Introduction to Robotics

Definition: Robotics

 It is a branch of technology focused on designing, constructing, and operating robots to assist humans in
various tasks.

Definition: Robots

 As per ISO, a robot is a reprogrammable, multifunctional machine designed to move materials, parts, or
tools through programmed motions for different tasks.
 The term robot originates from the Czech word "robota" meaning forced labor

What are the four Ds of robotics …......................

Robots Helps Humans in the Dull, Dirty, Dangerous and Dear Jobs
Four D’s of Robotics are
● Dull
● Dirty
● Dangerous
● Dear

Applications of Robotics
Robotics plays a crucial role in various industries, improving efficiency, precision, and safety. Some key
applications include:

1. Manufacturing:

 Automated Assembly Lines: Robots perform tasks like welding, painting, and assembling products.
 3D Printing: Robotic arms assist in precise 3D printing processes.

2. Healthcare:

 Surgical Robots: Robots like the da Vinci Surgical System assist in minimally invasive surgeries.
 Rehabilitation Robots: Help patients recover by assisting in physical therapy.

3. Agriculture:

 Harvesting Robots: Automate crop harvesting, reducing manual labor.

 Weeding Robots: Identify and remove weeds, reducing herbicide usage.

4. Logistics and Warehousing:

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  Automated Guided Vehicles (AGVs): Transport goods within warehouses, improving logistics.
 Autonomous Mobile Robots (AMRs): Navigate warehouses to pick and deliver items.

5. Space Exploration:

 Rovers: Vehicles like Curiosity and Perseverance explore planetary surfaces.

 Satellite Servicing: Robots assist in repairing and maintaining satellites in space.

6. Automotive Industry:

 Robotic Welding: Ensures precise welding in car manufacturing.

 Automated Inspection: Robots check for product defects during production.

7. Construction:

 Bricklaying Robots: Automate bricklaying, speeding up construction.

 Survey Drones: Monitor and survey construction sites.

8. Environmental Monitoring:

 Underwater Robots: Collect data on marine life and pollution.

 Agricultural Drones: Monitor crop health and optimize irrigation.

9. Entertainment:

 Animatronics: Create lifelike characters in theme parks and movies.

10. Security and Surveillance:

 Mobile Robots: Used for patrolling, monitoring, and real-time video surveillance.

Block diagram representation of Robotic System

Robotic Subsystem

Motion Recognition
Control Subsystem
Subsystem Subsystem

A robotic system generally consists of three subsystems, namely a motion subsystem,

recognition subsystem and control subsystem
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Motion Subsystem: The motion subsystem is the physical structure of the robot that carries out
desired motion similar to human arms.
Recognition Subsystem: The recognition subsystem uses various sensors to gather information
about the robot itself and any object being acted upon and about the environment. Based on sensor
data, it recognizes the robot9s state, the objects and the environment.
Control Subsystems: The control subsystem is a device or a set of devices to manage, command,
direct or regulate the behavior of the process. The control subsystem influences the robot9s motion
to achieve a given task using the information provided by the recognition subsystem.

Project Management
Five Stages of Project Management
1. Project Initiation:
This is the starting phase where the project is formally defined. A Project Initiation Document (PID) is
created, including:

 Project goals, scope, and size.

 Project organization and constraints.
 Bill of materials and project framework.
 Closing criteria.

2. Project Definition and Planning:

In this phase, the project scope, plan, and work breakdown schedule are defined. Key elements include:

 Time, cost, and resources.

 Roles and responsibilities.
 Quality, milestones, and progress checkpoints.

3. Project Launch and Implementation:

This phase involves executing the project plan by conducting tasks and activities. A kick-off
meeting usually starts the project execution.
4. Project Monitoring and Control:
It involves tracking project progress, performance, and resolving any arising issues. Also, reports
are prepared during this stage.
5. Project Closing:
In this final phase, the project is completed, deliverables are handed over, and the project is
dissolved.

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 Unit 2
Materials and Mechanical Components

A robot is made up of various components such as frame, sensors, processor, battery, etc.
Some of the common components are labelled in the figures below.

Figure 1. Various components of a robot

What are Frames?
A Frame or a Chassis is the base upon which a robot is built.
The functions of a frame can be listed as:
● To support mounting of various components of the robot.
● To give structural strength to the robot

Frame Materials: Frames of various materials can be used for a robot. Some of the
common materials used are discussed below.
Medium Density Fibreboard (MDF): This is a type of engineered wood manufactured by
compressing different hardwood and softwood residues using wax or resin.
Some of the properties of MDF are:
1. It is easy to cut and carve them to any shape
2. They are low-cost
3. They have relatively low load capacity
4. They deteriorate with age
5. They are not water resistant
Acrylic: These are transparent plastic sheets made of poly methyl-methacrylate.
Some of the properties of Acrylic are:

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 1. It gives a clean look and finish
2. They have a medium load capacity
3. They are water resistant
4. They are more durable
Aluminium: Aluminium is a metal, and various Aluminium alloys are used to manufacture
robot frames.
Some of the properties of Aluminium are:
1. Light weight
2. It is durable and does not rust
3. Requires machining to cut and shape
4. It is slightly expensive
Steel: Steel is an alloy made of iron and carbon.
Some of the properties of Steel are:
1. Steel is a strong and hard material
2. It is suitable for rough-use robots
3. Steel can be welded
4. It is a heavy material
5. It is relatively difficult to machine steel

(a) (b)

(d)
(c)

Figure 3. Various frame materials (a) DF (b) Acrylic (c) Aluminium (d) Steel

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What are some of the types of wheels used in a robot?
Different types of wheels used in building robots are shown below:

Standard Wheel

● Motion in one direction

● Can be driven

Caster Wheel

● Can orient in any direction

● Cannot be driven

Omni Wheel

● Can travel in multiple directions

● Can be driven
● Perpendicular rollers

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 Mecanum Wheel

● Can travel in multiple

directions
● Can be driven
● Multi-direction rollers

2.2. What are Links and Joints?

The individual bodies of a robot are known as links. Links are connected to each other by joints.
2.2.1. Types of joints: Joints couple the links together and facilitates various motions between

Figure 4. Links and Joints of a robot

them. Based on the type of motion, joints are classified into different types. Some of them are
listed below.

Revolute Joint
● Allows rotation
about one axis
● Only one degree of
freedom

Source: researchgate.net

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 Prismatic Joint
● Allows translation
● Only one degree of freedom

Cylindrical Joint
● Allows translation
and rotation
● Two degrees of freedom

Spherical Joint
● Allows rotation about
three axes
● Three degrees of freedom

Planar Joint
● Allows translation
and rotation
● Three degrees of freedom

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Degrees of Freedom (DoF):
It can be defined as the number of independent motions allowed for a body. A free
rigid body has six degrees of freedom in terms of three translations and three
rotations.

Introduction to Tinkercad
Tinkercad is an online tool used for designing circuits and creating 3D models. It is very
easy to use and is mostly used by students to learn electronics, circuit designing, and
programming. It also allows students to test their circuits virtually without using any
physical components.

Basic Interface of Tinkercad

Tinkercad has a very simple and user-friendly interface that includes:

1. Dashboard: It is the first page after logging in, where you can see your saved projects
or create new ones.
2. Workplane: It is the main area where you design your circuits or 3D models.
3. Component Library: In the circuit design section, you will find components like
resistors, LEDs, motors, Arduino, etc.. You can drag and drop them to create a
circuit.
4. Code Editor: This section is used for writing code for Arduino using either blocks
(drag-and-drop) or text (C++).
5. Simulation Button: After creating the circuit, you can click on "Start Simulation"
to test your circuit and see how it works.

How to Use Tinkercad for Creating Circuits

1. Open Tinkercad and go to "Create New Circuit".
2. Drag and drop components like LEDs, resistors, motors, and Arduino.
3. Connect the components using wires.
4. If using Arduino, open the Code Editor and write the code.
5. Click "Start Simulation" to test your circuit.

How to Use Tinkercad for 3D Design

1. Open "3D Design" in Tinkercad.
2. Drag and drop shapes like cube, sphere, cone, text, etc..
3. Resize, rotate, or combine shapes as needed.
4. Once done, you can export the design for 3D printing.

Why is Tinkercad Useful?

 It helps learn electronics without physical components.
 It allows you to test and run Arduino codes.
 You can create 3D models and print them using a 3D printer.
 It is completely free and web-based, so no need to install anything.