ROBOTICS

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3 rules to be obeyed while constructing robots

• Robots must never harm human beings.
• Robots must follow instructions from humans without violating rule 1.
• Robots must protect themselves without violating the other rules.
• Today, industrial robots, as well as many other types of robots, are used to perform repetitive tasks.
• They can take the form of a robotic arm, a collaborative robot (cobot), a robotic exoskeleton or traditional humanoid
robots.

• Some applications for robotics include the following:

∙ Home electronics. Vacuum cleaners and lawnmowers can be programmed to automatically perform tasks without
human intervention.
∙ Home monitoring. This includes specific types of robots that can monitor home energy usage or provide home
security monitoring services, such as Amazon Astro.
∙ Artificial intelligence (AI). Robotics is widely used in AI and machine learning (ML) processes, specifically for
object recognition, natural language processing, predictive maintenance and process automation.
∙ Data science. The field of data science relies on robotics to perform tasks including data cleaning, data automation,
data analytics and anomaly detection.
∙ Law enforcement and military. Both law enforcement and the military rely heavily on
robotics, as it can be used for surveillance and reconnaissance missions. Robotics is also
used to improve soldier mobility on the battlefield.
∙ Mechanical engineering. Robotics is widely used in manufacturing operations, such as
the inspection of pipelines for corrosion and testing the structural integrity of buildings.
∙ Mechatronics. Robotics aids in the development of smart factories, robotics-assisted
surgery devices and autonomous vehicles.
∙ Nanotechnology. Robotics is extensively used in the manufacturing
of microelectromechanical systems, which is a process used to create tiny integrated
systems.
∙ Bioengineering and healthcare. Surgical robots, assistive robots, lab robots and
telemedicine robots are all examples of robotics used in the fields of healthcare and
bioengineering.
Block Diagram Representation
• Industrial robot has the basic parts like arm,sensor,
actuator,controller etc. These subsystems communicate among
themselves via interfaces whose function consists basically of
decoding the transmitted information from one medium to another.
Components of Robot
• End effectors
• Sensors
• Manipulators
• Robot controller
• For mobile robots, the batteries
• for robots are the mount of a robot arm, and mounting systems to fasten sensors.
• The robot vision system.
• other smaller pieces and parts like LED displays and keypads.
Robot End Effectors
• The end effector of a robotic arm is where the work happens. It’s where the contact between the
robot and the workpiece happens. As with human beings, who use a very wide array of tools to get
things done, so it is with robots.

• Robotic end effectors are also called “End of Arm Tooling” or EoAT. The EoAT is in effect the wrist,
hand, and tool of the robot. End effectors can be anything from a welding tool to a vacuum cleaner.

• The EoAT could be a screwdriver or a rotating drill.

• If the robot is supposed to lift boxes ,For smaller boxes, a suction cup might be better.

• For larger boxes, it might be better to have a robot with two arms. The “hands” or grippers might be
shaped like a sphere with knobs on them.

• For big and heavy boxes, it might be best to have prongs that can slip underneath the box and
support it from below
Robot Sensors
Robot Manipulators
• The arm-like structure of an industrial robot is known as a robot
manipulator. This component is responsible for completing the tasks the
robot is programmed to perform. Also known as a robot arm, the
manipulator mounts to the robot body and consists of multiple links and
joints.

• Links are rigid components that connect different sections of the robot
arm. Their rigidity provides a solid structure, but joints are necessary for
flexibility. As with the human body, robotic joints move in different ways,
facilitating linear, rotary, and revolutionary motions. This allows the robot
to perform the desired movements within its work envelope.
• Generally speaking, the manipulator is mainly composed of
the following parts:
• - Hand or grasping mechanism: including fingers, force
transmission mechanism, etc. It mainly plays the role of
grasping and placing work
• - Transmission mechanism or arm: including wrist, arm,
etc.It is mainly used to change the direction and position of
objects.
• - Driving part: it is the power of the first two parts, so it is
also called power source. There are four commonly used
driving forms: hydraulic, pneumatic, electric and
mechanical.
• - Control part: it is the command system of manipulator
action. It controls the sequence (program), position and
time (even speed and acceleration) of actions.
• - Other parts: such as machine body, walking mechanism,
stroke detection device and sensing device, etc.
Robot Controllers
• There are three broad categories of robotic controllers:

∙ PLC (Programmable Logic Controller),

∙ PAC (Programmable Automation Controller),

∙ IPC (Industrial Personal Computer).

• The PLC is the oldest technology and the lowest cost type of robot controller. It is used for simple applications that do
not need complex motion control. The data logging ability of a PLC is also less capable than other types of robot
controllers. The PLC will have fewer kinds of input/output devices.

• The PAC represents an updated version of the PLC. The PAC has more computing power and greater capability.
There is a very broad range of applications for which a PAC is a good fit.

• The IPC has the greatest computing power, and it is also the most expensive type of robot controller. It can handle
complex motions and can communicate via a wide variety of interfaces. The IPC can handle and store very large
amounts of data.

• In deciding between different robot controllers, one important factor is software. Look for application-specific software
packages. The application package will determine how easy it is to get up and running. It will also influence how
much support you can expect for your particular needs.
Robotic Vision System
• A robotic vision system is a technology that enables a robot to
“see.” These systems enable the machine to be able to identify,
navigate, inspect or handle parts or tasks.
• A robotic vision system consists of one or more cameras
connected to a computer. The computer contains a processing
software program that helps the robot interpret what it sees.
Then, the robot follows the program’s instructions—specified by
the manufacturing facility’s staff—to complete the specified task.
• Additional elements, such as lighting, image sensors,
communications devices or other components, can be
incorporated to add to the machine’s overall capabilities.
• Robots can be used to handle a wide variety of tasks, such as:
• Product sorting
• Product assembly
• Measuring
• Depalletizing
Degree of Freedom
• A ‘Degree of Freedom’ (DoF) as it relates to robotic arms, is an independent joint that can provide
freedom of movement for the manipulator, either in a rotational or translational (linear) sense.
• Every geometric axis that a joint can rotate around or extend along is counted as a Single Degree
of Freedom.
• The two most common joints are:

• Revolute Joint: Providing one degree of rotational freedom

• Prismatic Joint: Providing one degree of linear freedom

• Each axis of a robot represents a degree of freedom or in simpler terms an independent motion.
Each axis allows a robot to gain a degree of freedom, meaning it has increased functionality. The
more axes a robot has, the more degrees of freedom it has which allows it access to greater
amounts of space.
• 2 DOF
• 3 DOF
• 4 DOF
• 5DOF
Motors