding applications in metal fabrication,

requiring a unique combination of force and precision. These attributes make robotic
grinding a great option for many operations. Through automated grinding you can
achieve more consistent part quality, increased throughput and long-term cost savings
over manual grinding.

Partner with 3M and our robotics experts will help guide you through the automation
journey. We have the long-lasting, fast-cutting abrasives and industry knowledge
you’ll need for a successful implementation.
There are many benefits that come with robotic automation of grinding and finishing.
Robots are inherently repeatable, which addresses inconsistencies in throughput and
part quality. Further, robots can work much longer hours without breaks, contributing
to higher overall throughput levels.

In addition to higher, more consistent throughput and better part quality, robotic
grinding and finishing creates short-term return on investment (ROI) and long-term
reductions in operating costs. These results compound over time, as automating one
process opens the door for further automation of other processes.The benefits of
robotic grinding and finishing are clear. Essentially, robotic automation of grinding
and finishing allows manufacturers to produce more parts with a higher quality at a
lower cost.

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 ROBOTICS

CHAPTER 07

Working Principle:-
The Robot kinematics deals with the position of links which are connected with the
help of joints, which gives the position and orientation of every link present in the
robot manipulator to place the end-effector to the required target.

Fig. 7.1 working principle of robot

The first law is that a robot shall not harm a human, or by inaction allow a human to
come to harm. The second law is that a robot shall obey any instruction given to it by a
human, and the third law is that a robot shall avoid actions or situations that could
cause it to come to harm itself.

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 ROBOTICS

CHAPTER 08

Working:-

which literally means running algorithms on the computer. The energy source is
usually electricity, from the electrical network through wires, from a built-in battery, or
from solar power. Sometimes robots are operated by gas.

Energy is needed by the robot – without it, the robot cannot move or think, which
literally means running algorithms on the computer. The energy source is usually
electricity, from the electrical network through wires, from a built-in battery, or from
solar power. Sometimes robots are operated by gas. The purpose of the robot usually
defines which option is better.

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 ROBOTICS

CHAPTER 09
Advantages:-

Robots can offer increased productivity, efficiency, quality, and consistency.

Robots can't get bored with their job.
Until they switch off, they can repeat the same task continuously.
Better quality and consistency.
Maximum productivity and throughput.
Greater safety.
Reduced direct labor costs.
Keeping manufacturing in the U.S.

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 ROBOTICS

Disadvantages:-

Robots are Expensive. Robots replace humans.

Maintenance and Security. The upfront cost is not the only aspect of making the robots
Human capabilities and Emotionlessness.
Power and Programming.
Increase in the rate of unemployment.
Creation of technologies that replace a man.
Environmental Deterioration.
Technology Addiction.
Disadvantage in the future: Man against Machine.

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 ROBOTICS

Application:-
Supports skill development
Real-school experience
Special student opportunities
Arc Welding 5.Welding Cell Systems
Clinical Laboratory Robots 7.Spot Welding

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 ROBOTICS

CHAPTER 10
Conclusion:-

This book aimed to investigate the emerging field of ER from a psychological

perspective. Three main learning paradigms of ER have been examined: learning
robotics, with robotics and by robotics. Due to the novelty of this field, fundamental
issues of research have been approached:

– what is an educational robot: its ontological and pedagogical status, according to

students’ representation;
– to what extent do users accept the robot as a functional and social agent and which
factors are susceptible of influencing the dynamics of human–robot trust;
– how do educational robots impact on learning processes (cognitive, affective, social
and meta- cognitive dimensions of learning) and results (knowledge and
competencies).

Results of the three experimental studies that we carried out to answer to these research
questions show that:

Learning robotics fosters a more nuanced judgment on the ontological status of a robot,
but a more definite judgment about its educational status: after having constructed and
programmed a robot, students’ assignment of robots to the category of living entities is
more graded, while attribution of pedagogical roles (object, tool and companion) to
robots is more clear-cut.

Learning with robotics raises users trust in the robot as functional agent, while trust in
the robot as a social agent is rather limited. Desire for control, attitude toward social
influence of robots, and type of interaction scenario did not have an impact.

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 Dual Fuel Engine

REFERENCES
Brooks, Rodney. "Achieving Artificial Intelligence through Building Robots." Boston:
Massachusetts Institute of Technology, 1986.G. A.
Horswill, Ian. "The Polly System." AI and Mobile Robots.B.

Vaughan, R. N. Sumpter, A. Frost, and S. Cameron. "Experiments in Automatic Flock

Control." Edinburgh, UK, 1998.
Mark Yim, David G. Duff, and Kimon D. Roufas. "PolyBot: a Modular
Reconfigurable Robot." IEEE International Conference on Robotics & Automation.
April 2000.

Martin, Martin C. and Hans Moravec. "Robot Evidence Grids." CMU RI TR 96-06,
1996.A REVIEW ON HYDROGEN FUEL ENGINE W. M.
R. Grabowski, L. Navarro-Serment, and P. Khosla. "An Army of Small Robots."
SciAm Online May 2004.

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