Robots - are devices that are programmed to 7. The Painting Robot. Mechanical Drive Systems INVERSE KINEMATICS.

move parts, or to do work with a tool. When used in a painting application, the robot does The drive system determines the speed of the arm
Robotics - is a multidisciplinary engineering field not need a large payload capability but does need movement, the strength of the robot, dynamic
dedicated to the development of autonomous good repeatability and accurate path following. performance, and, to some extent, the kinds of
devices, including manipulators and mobile When correctly programmed and well maintained, a application.
vehicles. paint robot will produce excellent repeatable results A robot will require a drive system for moving their
Roboticists - develop man-made mechanical with no paint runs or overspray. arm, wrist, and body. There are three diff types of drive
devices that can move by themselves, whose systems available such as:
motion must be modelled, planned, sensed, Robot Grippers. Electric drive system,
actuated and controlled, and whose motion A most important detail in industrial robotics is the Hydraulic drive system, and
behaviour can be influenced by “programming”. part/ robot interface. Grippers come in many sizes Pneumatic drive system.
Robots are called “intelligent” if they succeed in and different types.
moving in safe interaction with an unstructured The most importantly used two types of drive systems
environment, while autonomously achieving their Wrist configuration are electric and hydraulic.
specified tasks. Roll- This is also called wrist swivel; this involves Electric Drive System:
rotation of the wrist mechanism about the arm axis. The electric drive systems are capable of moving robots
Definition Pitch- It involves up & down rotation of the wrist. This with high power or speed. The actuation of this type of
An automatically controlled, reprogrammable, robot can be done by either DC servo motors or DC
is also called as wrist bend. Consider ONB
multipurpose, manipulator programmable in stepping motors. The electric drive system will be
Yaw- It involves right or left rotation of the wrist. Tan β = y / x
three or more axes, which may be either, fixed in perfect for small robots and precise applications.
Notation TRL: ƒ Consists of a sliding arm (L joint) β = tan-1(y / x) ………………………………………….i
place or mobile for use in industrial automation An example for this type of drive system is Maker 110
applications. actuated relative to the body, which can rotate about
robot.
An industrial robot is defined by ISO as an both a vertical axis (T joint) and horizontal axis (R
automatically controlled, reprogrammable, joint) Hydraulic Drive System:
multipurpose manipulator programmable in three Notation TLO: ƒ Consists of a vertical column, relative The hydraulic drive systems are completely meant for
or more axes. to which an arm assembly is moved up or down ƒ the the large – sized robots. It can deliver high power or
Typical applications of robots include welding, arm can be moved in or out relative to the column speed than the electric drive systems. This drive system
painting, assembly, pick and place (such as Notation LOO: ƒ Consists of three sliding joints, two can be used for both linear and rotational joints. The
packaging, palletizing and SMT), product of which are orthogonal Other names include rotary motions are provided by the rotary vane
inspection, and testing; all accomplished with rectilinear robot and x-y-z robot. actuators, while the linear motions are produced by
high endurance, speed, and precision. hydraulic pistons.
Speed of Motion An example for the hydraulic drive system is Unimate
Robot Anatomy 2000 series robot.
1. Point-to-point (PTP) control robot: is capable of
The anatomy of robot is also known as structure
of robot. moving from one point to another point. The
Pneumatic Drive System:
The RIA (Robotics Industries Association) has locations are recorded in the control memory. The pneumatic drive systems are especially used for
officially given the definition for Industrial Common applications include component insertion, the small type robots, which have less than five
Robots. According to RIA, “An Industrial Robot is spot welding, whole drilling, machine loading and degrees of freedom. It has the ability to offer fine
a reprogrammable, multifunctional manipulator unloading, and crude assembly operations. accuracy and speed. This drive system can produce
designed to move materials, parts, tools, or rotary movements by actuating the rotary actuators.
special devices through variable programmed 2. Continuous-path (CP) control robot: with CP The drawback of this system is that it will not be a
motions for the performance of a variety of tasks.” control, the robot can stop at any specified point perfect selection for the faster operations.
along the controlled path. All the points along the
The Anatomy of Industrial Robots deals with the path must be stored explicitly in the robot’s control
assembling of outer components of a robot such
memory. Typical applications include spray painting,
as wrist, arm, and body. Before jumping into
finishing, gluing, and arc welding operations.
Robot Configurations,
the key facts about robot anatomy.
End Effectors: A hand of a robot is considered as 3. Controlled-path robot: the control equipment can
end effectors. The grippers and tools are the two generate paths of different geometry such as
significant types of end effectors. The grippers are straight lines, circles, and interpolated curves with a
used to pick and place an object, while the tools high degree of accuracy. All controlled path robots
are used to carry out operations like spray have a servo capability to correct their path.
painting, spot welding, etc. on a work piece.
Robot Joints: The joints in an industrial robot are Pay Load
helpful to perform sliding and rotating Maximum payload is the weight of the robotic wrist,
movements of a component. including the EOAT and work piece. It varies with
Manipulator: The manipulators in a robot are different robot applications and models.
developed by the integration of links and joints. In
Determining your payload requirements is one way
the body and arm, it is applied for moving the
to narrow down your robot search.
tools in the work volume. It is also used in the wrist
to adjust the tools.
Kinematics: It concerns with the assembling of Robot Parts and Functions
robot links and joints. It is also used to illustrate 1, The controller is the "brain" of the industrial
the robot motions. robotic arm and allows the parts of the robot to
operate together. It works as a computer and allows
Co-ordinate System the robot to also be connected to other systems.
A coordinate system defines a plane or space by
axes from a fixed point called the origin. 2, Industrial robot arms can vary in size and shape.
Cylindrical Configuration, The industrial robot arm is the part that positions the
Polar Configuration, end effector. With the robot arm, the shoulder,
Jointed Arm Configuration, and
elbow, and wrist move and twist to position the end
Cartesian Co-ordinate Configuration.
effector in the exact right spot. Each of these joints
gives the robot another degree of freedom. A simple
Cylindrical Configuration:
This kind of robots incorporates a slide in the robot with three degrees of freedom can move in
horizontal position and a column in the vertical three ways: up & down, left & right, and forward &
position. It also includes a robot arm at the end of backward.
the slide. Here, the slide is capable of moving in up
& down motion with the help of the column 3, The end effector connects to the robot's arm and
Example: GMF Model M1A Robot. functions as a hand. This part comes in direct contact
Advantages: with the material the robot is manipulating. Some
Increased rigidity, and variations of an effector are a gripper, a vacuum
Capacity of carrying high payloads. pump, magnets, and welding torches.
Disadvantages:
Floor space required is more, and
3, The drive is the engine or motor that moves the
Less work volume.
links into their designated positions. The links are the
sections between the joints. Industrial robot arms
Polar Configuration:
The polar configuration robots will possess an generally use one of the following types of drives:
arm, which can move up and down. It comprises hydraulic, electric, or pneumatic. Hydraulic drive
of a rotational base along with a pivot. It has one systems give a robot great speed and strength.
linear & two rotary joints that allows the robot to
operate in a spherical work volume. 4, Sensors allow the industrial robotic arm to receive
Example: Unimate 2000 Series Robot. feedback about its environment. They can give the
Advantages: robot a limited sense of sight and sound. The sensor
Long reach capability in the horizontal position. collects information and sends it electronically to the
Disadvantages: robot controlled.
Vertical reach is low. Vision sensors allow a pick and place robot to
differentiate between items to choose and items to
ignore
Jointed Arm Configuration: Need of Robot and its Application Advantages of Artificial intelligence over the
The arm in these configuration robots looks I, Industrial Applications Industrial robots are used natural intelligence as it is:
almost like a human arm. It gets three rotary to assemble the vehicle parts. As the assembly of the - more permanent,
joints and three wrist axes, which form into six machine parts is a repetitive task to be performed, - consistent,
degrees of freedoms. As a result, it has the the robots are conveniently used instead of using - less expensive,
capability to be controlled at any adjustments in mankind (which is more costly and less précised - Ease duplication and dissemination,
the work space. These types of robots are used for compared to robots.) - can be documented
performing several operations like spray painting, - perform tasks much faster and better than the
spot welding, arc welding, and more. ii. Auto Industry: human.
Example: Cincinnati Milacron T3 776 Robot The auto industry is the largest users of robots,
Advantages: which automate the production of various AREAS OF ARTIFICIAL INTELLIGENCE
Increased flexibility, components and then help, assemble them on the A. Language understanding:
Huge work volume, and finished vehicle. Car production is the primary The ability to "understand" and respond to the
Quick operation. example of the employment of large and complex natural language. To translate from spoken
Disadvantages: robots for producing products. Robots are used in language to a written form and to translate from
Very expensive, that process for the painting, welding and assembly one natural language to another natural language.
Difficult operating procedures, and of the cars. This include:-
Plenty of components. - Speech Understanding
Iii. Material Transfer, Machine Loading and - Semantic Information Processing (Computational
Cartesian Co-ordinate configuration: Unloading Linguistics)
These robots are also called as XYZ robots, There are many robot applications in which the - Question Answering
because it is equipped with three rotary joints for robot is required to move a work part or other - Information Retrieval
assembling XYZ axes. The robots will process in a material from one location to another. The most - Language Translation
rectangular work space by means of this three basic of these applications is where the robot picks
joints movement. It is capable of carrying high the part up from one position and transfers it to B. Learning and adaptive systems:
payloads with the help of its rigid structure. It is another position. In other applications, the robot is The ability to adapt behavior capture on previous
mainly integrated in some functions like pick and used to load and/or unload a production machine of experience, and to develop general rules
place, material handling, loading and unloading, some type. concerning the world based on such experience of
and so on. Material transfer applications are defined as operations - Automations
Example: IBM 7565 Robot. in which the primary objective is to move a part from - Concept formulation
Advantages: one location to another location. The machine loading
Highly accurate & speed, and unloading applications are material handling C. Problem solving:
Fewer cost, operations in which the robot is used to service a Ability to formulate a problem in a suitable
Simple operating procedures, and production machine by transferring parts to and/or representation, to plan for its solution and to know
High payloads. from the machine. when new information is needed and how to obtain
Disadvantages: Robots have been successfully applied to accomplish it. Through
Less work envelope, and the loading and/or unloading function in the - Inference (Resolution-Based Theorem Proving,
Reduced flexibility. production operations Plausible Inference and Inductive Inference)
- Die casting - Plastic molding - Forging and related - Interactive Problem Solving
Work Envelop operations - Automatic Program Writing
It is the shape created when a manipulator - Machining operations - Stamping press operations - Heuristic Search concept Formation
reaches forward, backward, up and down. These
distances are determined by the length of a iv. Robotic arm D. Perception (visual):
robot's arm and the design of its axes. Each axis The most developed robot in practical use today is The ability to analyze a sensed scene by relating it
contributes its own range of motion. the robotic arm and it is seen in applications to an internal model which represents the
throughout the world. We use robotic arms to carry perceiving objectives "knowledge of the world."
Technical Features of an Industrial Robot out dangerous work such as when dealing with The result of this analysis is a structured set of
The technical features of an industrial robot hazardous materials. We use robotic arms to carry relationships between entities in the scene.
determine its efficiency and effectiveness at out work in outer space where man cannot survive - Pattern Recognition
performing a given task.
and we use robotic arms to do work. Some of the - Scene Analysis
most advanced robotic arms have such amenities as
Robot Classification
a rotating base, pivoting shoulder, pivoting elbow, E. Modeling:
1. Degree of Freedom (D.O.F)
Each joint on the robot introduces a degree of rotating wrist and gripper fingers. The ability to develop an internal representation
freedom. Each dof can be a slider, rotary, or other and set of transformation rules which can be used
type of actuator. Robots typically have 5 or 6 v. Medical Applications to predict the behavior and relationship between
degrees of freedom. 3 of the degrees of freedom Medical robotics is a growing field and regulatory some set of real-world objects or entities.
allow positioning in 3D space, while the other 2or approval has been granted for the use of robots in - The Representation Problem for Problem Solving
3 are used for orientation of the end effector.5 minimally invasive procedures. Robots are being Systems
D.O.F robots are commonly used for handling used in performing highly delicate, accurate - Modeling Natural Systems (Economic,
tools such as arc welders. surgery, or to allow a surgeon who is located Sociological, Ecological, Biological etc.)
remotely from their patient to perform a procedure FORWARD KINEMATICS. - Robot World Modeling (Perceptual and Functional
2. Work Volume/Workspace using a robot controlled remotely. More recently, Representations)
The robot tends to have a fixed and limited
robots can be used autonomously in surgery.
geometry. The work envelope is the boundary of
positions in space that the robot can reach. For a F. Robots:
Cartesian robot (like an overhead crane) the Future Applications A combination of most or all of the above abilities
workspace might be a square, for more We can theorize a likely profile of the future robot with the ability to move over terrain and
sophisticated robots the workspace might be a based on the various research activities that are manipulate objects.
shape that looks like a ‘clump of intersecting currently being performed. The features and - Exploration. - Transportation/Navigation. -
bubbles. capabilities of the future robot will include the Industrial Automation (e.g., Process Control,
following (it is unlikely that all future robots will Assembly Tasks, Executive Tasks) - Security - Other
3. The Pneumatic Robot. possess all of the features listed). (Agriculture, Fishing, Mining, Sanitation,
The pick and place machine is the simplest of the •Intelligence: •Sensor capabilities: •Tele presence: Construction, etc.) - Military - Household
robots. Pneumatic powered, it has no servo •Mechanical design: •Mobility and navigation:
motors driving the axes, but an air cylinder •Universal gripper: •Systems integration and
instead. networking:
4. The Scara Robots.
Industrial Applications
Scara means Selective, Compliant, Robot arm. This 1st ARM. 2nd ARM.
robot is especially designed for assembly We will divide our presentation of future industrial Sin ϴ1 = y1/l1 Sin ( ϴ1+ ϴ2 ) = y2/l2
automation and uses 4-axes of motion, each axes applications into three areas: Y1 = l1 Sin ϴ1…………………………………i
driven by a servo motor. The two joints have a · Manufacturing Cos ϴ1 = x1/l1 Cos ( ϴ1+ ϴ2 ) = x2 / l2
motor each and the base has a rotate axis. The · Hazardous and inaccessible environments, X1 = l1 Cos ϴ1……………………………….ii
fourth axis is the vertical axis that generally inserts · Service industries y2 = l2 Sin ( ϴ1+ ϴ2 )…………………………..iii
a component. x2 = l2 Cos ( ϴ1+ ϴ2 ) ……………………….iv
UNIT-II
5. The Gantry Robot. ROBOT DRIVE SYSTEMS AND END EFFECTORS NOW;
This type of robot is generally mounted direct to Introduction Robot Drive Systems X = x1 + x2
the shop floor and usually has a large work The robot’s capacity to move its body, arm, and X = l1 Cos ϴ1 + l2 Cos ( ϴ1+ ϴ2 )
envelope. It can be used for material handling wrist is provided by the drive system used to power Y = y1 + y2
applications and I used them for stacking and de- the robot. Y = l1 Sin ϴ1 + l2 Sin ( ϴ1+ ϴ2 )
stacking steel blanks, that were laser welded into
tailored blanks. Types of Actuators
*Electric Motors, like: Servomotors, Stepper motors
6. Cartesian robots. or Direct-drive electric motors
These machines are usually mounted on a table *Hydraulic actuators
and are similar in concept to the gantry robot but *Pneumatic actuators
on a smaller scale.