EXPERIMENT NO: 8

MINI PROJECT (CASE STUDY)

ROBOT CLASSIFICATION

Group Members
Jailkar Srushti Suresh – BE2 - 52
Mayekar Tanishka Sachin – BE2 – 53
Sanap Mansi Ananda – BE2 - 56
Waghmare Pratik Sakharam – BE2 - 60
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UG Programme in Electronics and Computer Science

TABLE OF CONTENTS

ABSTRACT.................................................................................................................................... 3
OVERVIEW ................................................................................................................................... 3
ARTICULATED ROBOT ............................................................................................................. 3
Introduction ................................................................................................................................. 3
Forward Kinematics .................................................................................................................... 4
Link Parameters .......................................................................................................................... 4
SCARA ROBOT ............................................................................................................................ 5
Introduction ................................................................................................................................. 5
Forward Kinematics .................................................................................................................... 6
Link Parameters .......................................................................................................................... 7
CYLINDRICAL ROBOT .............................................................................................................. 8
Introduction ................................................................................................................................. 8
Forward Kinematics .................................................................................................................... 9
Link Parameters ........................................................................................................................ 10
SPHERICAL ROBOT .................................................................................................................. 11
Introduction ............................................................................................................................... 11
Forward kinematics ................................................................................................................... 11
Link Parameters ........................................................................................................................ 12
COMPARISON ............................................................................................................................ 14
REFERENCES ............................................................................................................................. 15
Cylindrical Robot ...................................................................................................................... 15
Spherical Robot ......................................................................................................................... 16
SCARA Robot .......................................................................................................................... 16

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ABSTRACT
This report consists of the classification; modelling and analysis of various kinds of mechanisms for pick
and place industrial robots. For each robot, this individual study takes into consideration the working
principles, degrees of freedom, industrial application, characteristics and improvements. The mechanisms
are modelled by using a CAD software and enabling analysis of forward kinematics where a transform
matrix is derived for each robot.

OVERVIEW
An industrial robot is designed for the purpose of moving parts, materials and tools in addition to
executing a variety of programmed tasks in production and manufacturing sector. Typical industrial
robots do repetitive jobs that are difficult, dangerous or dull without suffering from fatigue and with great
accuracy. These motions are determined by programming that specifies the velocity, direction,
acceleration, deceleration, and distance of a chain of coordinated motions. There has been a considerable
increase in the product quality and work output rate by the introduction of robotics. Robots not only
reduce the labor and capital costs but also reduces work danger as they can be used for hazardous jobs.
The robots are grouped according to the speed, size and range of work envelope, payload capacity,
number of axes and structural design.
Robotics has gained a lot of importance in the modern industrial world as they are used in almost every
industrial sector. Robots are used in warehouses to move objects around, to assemble parts in the
automotive industry, CNC machines and various other manufacturing processes. Robotics have various
advantages over human work force as they are more efficient and faster. They are an important
investment as over a period of time they become much cheaper than a human working. Pick and place
robots pick up parts and place them in a different location with great speed and accuracy. They are
extremely consistent and greatly benefit and increase output of whichever industrial sector they are placed
in.
For serial open chain robotic arms the configuration is found by the substitution of the joint parameters
into the forward kinematics equations.
The most commonly used robots for pick and place applications are described below;

ARTICULATED ROBOT

Introduction
Robotics is the branch of technology that deals with the design, construction, operation, structural
disposition, manufacture and application of robots and computer systems for their control, sensory
feedback, and information processing. Many robots do jobs that are hazardous for humans such as
defusing bombs, mining, handling radioactive materials, exploring ship wrecks and mining purposes.
Pick and place robots are a type of industrial robots which are widely used for material handling. Pick and
place robots provide safety in terms of both prevention of accidents and avoiding injuries. The key factors
for these robots are quality and efficiency which can be easily said is the main fundamentals of

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manufacturing. Thus pick and place robots have been used for repetitive material handling tasks which
may be hazardous and time consuming. The tasks can be performed with great accuracy, consistency,
greater reliability and uniform speed.
Pick and place robots are used for a variety of transfer applications; these robots can pick objects off a
conveyer belt and then placing them in boxes for packaging. Certain articulated robots need visual
guidance due to complexity of process. There are many advantages of using pick and place robots, these
robots increase the efficiency of the work, also a very important factor is that the labor costs are reduced
when these robots are used as the play a considerable part in decreasing production costs. The quality of
the material also remains unhindered by the use of the pick and place robots and the work rate increases
considerably.

Forward Kinematics
Link Parameters

Links αi-1 li-1 di Θi

1 0o 0 0 Θ1

2 90o L1 0 Θ2

3 0o L2 0 Θ3

4 0o L3 0 Θ4

Kinematic Diagram for the Robot

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1 0 0 0
1
T0 = 0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 𝑙1 1 0 0 0 𝑐𝑜𝑠𝜃1 −𝑠𝑖𝑛𝜃1 0 0 1 0 0 0
2
T1 = 0 1 0 0 x 0 0 −1 0 x 𝑠𝑖𝑛𝜃1 𝑠𝑖𝑛𝜃1 0 0 x 0 1 0 0
0 0 1 0 0 1 0 0 0 0 1 0 0 0 1 0
0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 1
1 0 0 𝑙2 1 0 0 0 𝑠𝑖𝑛𝜃2 −𝑠𝑖𝑛𝜃2 0 0 1 0 0 0
3
T2 = 0 1 0 0 x 0 1 0 0 x 𝑠𝑖𝑛𝜃2 𝑠𝑖𝑛𝜃2 0 0 x 0 1 0 0
0 0 1 0 0 0 1 0 0 0 1 0 0 0 1 0
0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 1
1 0 0 𝑙3 1 0 0 0 𝑠𝑖𝑛𝜃3 −𝑠𝑖𝑛𝜃3 0 0 1 0 0 0
4
T3 = 0 1 0 0 x 0 1 0 0 x 𝑠𝑖𝑛𝜃3 𝑐𝑜𝑠𝜃3 0 0 x 0 1 0 0
0 0 1 0 0 0 1 0 0 0 1 0 0 0 1 0
0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 1

SCARA ROBOT

Introduction
A 'Selective Compliance Assembly Robot Arm' also known as SCARA is an industrial robot that has
similar features and resemblance to a human arm. Due to its parallel-axis geography, the arm is
marginally flexible is the X-Y direction however, rigid in the direction of Z, inclusive of a rotary
movement at the gripper for intensive assemblies thus the expression: Selective Compliant. This
compliance pertains to the fact that these particular robotic arms have a very stern vertical axis that
provides support and ensures high support to the vertical plane. Since SCARAs are tall, they consume too
much headroom.

Figure 1

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Through research it is found that majority of the SCARA robots

constitute of four degrees of freedom in which two are found at the
elbow and wrist and rest as horizontal servo-controlled joints that
make up the shoulders. Since these robots have fast, accurate and
repeatability movements, they can be manipulated to have end
effectors as pincers or magnets for various pick and place
applications for tasks that require electronic components insertion,
moving numerous objects or palletizing.
The final SCARA was modeled and eventually animated using Solid
Edge;
Figure 2
The grounded cylindrical joint was constructed as separate
part. Then two rotary parts were created and joined to the
cylindrical base, as shown in Figure 2. The centre rod, also
known as the ‘Quil’ was inserted on the void and
compliments a restricted Harmonic Motion. As shown in
Figure 3, Motors were applied at the joints to trigger and
restrict the rotary motions accordingly. Transitional,
Harmonic and Revolute Motions were allocated to the Quil
and Pincers for repeated movements.

Forward Kinematics
Forward kinematics is the method of using kinematic
equations for a robot to calculate the final posture of the end-
effector from given dimensions of joints and links. Figure 3

Figure 6 Figure 7
Figure 6 and 7 show the Kinematic Denavit-Hartenberg (D–H) criterion for SCARA Robot.

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Link Parameters

Links (i) ϴi di ai αi
(Joint Angle) (Link Offset) (Link Length) (Link Twist)
1 ϴ1 0 L1 0

2 ϴ2 0 L2 180

3 0 d3 0 0

4 ϴ4 d4 0 0

Figure 8 – SCARA ROBOT BLUEPRINT

From the above

blueprint of a SCARA;
L1 = 542mm L2 = 520mm d3 = 385mm d4 = 245mm
Assuming the angles according to modeling the SCARA on Solidedge for Case Study purposes;
ϴ1 = 300° ϴ2 = 90° ϴ4 = 180°

Using the Standard D–H Convention Matrice given below the final Transformation Matrices can be
calculated;

𝒄𝜭𝒊 −𝒔𝜭𝒊 𝒄𝜶𝒊 𝒔𝜭𝒊 𝒔𝜶𝒊 𝑳𝒊 𝒄𝜭𝒊

𝒔𝜭 𝒄𝜭𝒊 𝒄𝜶𝒊 −𝒄𝜭𝒊 𝒔𝜶𝒊 𝑳𝒊 𝒔𝜭𝒊
[ 𝒊 ] {Where c = cos, s = sin}
𝟎 𝒔𝜶𝒊 𝒄𝜶𝒊 𝒅𝒊
𝟎 𝟎 𝟎 𝟏

Solving the conventions by substituting links and angles provided to the Matrix above respectively;

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0.5 0.866 0 271 0 1 0 0

−0.866 0.5 0 −469.300 1 0 0 520
𝑇1𝑂 = A1 = [ ] 𝑇21 = A2 = [ ]
0 0 1 0 0 0 −1 0
0 0 0 1 0 0 0 1
0 1 0 0 −1 0 0 0
1 0 0 0 0 −1 0 0
𝑇32 = A3 = [ ] 𝑇43 = A4 = [ ]
0 0 −1 −385 0 0 1 −245
0 0 0 1 0 0 0 1
Through a Matlab Code the Final Transformation Matrix (position of the end effector) was calculated =
A1 × A2 × A3 × A4
A1 = [0.5, 0.866, 0, 271;
-0.866, 0.5, 0, -469.3;
0, 0, 1, 0;
0, 0, 0, 1]
A2 = [0, 1, 0, 0;
1, 0, 0, 520;
0, 0, -1, 0;
0, 0, 0, 1]
A3 = [0, 1, 0, 0;
1, 0, 0, 0;
0, 0, -1, -385;
0, 0, 0, 1]
A4 = [-1, 0, 0, 0;
0, -1, 0, 0;
0, 0, 1, -245;
0, 0, 0, 1]
T4 = A1*A2*A3*A4
−𝟎. 𝟓𝟎𝟎 −𝟎. 𝟖𝟔𝟔 𝟎 𝟕𝟐𝟏. 𝟑𝟐𝟎
−𝟎. 𝟖𝟔𝟔 −𝟎. 𝟓𝟎𝟎 𝟎 −𝟐𝟎𝟗. 𝟑𝟎𝟎
T=[ ]
𝟎 𝟎 𝟏 𝟏𝟒𝟎
𝟎 𝟎 𝟎 𝟏

CYLINDRICAL ROBOT

Introduction
Another form of pick and place robot considered, is a cylindrical robot. The main purpose of using
cylindrical robots within an industrial sector is to handle machine related tools, conduct assembly
operations, spot welding and to handle die-casting machines. This specific robot has axes that form a
more cylindrical coordinate system. Moreover, cylindrical robots are usually identified as a mechanism
that is opposite to a Cartesian robot, this is because under the cylindrical coordinate system, these kinds of
robots mainly allow only a rotational movement. [1]

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However, looking into a vast majority of cylindrical robots there are several disadvantages taken into
consideration that have made the cylindrical robot obsolete. Firstly, the cylindrical robot tends to have a
reduced workspace as shown in Figure (1), where the robot is limited extending left or right. Secondly,
the robot is restricted as the end effecter cannot pick up an object directly below the arm of the structure.
[1][2]

Figure (1) shows the ideal Cylindrical Robot workspace

Forward Kinematics

The above diagram illustrates the joints and axes of an ideal cylindrical robot. In order to determine
the Forward Kinematic analysis it is imperative to tabulate the number of links, angles of the links

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with respect to the origin and X axes about Z, distances of the links with respect to the X axes
along Z and the link twists about the Z axes, [8]

Link Parameters
Link Ai αi Di Θi
1 0 0 D1 * Θ1*
2 0 -90 D 2* 0
3 0 0 D 3* 0

Table (1) tabulates the respective angles and distances within the robot

The starting point O0 of the robot along the Z0 axis and the Xo direction are considered to be
arbitrary. Even though the O0 point is located randomly, it is possible to consider the position of
O0 to be at joint 2. Xo axis is considered to be perpendicular to the page, additionally it appears
that Z1 and Z0 are coinciding which leaves the O1 at joint 1. Since θ1 is taken as 90°, the distance
D1 is 0. Moreover, as Z1 and Z2 meet, it affect the origin O2 which is positioned at this intersection.
In order to make θ2 equal to 0, the X2 axis has to be parallel to X1. [9] The following standard
matrix for each link obtained by the following 4x4 matrix,

𝐶𝑜𝑠1 −𝑆𝑖𝑛1 0 0 1 0 0 0 1 0 0 0
𝑆𝑖𝑛 𝐶𝑜𝑠1 0 0 0 0 1 0 0 1 0 0
𝑿𝟎𝟏 = [ 1 ] , 𝑿𝟏𝟐 = [ ] , 𝑿𝟐𝟑 = [ ] [7]
0 0 0 0 0 −1 0 𝐷2 0 0 1 𝐷3
0 0 1 𝐷1 0 0 0 1 0 0 0 1

Where the final transform matrix is derived,

𝐶𝑜𝑠1 0 −𝑆𝑖𝑛1 −𝑆𝑖𝑛1 × 𝐷3

𝑆𝑖𝑛 0 𝐶𝑜𝑠1 𝐶𝑜𝑠1 × 𝐷3
𝑿𝟎𝟑 = 𝑿𝟎𝟏 × 𝑿𝟏𝟐 × 𝑿𝟐𝟑 = [ 1 ]
0 −1 0 𝐷1 + 𝐷2
0 0 0 1

𝐶𝑜𝑠1 (0) 0 −𝑆𝑖𝑛1 (0) −1 × 15 0 0 −1 −15

𝑆𝑖𝑛 (0) 0 𝐶𝑜𝑠1 (0) 0 × 15 1 0 1 0
[ 1 ]=[ ]
0 −1 0 22 + 15 0 −1 0 37
0 0 0 1 0 0 0 1

Where, D1 is taken as 22cm, D2 is taken as 15cm and D3 is taken as 15cm.

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SPHERICAL ROBOT

Introduction
Pick and place robots increase the production rate by speeding up the process of picking up and placing
parts in new locations. They are most commonly used in assembly lines where repetitive and complicated
tasks need to be executed with accuracy. A spherical or polar robot can be used as a pick and place robot
in numerous industrial applications. Spherical or polar robot arms are built as stationary robots with near
spherical work envelopes. They are considered to be more sophisticated than cylindrical or Cartesian
robots with most modern industrial robots being a derivative of the original polar robot. Spherical robots
hold a special place in history since they were one of the oldest robots. The Stanford arm depicted below
is one such example and it has five rotary joints and one linear joint. It was designed in 1969 and was
extremely vital in creating the first knowledge base for robot control.

Stanford robot arm

Forward kinematics
Forward kinematics is used to find the relationship between the individual joints of the robotic arm and
the position and orientation of the end-effector. The position and orientation of the end-effector is
determined from the joint angles. The chief objective of conducting a forward kinematic analysis is to
determine the cumulative effect of the entire set of joint variables. To perform a kinematic analysis,
coordinate frames are assigned rigidly to each frame. The most common method used conventionally for
assigning reference frames is the Denavit-Hartenberg, or D-H convention.In this convention, each
homogeneous transformation matrix Ai is represented as a product of four basic transformations. Four
parameters are used in this analysis with a= link length,α=link twist, d=link offset, and θ=joint angle.

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Kinematic Scheme

Link Parameters

Links i a i-1 α i-1 di θi

1 0 0° 0 0°
2 0 -90° 600 0°
3 0 -90° 0 -90°
4 0 0° 120 0°

The spherical robot arm was assigned reference frames and the D-H parameters were found. The A
matrices were then calculated using Matlab analysis and are detailed in the appendix of the document.
The T30 matrix which describes the pose of the end-effector relative to base can finally be calculated using
the formula below;
T30=T1T2T3
The T30matrixwas obtained to be
0 0 1 120
0 −1 0 0
1 0 0 600
0 0 0 1

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Transformation matrix

𝒄𝒐𝒔𝜽 −𝒔𝒊𝒏𝜽𝒄𝒐𝒔𝜶 𝒔𝒊𝒏𝜽𝒔𝒊𝒏𝜶 𝒂𝒄𝒐𝒔𝜽

𝒔𝒊𝒏𝜽 𝒄𝒐𝒔𝜽𝒄𝒐𝒔𝜶 −𝒄𝒐𝒔𝜽𝒔𝒊𝒏𝜶 𝒂𝒔𝒊𝒏𝜽
[ ]
𝟎 𝒔𝒊𝒏𝜶 𝒄𝒐𝒔𝜶 𝒅
𝟎 𝟎 𝟎 𝟏

A1 matrix between reference frame zero and 1

A1=

1 0 0 0
0 0 1 0
0 −1 0 600
0 0 0 1
A2 matrix between reference frame 1 and 2
A2=

0 0 1 0
−1 0 0 0
0 −1 0 0
0 0 0 1
A3 matrix between reference frame 2 and 3
A3=

1 0 0 0
0 1 0 0
0 0 1 120
0 0 0 1
T30=A1A2A3
The T30 matrix was obtained to be
0 0 1 120
0 −1 0 0
1 0 0 600
0 0 0 1
Matlab code
theta=0;
alpha=-pi/2;
d=600;
a=0;
%find A1 matrix between reference frame zero and 1

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A1=[cos(theta),-sin(theta)*cos(alpha), sin(theta)*sin(alpha),
a*cos(theta);sin(theta),cos(theta)*cos(alpha),-
cos(theta)*sin(alpha),a*sin(theta);0,sin(alpha),cos(alpha),d;0,0,0,1]
theta=-pi/2;
alpha=-pi/2;
d=0;
a=0;
%find A2 matrix between reference frame 1 and 2
A2=[cos(theta),-sin(theta)*cos(alpha), sin(theta)*sin(alpha),
a*cos(theta);sin(theta),cos(theta)*cos(alpha),-
cos(theta)*sin(alpha),a*sin(theta);0,sin(alpha),cos(alpha),d;0,0,0,1]
theta=0;
alpha=0;
d=120;
a=0;
%find A3 matrix between reference frame 2 and 3
A3=[cos(theta),-sin(theta)*cos(alpha), sin(theta)*sin(alpha),
a*cos(theta);sin(theta),cos(theta)*cos(alpha),-
cos(theta)*sin(alpha),a*sin(theta);0,sin(alpha),cos(alpha),d;0,0,0,1]
%Overall transformation matrix
T3=A1*A2*A3

COMPARISON

S.No 1 2 3 4

Robot Articulated Cylindrical SCARA Spherical

Model Picture

No of Links 4 3 4 4
Degree of
4 5 4 3
Freedom
1. Ideal for 1. Precise 1. High 1. Very fast pick
Hazardous access within Repeatability and place
condition. cavities and since end-
machine 2. Rapid effector is an
Advantages 2. Decreases openings movements electromagnet
manufacturing at pick and 2. Nearly
costs. 2. Quick place spherical
Movements operations workspace so
better

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mechanical
flexibility.

1. Expensive set 1. Reduced 1. Compact 1. Not

up Worked Structure appropriate
Space restricts for handling
2. Limited motion. liquids
workspace 2. Cannot reach Preferred for
an object if vertical axis 2. 2 axes with
Disadvantages its directly assemblies relatively low
under the only. resolution
robot that varies
2. Less with the arm
flexibility length
compared to
articulated
robots
1. Automobile 1. Spot 1. Precision in 1. Picking up of
Manufacturing Welding high speed industrial
assembling transformer
2. Mining 2. Packaging core
Applications Industry. Applications 2. Spray lamination
Painting plates
2. Die casting

After conducting a thorough comparative analysis, the most suitable robot that has been chosen is the
articulated pick and place industrial robot. This robot speeds up the manufacturing process and is very
accurate and reliable while in motion and more importantly it does not fatigue in any condition.
Furthermore, the articulated robot has an open loop mechanism with multiple degrees of freedom which
makes it the most flexible robot compared to the rest.

REFERENCES

Cylindrical Robot
1. http://www.brighthubengineering.com/robotics/29395-base-bodies-of-robots-cylindrical-
base-robot/
2. http://www.oocities.org/haruspex17/Structural_Configurations_of_Manipulators.pdf
3. http://www.industrial-electricity.com/4_Cylindrical_Robots.html
4. http://www.allonrobots.com/cylindrical-robot.html
5. 'Robotics' by Appu Kattan. 1.5 Manipulation of Robot Components

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6. http://prime.jsc.nasa.gov/ROV/types.html
7. https://www.cs.duke.edu/brd/Teaching/Bio/asmb/current/Papers/chap3-forward-
kinematics.pdf
8. http://www.cs.columbia.edu/~allen/F13/NOTES/forwardspong.pdf
9. http://ttuadvancedrobotics.wikidot.com/forward-kinematics
10. http://www.ijest.info/docs/IJEST10-02-09-143.pdf

Spherical Robot
1. http://www.allonrobots.com/spherical-robots.html
2. http://prime.jsc.nasa.gov/ROV/types.html
3. http://www.researchgate.net/publication/3100480_Electromagnetic_flat-
faced_robot_gripper_for_handling_multipleindustrial_transformer_core_lamination_plates
4. http://courseweb.stthomas.edu/tpsturm/private/notes/qm380/robotype.html

SCARA Robot
1. http://www.intechopen.com/source/html/15855/media/image2.png
2. http://open-robotics.com/report/3-2-2-jacobian-of-a-2-dof-planar-robot/
3. http://www.emeraldinsight.com/content_images/fig/0330280208015.png
4. http://en.wikipedia.org/wiki/SCARA
5. http://www.processonline.com.au/uploads/Image/UPF1S2-1-SCARARobot.jpg
6. http://9tailedjackal.deviantart.com/art/Robotic-Arm-Design-209623336
7. http://www.academia.edu/5134376/Kinematic_Modeling_and_Simulation_of_a_SCARA_Ro
bot_by_Using_Solid_Dynamics_and_Verification_by_MATLAB_Simulink
8. http://www.slideshare.net/DamianGordon1/forward-kinematics

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