U20ECST10

ROBOTICS AND AUTOMATION

UNIT I FOUNDATION FOR BEGINNERS
Introduction - Brief history, Definition,
Anatomy, Types, Classification, Specification and
need based applications; Role and need of robots
for the immediate problems of the society, Future
of mankind and automation-Ethical issues;
industrial scenario local and global, Case studies
on mobile robot research platform and Industrial
serial arm manipulator.
 ROBOT
•The term: robot has come from the Czech
word: robota, which means forced or slave
laborer.

•In 1921, Karel Capek, a Czech playwright,

used the term: robot first in his drama
named Rossum’s Universal Robots (R.U.R)

•According to Karel Capek, a robot is a

machine look-wise similar to a human
being
 ROBOT - DEFINITION
According to Oxford English Dictionary
A machine capable of carrying out a complex series of
actions automatically, especially one programmable by a computer.

According to International Organization for Standardization (ISO):

An automatically controlled, reprogrammable,
multipurpose manipulator programmable in three or more axes,
which can be either fixed in place or mobile for use in industrial
automation applications.

According to Robot Institute of America (RIA)

It is a reprogrammable multi-functional manipulator
designed to move materials, parts, tools or specialized devices
through variable programmed motions for the performance of a
variety of tasks.
 ROBOTICS

• It is a science, which deals with the issues related to

design, manufacturing, usages of robots.

• In 1942, the term: robotics was introduced by Isaac

Asimov in his story named Runaround.

• In robotics, we use the fundamentals of Physics,

Mathematics, Mechanical Engg., Electronics Engg.,
Electrical Engg., Computer Sciences, and others
 HISTORY OF ROBOTICS
YEAR EVENTS AND DEVELOPMENT

First patent on manipulator by George

1954
Devol, the father of robot

Joseph Engelberger started the first robotics

1956
company: Unimation

General Motors used the manipulator:

1962
Unimate in die-casting application
 HISTORY OF ROBOTICS
YEAR EVENTS AND DEVELOPMENT
General Electric Corporation made a 4-
1967
legged vehicle
• SAM was built by the NASA, USA
1969 • Shakey, an intelligent mobile robot, was
built by Stanford Research Institute (SRI)
• Victor Scheinman demonstrated a
manipulator known as Stanford Arm
1970 • Lunokhod I was built and sent to the moon
by USSR
• ODEX 1 was built by Odetics
 HISTORY OF ROBOTICS
YEAR EVENTS AND DEVELOPMENT
Richard Hohn of Cincinnati Milacron
1973 Corporation manufactured T3 (The
Tomorrow Tool) robot
Raibart at CMU, USA, built a one-legged
1975 hopping machine, the first dynamically
stable machine
Unimation developed PUMA
1978 (Programmable Universal Machine for
Assembly)
 HISTORY OF ROBOTICS

YEAR EVENTS AND DEVELOPMENT

Odetics introduced a unique experimental
1983
six-legged device

ASV (Adaptive Suspension Vehicle) was

1986
developed at Ohio State University, USA

Pathfinder and Sojourner was sent to the

1997
Mars by the ASA, USA
 HISTORY OF ROBOTICS
YEAR EVENTS AND DEVELOPMENT
Asimo humanoid robot was developed by
2000
Honda
The surface of the Mars was explored by
2004
Spirit and Opportunity

Curiosity was sent to the Mars by the

2012
NASA, USA

Sophia (humanoid) was built by Hanson

2015
Robotics, Hong Kong
A ROBOTIC SYSTEM
 ROBOT ANATOMY
•The anatomy of robot is also known as structure of robot.
The basic components or sections in anatomy of robots
are as follows.
 ROBOT ANATOMY
• The Anatomy of Industrial Robots deals with the
assembling of outer components of a robot such as wrist,
arm, and body.

• End Effectors: A hand of a robot is considered as end

effectors. The grippers and tools are the two significant
types of end effectors. The grippers are used to pick and
place an object, while the tools are used to carry out
operations like spray painting, spot welding, etc. on a work
piece.
• Robot Joints: The joints in an industrial robot are helpful
to perform sliding and rotating movements of a
component.
 ROBOT ANATOMY
•The Anatomy of Industrial Robots deals with the
assembling of outer components of a robot such as wrist,
arm, and body.

• Manipulator: The manipulators in a robot are developed

by the integration of links and joints. In the body and arm,
it is applied for moving the tools in the work volume. It is
also used in the wrist to adjust the tools.

• Kinematics: It concerns with the assembling of robot

links and joints. It is also used to illustrate the robot
motions.
 TYPES OF ROBOTS
GENERAL TYPES :
• Industrial robots. painting and welding robots.
• Medical robot to make surgery.
• Mobile robot with legs or wheel.
• Robotics aircrafts and boats.
• Robotic toys for entertainment .
• Robot for cleaning at home and industry.
 CLASSIFICATION OF ROBOTS
I. BASED ON THE TASKS PERFORMED
1. Point to Point ROBOTS

2. Continuous Path ROBOTS

 CLASSIFICATION OF ROBOTS

II. BASED ON THE TYPE OF CONTROLLERS

1. Non Servo Controlled ROBOTS
• Open Loop
• Less Accurate
• Less Expensive
2. Servo Controlled ROBOTS
• Closed loop
• More Accurate
• More Expensive
 CLASSIFICATION OF ROBOTS

III. BASED ON CONFIGURATION (Co- ordinate System of robot)

1. Cartesian coordinate ROBOTS
• Linear movement along
three different axes
• Have either sliding or
prismatic joints
• Rigid and accurate
• Suitable for pick and place
type of operations
 CLASSIFICATION OF ROBOTS

III. BASED ON CONFIGURATION (Co- ordinate System of robot)

2. Cylindrical coordinate ROBOTS
• Two linear and one
rotary movements
• Used to handle parts / objects
in manufacturing
• Cannot reach the objects
lying on the floor
• Poor dynamic performance
 CLASSIFICATION OF ROBOTS

III. BASED ON CONFIGURATION (Co- ordinate System of robot)

3. Spherical or Polar coordinate ROBOTS
• One linear and two
rotary movements
• Suitable to handle parts /
objects in manufacturing
• Can pick up the objects
lying on the floor
• Poor dynamic performance
 CLASSIFICATION OF ROBOTS

III. BASED ON CONFIGURATION (Co- ordinate System of robot)

4. Revolute or Articulated coordinate ROBOTS
• Rotary movement about three
different axes
• Suitable to handle parts /
objects in manufacturing
• Rigidity and accuracy may not
be good enough
• Poor dynamic performance
 CLASSIFICATION OF ROBOTS

IV. BASED ON MOBILITY LEVELS

1. ROBOTS with fixed base (Manipulators)
• Serial
• Parallel
2. MOBILE ROBOTS
• Wheeled Robots
• Tracked Robots
• Multi-Legged Robots
 SPECIFICATION OF ROBOTS
Specification of a robot should contain the following .
• Resolution:
It is defined as the smallest allowable position
increment of a robot.
• Accuracy :
It is the precision with which a computed point
can be reached.
• Repeatability
It is defined as the precision with which a robot re-
position itself to a previous taught point.
 SPECIFICATION OF ROBOTS
Specification of a robot should contain the following .
• Control type
• Drive system
• Coordinate system
• Teaching/Programming methods
• Pay-load capacity
•Weight of the manipulator
• Applications
• Range and speed of arms and wrist
• Sensors used
• End- effector / gripper used
 APPLICATIONS OF ROBOTS
In MANUFACTURING UNITS
• Robots can work in hazardous and dirty environment.
• Can increase productivity after maintaining
improved quality.
• Direct labour cost will be reduced.
• Material cost will be reduced.
• Repetitive tasks can be handled more efficiently.
• Used in areas like Arc Welding, Spot Welding, Spray
Painting, Pick and Place Operation, Grinding, Drilling,
Milling.
 APPLICATIONS OF ROBOTS
In UNDER WATER APPLICATIONS
• To explore various resources
• To study under-water environment
• To carry out drilling, pipe-line survey,
inspection and repair of ships

In MEDICAL APPLICATIONS
• Telesurgery
• Micro-capsule multi-legged robots
• Prosthetic devices
 APPLICATIONS OF ROBOTS
In SPACE APPLICATIONS
• For carrying out on-orbit services, assembly job and
interplanetary missions
• Spacecraft deployment and retrieval, survey of outside
space shuttle; assembly, testing, maintenance of space
stations; transport of astronauts to various locations
• Robo -nauts
• Free-flying robots
• Planetary exploration rovers
 APPLICATIONS OF ROBOTS
In AGRICULTURE
• For spraying pesticides
• For spraying fertilizers in liquid form
• Cleaning weeds
• Sowing seeds
• Inspection of plants

Some Other Applications

• Replacement of maid-servant
• Garbage collection
• Underground Coal mining
• Sewage-line cleaning and Fire-fighting etc.
 ROLE AND NEED OF ROBOTS FOR THE
IMMEDIATE PROBLEMS OF THE SOCIETY
• These machines can interact with people and learn
quickly, making them valuable to many industries.
• They are often used in research or industrial purposes
but have also been increasingly used in entertainment and
military applications.
• These robots are programmed to have human-like
behaviors.
• Humanoid robots can be used for various purposes, such
as job training, industrial and domestic use, entertainment
purposes, medical applications, or military and
governmental use.
 FUTURE OF MANKIND AND AUTOMATION
BENEFITS :
• Robots will increase economic growth and productivity
and create new career opportunities for many people
worldwide.
• The future of automation is one in which machines
become increasingly intelligent, adaptable, and
autonomous.
• This will be driven by advances in artificial intelligence,
machine learning, and robotics, which are making it
possible to automate tasks that were once thought to be
the exclusive domain of human workers.
 FUTURE OF MANKIND AND AUTOMATION
ETHICAL ISSUES :
• One of the biggest concerns about automation is the
potential for job displacement. As machines become
more capable of performing tasks that were once done
by humans, many jobs will become obsolete.
• This may lead to job losses in certain industries,
particularly for workers in low-skilled, routine jobs.
• However, there are still warnings out there about
massive job losses, forecasting losses of 20 million
manufacturing jobs by 2030, or how 30% of all jobs could
be automated by 2030.
 FUTURE OF MANKIND AND AUTOMATION
ADDRESSING THE ETHICAL ISSUES :
• As automation changes the nature of work, workers will
need to be trained in new skills and technologies. This
will require investments in education and training
programs, as well as new approaches to lifelong learning
that enable workers to adapt to changing technologies
throughout their careers.
• In addition, policymakers will need to consider new
approaches to social protection and support like wage
subsidies, income support, and retraining programs to
help workers who are displaced by automation.
MOBILE ROBOT RESEARCH PLATFORMS
• Warthog UGV.
• Husky UGV.
• Jackal UGV.
• Ridgeback.
• Boxer.
• Dingo.
• TurtleBot 4.
• Accessories.
 INDUSTRIAL SERIAL ARM MANIPULATOR
• Serial manipulators are the most common industrial
robots and they are designed as a series of links
connected by motor-actuated joints that extend from a
base to an end-effector.
• Often they have an anthropomorphic arm structure
described as having a "shoulder", an "elbow", and a
"wrist".
• Serial robots usually have six joints, because it requires
at least six degrees of freedom to place a manipulated
object in an arbitrary position and orientation in the
workspace of the robot.
INDUSTRIAL SERIAL ARM MANIPULATOR