work envelope is the range of motion achieved by the robot

manipulator. The shape and volume of the work envelope are determined by the robot
arm’s length and what type of joints it possesses. Each joint contributes its own range of
motion, whether in a linear movement along one or two axes or a rotary or revolutionary
movement in three-dimensional space. As a result, work envelope shapes may be
rectangular, cubic, cylindrical, polar, or revolute, among others.

A work envelope is generally defined as how far the robot arm’s end-effector mounting
plate can reach vertically, horizontally, and backward. The dimensions do not include
the additional reach granted by tools attached to the robot wrist. Any unreachable area
beyond the work envelope is referred to as a dead zone.

Why Does the Work Envelope

Matter?
A robot’s work envelope is a critical consideration because it defines the space in which
the robot can operate. You want to select a robot that can cover the work area required
and perform the tasks you have in mind.

For instance, do you need a robot that can handle large components? If so, you need a
large-scale machine with a longer manipulator. On the other hand, your operation may
require tasks in a contained space involving tiny objects. This calls for a more diminutive
robot able to work with greater dexterity.

Keep in mind that 6-axis robots offer the most complex range of motion of any industrial
robot. This makes them a popular choice for manufacturing automation across various
industries.
Robot Working Envelopes

Different Robot configurations generate characteristic working envelope shapes. This working
envelope is important when selecting a Robot for a particular application since it dictates:-

Care should be exercised when interpreting the working envelope of a Robot, for a number of
reasons.

a. the working envelope refers to the working volume which can be reached by some point
at the end of the Robot arm, this point is usually the centre of the end effector mounting
plate. It excludes any tools or workpiece which the end effector may hold.

b. There are often areas within the working envelope which cannot be reached by the end of
the Robot arm. Such areas are termed dead zones.
 c. The maximum quoted payload capacity can only be achieved at certain arm spans this
may not necessarily be at maximum reach.

Standard Working Envelope Shapes

1. Cartesian Configuration
The working envelope of the Cartesian configuration
is a rectangular prism. There are no dead zones within
the working envelope and the Robot can manipulate its
maximum payload throughout the working volume.

2. Cylindrical Configuration
The working envelope of this configuration is as its name suggests a cylinder. The
cylinder is hollow, since there is a limit to how far the arm can retract, this creates
a cylindrical dead zone around the Robot structure.

3) Polar Configuration
The working envelope of this configuration sweeps out a volume between two partial
spheres. There are physical limits imposed by the design on the amount of angular movement in
both the vertical and horizontal planes. These restrictions create conical dead zones both above
and below the Robot structure.

4) Revolute Configuration
This configuration has a large working envelope relative to the floor space it occupies. The shape
of the working envelope depends on the individual design. The two most common designs are
shown below. The design in b) allows almost a true sphere to be reached, whilst the design in a)
has a complex cusp shaped envelope.

5) SCARA Configuration
The SCARA configuration has a working envelope that can be loosely described as a heart or
kidney shaped prism, having a circular hole passing through the middle. This allow a large area
coverage in the horizontal plane but relatively little in the vertical plane.

6) Spine Configuration
The envelope of the spine Robot will approximate that of a true hemisphere the size being
dependent on the number of articulations in the spine.

7) Pendulum Configuration
The working envelope of the pendulum configuration resembles that of a simple horseshoe
having a segmented shaped cross section. The limited working envelope is offset by the fact
that this Robot can be mounted in almost any position, allowing the envelope to be finely
positioned in relation to its task.
 End effectors are devices attached to the end of a robot’s arm to help
it interact with the surrounding environment. End effectors are essential to
robotic systems as they handle, manipulate, and sense objects. These devices
are the primary means by which robots interact with their environment and
perform useful work. End effectors can be customized to suit specific
applications and can be designed to perform a wide range of tasks, including
gripping, cutting, welding, painting, and more.

What are the types of end effectors used in

robots?
End effectors can be broadly classified into three categories based on their
design, construction, and application.

Grippers
Grippers are used to grasp and hold objects securely. They are one of the most
commonly used types of end effectors in robotics and are an essential
component of many automated systems. The primary function of grippers is to
provide robots with the ability to pick up, move, and manipulate objects in a
controlled and repeatable manner. Grippers come in different sizes, shapes, and
configurations. Their choice depends on the type and size of the object being
handled, the robot's environment, and the specific application.

Here is a list of some different grippers used as a robot’s end effectors:

Mechanical Grippers: Mechanical grippers are the most basic type of grippers
and work by using jaws or fingers to grab an object. They are simple, robust,
and reliable and are often used in applications that require a firm and stable
grasp, such as pick-and-place operations or assembly tasks. Mechanical grippers
can be further classified based on the type of jaws or fingers used, such as
parallel grippers, angular grippers, or three-finger grippers.

Vacuum Grippers: Vacuum grippers use suction cups to grab and hold things.
They are primarily used in applications that require handling flat, smooth, or
porous objects, such as glass panels or printed circuit boards. Vacuum cups are
easy to use, have a fast cycle time, and are highly reliable. However, they may
not be suitable for handling irregularly shaped or heavy payloads.

Magnetic Grippers: Magnetic grippers use magnetic fields to hold

ferromagnetic items such as steel plates. They are used in applications that
require handling heavy or irregularly shaped objects that cannot be easily
managed with mechanical or vacuum grippers. Magnetic grippers are highly
reliable, require minimal maintenance, and have a fast cycle time. However,
they may not be suitable for handling non-ferromagnetic materials.

Servo Grippers: Servo grippers use motors and gearboxes to control the
gripping force and positioning of the robot precisely. They are used in
applications that require high precision and flexibility, such as quality control or
inspection tasks. Servo grippers can be programmed to adjust their gripping
force and position based on the size and shape of the object being handled,
making them highly versatile.

A pneumatically controlled magnet gripper for pick and place applications

Every gripper has its own set of advantages and disadvantages. Hence, the
choice of gripper depends on the specific application it is going to be used for.

 Mechanical grippers are simple, reliable, and cost-effective but may not
be suitable for handling irregularly shaped objects.
 Vacuum grippers are easy to use, highly reliable, and have a fast cycle
time but may not be suitable for handling heavy or non-porous objects.
  Magnetic grippers are highly reliable and require minimal maintenance
but may not be suitable for handling non-ferromagnetic materials.
 Servo grippers are highly precise and flexible but may be more expensive
and require more complex control systems.

Sensors
Sensors are essential components of robotic systems, providing robots with the
ability to gain a perception of their environment. Sensors gather data about the
robot's surroundings, including the position and orientation of objects around it
and the robot itself. The robot's control system then uses this information to
decide how to interact with its environment. Here are some of the most
commonly used sensors in end effectors:

Proximity sensors: Proximity sensors are used to detect the presence or

absence of objects in the proximity of the end effector. These sensors can detect
various targets, including metal, plastic, and even liquids.

Force/torque sensors: Force/torque sensors measure the amount of force or

torque being applied to the robot or to the objects it interacts with. These
sensors are often used in robotic grippers to measure the force required to grip
an object or in robotic arms to measure the force required to move an object.

Cameras: Vision sensors use cameras and other imaging technologies to

provide visual feedback on the position, orientation, and movement of the end
effector and the objects it interacts with. These sensors are often used in
applications requiring precise positioning and manipulation. Cameras are also
used for object recognition, tracking, navigation, and obstacle avoidance.
Cameras for end effectors can even have 3D and thermal imaging capabilities if
the application demands.

Light sensors: Light sensors can detect the presence or absence of light and are
used to provide feedback on the position of objects in low-light environments.
Magnetic sensors: Magnetic sensors or hall effect sensors are used to detect the
presence of magnetic fields. They can detect the position and orientation of
objects that contain magnets.

Range Sensors: Range sensors are used to measure the distance between the
robot’s end effector and objects near it.

The advantages of sensors include increased accuracy, efficiency, and

flexibility. They provide robots with the ability to perceive their environment
and make decisions based on that information, making them ideal for
applications that require precision or that operate in dynamic or complex
environments. However, sensors and cameras can also be expensive, and their
accuracy can be affected by lighting and environmental conditions.

Process Tools
Process tools in robot end effectors are attachments or devices used to perform
specific tasks. They work in coordination with the robotic arm, providing
additional functionalities to the robotic system. They can be as simple as a
screwdriver or as complex as a whole robot. Here are some examples of process
tools used in end effectors:

Welding guns: Welding guns deliver a massive amount of electric current to

the workpiece/workpieces on which welding is to be performed. After it cools
down, a strong and permanent bond is formed.

Painting Spray Guns: Painting spray guns are used as end effectors in robotic
painting systems. They are designed to apply a precise and consistent amount of
paint to a workpiece. The spray gun can be programmed to adjust the angle and
distance of the spray to achieve the desired coverage and finish.

Cutting Tools: Cutting tools are used to cut and shape workpieces. They can be
designed for a variety of materials and thicknesses, including metal, plastic, and
wood. Cutting tools can be mounted on the robotic arm as an end effector and
programmed to cut the workpiece to a specific size and shape.
Grinding and Sanding Tools: Grinding and sanding tools are used to smooth
and finish surfaces on a workpiece. These tools can be mounted on the robotic
arm as an end effector, and the arm can be programmed to move the tool over
the surface of the workpiece to achieve the desired finish.

Deburring Tools: Deburring tools remove burrs or rough edges from a

workpiece after it has been cut or machined. Deburring tools can be mounted
onto a robotic arm as an end effector and programmed to deburr the edges of the
workpiece to a specific size and shape.

Dispensers: Dispenser end effectors are a process tool used in robotics designed
to dispense various materials, such as adhesives, sealants, and lubricants, onto a
workpiece or component. These are used in 3D printing systems too.

What is service robot?

Accordingto the International Federation of Robotics, the classification
of robot can bedivided into industrial robot and service robot based on
the specific application. The industrial robot mainly applies for
manufacturing applications, whilst theservice robot refer to the robot service
for mankind activities and can besplit into personal and professional service
robot.

As the servicerobot will face relatively complex group and environment,

thus it will equipwith sensors that imitate human’s five senses. That is,
vision, hearing, smell,taste and touch. Besides, it will also contain facial/body
posture recognitionand voice recognition systems to enhance communication
capabilities. Inaddition, the combination of artificial intelligence and cloud
network systemempower AI service robot timely response to environmental
conditions, own moreautonomy in operation and easier to integrate into
society and used by humanbeings.

Whatare the applications of service robot?

Nowadays, we can see service robot graduallyapplied at various scenes.

The following are some classic applications.

1. Hotel
The strong reception and communicationskill enable service robots suitable to
be used at the hotel lobby to interactwith guests, understand their
requirements and guide them solve problem. Forimportant VIP guests, the
service robot can even provide hospitality andexclusive VIP services in
response to improve the image and influence of thehotel.

2. Governmentaffairs

Powerful AI capabilities empower the AIrobot a new role. Namely, it can play
the part of a supplementary governmentstaff and assist to handle a certain
amount of daily business, which is good torelieve the labor shorten pressure
and optimize the working efficiency.

3.Hospital

Hospital guide, health consultation andother services can be provided by the

service robot at the guide desk to showthe core strength of medical care.
Besides, it can make circular introductionto made patients better understand
the hospital, including hospitalintroduction, department guidance, medical
knowledge and expert information.

4.Tourist attractions

The superior AI explanation ability makesAI robot available to act as the tour
guide at the tourist attractions. It isconducive to provide tourists all-in-one
service and elevate their travel experiencethrough intelligent guidance and
explanation and be a bright spot to attractmore tourists.

5.Enterprise

In addition to welcoming guests, theservice robot can also be used in the

annual meeting of the enterprise. It canhelp to push the annual meeting to a
climax with vivid interaction with the host, detonate the atmosphere of the
scene and mobilize the emotions of theaudience.

Applications of AI in Robotics

What is Artificial Intelligence?

Artificial Intelligence is defined as the branch of Computer Science & Engineering, which
deals with creating intelligent machines that perform like humans. Artificial Intelligence
helps to enable machines to sense, comprehend, act and learn human like activities.
There are mainly 4 types of Artificial Intelligence: reactive machines, limited memory,
theory of mind, and self-awareness.

In the world of robotics, AI has proven to be a valuable asset in a variety of

applications. From customer service to manufacturing, AI has made its mark and
continues to revolutionize the way we think about and interact with robots. Let’s take a
closer look at some of the key areas where AI is being used alongside robotics today.

Customer Service: AI-powered chatbots are becoming increasingly common

in customer service applications. These automated service agents can handle
simple, repetitive requests without the need for human involvement. The more
these systems interact with humans, the more they learn. And as AI systems
become more sophisticated, we can expect to see more and more robots
being used in customer service in both online and brick-and-mortar
environments.

Assembly: AI has proven to be an invaluable tool in robotic

assembly applications, especially in complex manufacturing industries such
as aerospace. With the help of advanced vision systems, AI can enable real-
time course correction and can be used to help a robot automatically learn the
best paths for certain processes while in operation.

Packaging: AI is used in the packaging industry to improve efficiency,

accuracy and cost-effectiveness. By continuously refining and saving certain
motions made by robotic systems, AI helps make installing and moving robotic
equipment easier for everyone.

Imaging: Across many industries — including assembly and logistics —

accurate imaging is crucial. With the assistance of AI, robots can achieve
enhanced visual acuity and image recognition competencies, enabling greater
accuracy in even the smallest of details.

Machine Learning: Machine learning is a powerful tool for robots. By

exploring their surroundings, robots can learn more about their environment,
find ways around obstacles and solve problems to complete tasks more
efficiently. From home robots like vacuum cleaners to manufacturing robots in
factories, machine learning is helping robots become more intelligent and
adaptable in their work.
AI technology used in Robotics

Computer Vision
Robots can also see, and this is possible by one of the popular Artificial Intelligence
technologies named Computer vision. Computer Vision plays a crucial role in all
industries like health, entertainment, medical, military, mining, etc.

Computer Vision is an important domain of Artificial Intelligence that helps in extracting

meaningful information from images, videos and visual inputs and take action
accordingly.

Natural Language Processing

NLP (Natural Languages Processing) can be used to give voice commands to AI robots.
It creates a strong human-robot interaction. NLP is a specific area of Artificial
Intelligence that enables the communication between humans and robots. Through the
NLP technique, the robot can understand and reproduce human language. Some robots
are equipped with NLP so that we can't differentiate between humans and robots.

Similarly, in the health care sector, robots powered by Natural Language Processing may
help physicians to observe the decease details and automatically fill in EHR. Besides
recognizing human language, it can learn common uses, such as learn the accent, and
predict how humans speak.

Edge Computing
Edge computing in robots is defined as a service provider of robot integration, testing,
design and simulation. Edge computing in robotics provides better data management,
lower connectivity cost, better security practices, more reliable and uninterrupted
connection.

Complex Event Process

Complex event processing (CEP) is a concept that helps us to understand the processing
of multiple events in real time. An event is described as a Change of State, and one or
more events combine to define a Complex event. The complex event process is most
widely used term in various industries such as healthcare, finance, security, marketing,
etc. It is primarily used in credit card fraud detection and also in stock marketing field.
For example, the deployment of an airbag in a car is a complex event based on the data
from multiple sensors in real-time. This idea is used in Robotics, for example, Event-
Processing in Autonomous Robot Programming.

Transfer Learning and AI

This is the technique used to solve a problem with the help of another problem that is
already solved. In Transfer learning technique, knowledge gained from solving one
problem can be implement to solve related problem. We can understand it with an
example such as the model used for identifying a circle shape can also be used to
identify a square shape.

Transfer learning reuses the pre-trained model for a related problem, and only the last
layer of the model is trained, which is relatively less time consuming and cheaper. In
robotics, transfer learning can be used to train one machine with the help of other
machines.

Reinforcement Learning
Reinforcement learning is a feedback-based learning method in machine learning that
enables an AI agent to learn and explore the environment, perform actions and learn
automatically from experience or feedback for each action. Further, it is also having
feature of autonomously learn to behave optimally through hit-and-trail action while
interacting with the environment. It is primarily used to develop the sequence of
decisions and achieve the goals in uncertain and potentially complex environment. In
robotics, robots explore the environment and learn about it through hit and trial. For
each action, he gets rewarded (positive or negative). Reinforcement learning provides
Robotics with a framework to design and simulate sophisticated and hard-to-engineer
behaviours.

Affective computing
Affective computing is a field of study that deals with developing systems that can
identify, interpret, process, and simulate human emotions. Affective computing aims to
endow robots with emotional intelligence to hope that robots can be endowed with
human-like capabilities of observation, interpretation, and emotion expression.

Mixed Reality
Mixed Reality is also an emerging domain. It is mainly used in the field of programming
by demonstration (PbD). PbD creates a prototyping mechanism for algorithms using a
combination of physical and virtual objects.