Chapter 2

Introduction to
Robotics
Prepared by Noor Aniza Norrdin
School of Engineering Mechanical, UiTMCPP
 01
Determine the
02

Course
fundamentals and
basic operating
Perform the
principle of
activities related to

Outcome
automatic control
pneumatic,
systems in
hydraulic, electricalpneumatic
manufacturing
control
industry. [PO1, LO1]
systems circuit, and 03
PLC programming as
applicable in Explain a simple
manufacturing automation control
automation. [PO5, system related to
LO3) pneumatic,
hydraulic, electricalpneumatic
control
systems circuit, and
PLC programming as
applicable in
manufacturing
automation. [PO10,
LO5]
Topic Content

Industrial robots: Definition

01 and robot terminology

Basic components and

02 technology levels

03 Application in industry
Introduction
of Robotics
Robot and robotics technologies
represented a practical applications of
physics, computer science, engineering
and mathematics.
It provides a very powerful and flexible
approach to demonstrate a variety of
engineering concept.
 Definition of
Robot? An electrical or mechanical or
electromechanical, programmable or non
programmable multifactional manipulator
designed to move materials, parts, tools or
specialised devices through various
programmed motions for the performance
of a variety of tasks.

A robot is a mechanical or virtual, artificial agent. It is usually an

electromechanical system.
Robot components
Basic components of an industrial robot
A robot, as a system consists of the following elements, which are integrated
together to form a whole
 Robot Components

Manipulator Joints
The main body of the Links Linear / prismatic / End
robot - consists of the
links, the joints and Gripper / robot tooling translation / Cartesian
joint – moves along a
effectors
the other structural
elements of the robot. single Cartesian axis Hand (last joint)
major link, minor link,
Without other Rotational joint – Generally handles
elements, the the end effectors
manipulator alone is results in angular objects, makes
not a robot movement e.g. yaw, roll, connection to other
pitch. machines or
performs the
required tasks.
Links and joints
 Robot Components

Actuators Software
The muscles of the Controllers There are 3 groups of software
manipulator
Provides the Operating system, which operates the
Common types of intelligence that is computer
actuator are necessary to control Robotic software, which calculates the
servomotors stepper the manipulator necessary motions of each joint based
motors, pneumatic system on the kinematic equation of the robot,
cylinders and
It stores the control and
hydraulic cylinders.
program and computes The user interface that allows human to
Actuators are
the control command monitor and control the operation of
controlled by the
the robot.
controller
 Robot Components

Power conversion unit Sensors

Takes the command issuedbythe Used to collect information about the
controllerwhichmaybelowpower internal state of the robot or to
and even digitalsignalsandconverts communicate with the outside environment
theminto highpoweranalogsignals (i.e. to measure temperature, position,
that can be
usedtodrivetheactuators velocity, force, etc.)
Contact sensors.
Non-contact sensors or proximity sensors
Tactile sensors
Displacement sensors
Speed sensor
Vision sensors
Basic terms of
robot
Basic terms used in industrial robot
Work
envelope

Work envelope by arm of robotics

the space in which
the gripper can
move with no
limitation in travel.
Axis
numbering

The numbering convention

used to describe the axes of
motion of a robot. The
numbering starts from
Axis numbering on arm of robotics
mounting plate (base) to the
end-effectors.
Position
axes

move the
tooling to the
Axes of a robot
point where
work must be
performed.
Orientation
axes

Orient the tooling so

that it is aligned with
Human and robot wrist with orientation axes
work. Types of
orientation axes: yaw,
pitch and roll.
Degree of
freedom
(DOF)
Every joint or movable axis
on the arm is a degree of
freedom. A range of 4 – 7 Six degree of freedom
DOF is typical for industrial
robot
Robot
tooling
(production
tooling)
Tools that are attached to the tool
plate at the end of the robot arm to
perform work task. Also known as
end-of arm tooling, end effector or
gripper.
Payload

Factory Automation with industrial robots for material handling

in flat glass industry, company in Germany, robotics for high
Total combined weight of the payloads, heavy duty robot with 1,000 kg payload
gripper (end-of-arm tooling) and
the part to be moved.
 ◦Cartesian robot
◦Cylindrical robot
Types of
◦Spherical robot
Robot ◦Articulated robot
Robots can be classified in
terms of their physical ◦Selective compliance
configurations into five (5) articulated robot arm
types (SCARA)
Robot Technology
Levels
Industrial robot have 3 levels of technology
Low-technology robots Used in industrial environment for
jobs like machine loading and
unloading, material handling,
press operation, and very simple
assembly operation.
Each of these different jobs
requires that special features be
built into the robot’ s operating
characteristics.

Fully automated 4 aisle bin warehouse for

electronic components with Mustang AS/R
machines from TGW
Push back pallet storage system designed to store
Loading milling machine
pallets of motorcycles.
Medium-technology robots

Used primarily for picking and

placing and for machine loading
and unloading.
A bit more sophisticated than the
low-tech robot

FFactory Automation with industrial robots for

palletizing food products like bread and toast at a
bakery in Germany, robotics
 Factory Automation with industrial robots for
metal die casting in foundry industry, robotics in
metal manufacturing
High-technology robots
Can be used for material handling,
press transferring, painting,
sealing, spot welding, arc welding
and a variety of different tasks
found in the manufacturing
environment.
These robots represent the state
of the arc in robotic systems.

FANUC 6-axis welding robots: A set of six-axis

robots used for welding
 IED DETONATOR — A U.S. Marine Corps explosive
KUKA Robot is cutting Bridge Building Parts at
ordnance disposal technician prepares to deploy
company Krupp in Germany.
a device that will detonate a buried improvised
Factory Automation with industrial robots for
explosive device near Camp Fallujah, Iraq, Nov. 27,
metal cutting.
2005
Care-Providing Robot FRIEND with descriptions A laparoscopic robotic surgery machine
TOPIO,a humanoid robot that can play ping-pong ASIMO is a humanoid robot created by Honda.
Sony AIBO

Sony QRIO

MQ-1 Predator
Robot Application
in Industry
Industrial robots used in a wide applications such as

01 Welding 05 Part handling and transfer

02 Spray Painting 06 Part sorting

03 Gringing 07 Part inspection

04 Assembling 08 Pick and place

Industrial Application
Robots widely used in industrial due to

Pre-planned trajectories and task

01 Repetitive tasks 04 policies

02 High speed Automated and no human interference

05 required

03 High precision movements

 Summary

Industrial robots The car manufacturing Large organisations

(which can be re- industry is a good and companies reap
programmed) are used example. Robots weld many benefits from
extensively in factories and fit car components robotic technologies
to weld, paint, lift and to new vehicles because:
transport goods in
place of humans
Robots are less
expensive than paying
human workers over
the long run and
robots are not prone
to injure themselves.
 Ad
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End of
Chapter 2
Please find more information in
any referances and
recommended text book