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Introduction To Robotics

The document provides an overview of robotics, defining robots as reprogrammable manipulators designed for various tasks and distinguishing them from manually controlled devices. It discusses applications of robots in industrial, field, and service environments, highlighting their roles in material handling, processing, assembly, and inspection. Additionally, it covers robot classifications, structures, components, drives, sensors, programming modes, and specifications.

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6 views31 pages

Introduction To Robotics

The document provides an overview of robotics, defining robots as reprogrammable manipulators designed for various tasks and distinguishing them from manually controlled devices. It discusses applications of robots in industrial, field, and service environments, highlighting their roles in material handling, processing, assembly, and inspection. Additionally, it covers robot classifications, structures, components, drives, sensors, programming modes, and specifications.

Uploaded by

Malik
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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IPE 301

Automation & Control Engineering

Introduction to Robotics
Introduction

• A robot is a reprogrammable, multifunctional manipulator


designed to move materials, parts, tools, or specialized
devices through variable programmed motions for the
performance of a variety of tasks.
• True robots should be distinguished from the manually
controlled manipulator or telecheric, which is remotely
controlled by human operators and not programmed to
operate automatically and unattended.
• Robotics is the art, knowledgebase, and the know-how of
designing, applying, and using robots in human endeavors.
Situations to promote the use of robots

• Hazardous environment for humans


• Repetitive work cycle
• Difficult handling for humans
• Multi-shift operations
• Infrequent changeovers
Robot Applications

• Industrial Applications:
– Material handling
– Processing operations
– Assembly and inspection
• Field Applications: Robots are deployed in areas where
human being could not survive or be exposed to
unsustainable risks.
• Service Applications: Robots are used in civil applications
such as intelligent transportations, patient rehabilitation
system, medical applications, domestic aid, entertainments
etc.
Industrial Applications: Material Handling

• Material transfer
• pick-and-place
• palletizing1
• Depalletizing
• warehouse loading and unloading
• insertion
• Machine loading and unloading
• die casting
• plastic moulding
• machining processes
• heat-treatment
• pressworking
Industrial Applications: Processing
operations
• arc and spot welding
• glueing and sealing
• paint and spray coating
• drilling and other machining operations
• grinding, wire brushing and similar operations
• water-jet and laser cutting
• screwing, wiring and fastening.
Industrial Applications: Assembly and
Inspection
• Assembly – involves joining of two or more parts to form a
new entity.
• Inspection – to inspect the work that is supposed to be
done.
• making sure that a given process is completed
• ensuring that parts have been added in the assembly
as specified identifying the flaws in raw materials and
finished parts.
Field Robot Applications

Sojourner rover, deployed by Pathfinder in 1997 by NASA.


Service Robot Applications

Autonomous car Stanley completed a path of 132 miles in


record time of 6 h and 53 min in DARPA Grand Challenge
2005.
Service Robot Applications

The EndoAssistant manipulates a laparoscopic camera at


the command of the surgeon
Service Robot Applications

The da Vinci robotic surgical system comprising of a


surgeon’s console and a patient side cart.
Service Robot Applications

Asimo by Honda AIBO by Sony Corp


Industrial Applications: Material Handling

• Robots can be classified as those with fixed base, robot


manipulators, and those with a mobile base, mobile
robots.
• The structure of a robot manipulator consists of a sequence
of rigid bodies (links) interconnected by means of
articulations (joints); a manipulator is characterized by an
arm that ensures mobility, a wrist that confers dexterity,
and an end-effector that performs the task required of the
robots.
• The articulation between two consecutive links can be
realized by means of a prismatic or a revolute joint.
Prismatic joints are linear; there is no rotation involved.
Revolute joints are rotary.
Robot Structure & Classifications

• In most general case of a task consisting of arbitrarily


positioning and orienting an object in 3D space 6 DOFs are
required.
• The workspace represents the position of the environment
the manipulator’s end-effectors can access.
• The task required of the arm is to position the wrist then it
required to orient the end-effector.
• Robot manipulators are classified as:
• Cartesian (3P): 20% of industrial robots Cylindrical (R2P): 12%
• Spherical / Polar (2RP)
• Articulated / Anthropomorphic (3R): 59%
• Selective Compliance Assembly Robot Arm (SCARA): 8%
6 DOF Industrial Robot Example

In most general case of arbitrarily positioning and orienting


an object in 3D space 6 DOFs are required
Carteisan (3P) Robot

• Cartesian roots have 3 prismatic joints whose axes typically are mutually
orthogonal and thus it is natural to perform straight motions in space.
• The Cartesian structure offers very good mechanical stiffness.
Gantry Robot

Ganty robots can approach an object from the top. Such a structure offers large
volume workspace and enables the manipulation of objects of large dimensions
and heavy weight.
Cylindrical (R2P) Robot

• Cylindrical geometry differs from Cartesian in that the first prismatic joint is
replaced with a revolute joint.
• Cylindrical manipulators are mainly employed for carrying objects of large
dimensions.
Spherical (2RP) Robot

• Spherical geometry differs from cylindrical in that the second prismatic joint is
replaced with a revolute joint.
• Spherical manipulators are mainly employed for machining. Electric motors are
typically used to actuate the joints.
SCARA Robot

• Selective Compliance Assembly Robot Arm (SCARA) has two revolute joints
and one prismatic joint in such a way that all the axes of motion are parallel.
• SCARA manipulator is suitable for manipulation of small objects; joints are
actuated by electric motors.
Articulated (3R) Robot

• Articulated robots have three revolute joints; by virtue of its similarity with the
human arm, the second joint is called the shoulder joint and the third joint the
elbow joint since it connects the ‘arm’ with the ‘forearm’.
• Joints are typically actuated by electric motors. The range of industrial
applications is wide.
Articulated (3R) Robot
Robot Components
Robot Gripper
Robot Gripper
Robot Gripper

• Mechanical grippers:- consisting of two or more fingers


that can be actuated by the robot controller to open and
close to grasp the work-piece.
• Vacuum grippers:- such cups are used to hold flat objects.
• Magnetized devices:- for holding ferrous work-pieces.
• Adhesive devices:- where adhesive substances are used
to hold flexible materials like fabric.
• Simple mechanical devices:- such as hooks and scoops.
Robot Drives
Robot Drives

• Pneumatic drive:- pressurized air is supplied through lines


to cylinders, causing air pressure to be transformed into
mechanical work.
• Hydraulic drive: pressurized fluid entering into cylinders
causes the cylinder to extend or retract.
• Electric drive:- electric drive systems either use AC or DC
electric motors. Motors are connected to the manipulator’s
axes through gear reduction mechanisms to develop
necessary torque for the robot to lift heavy payloads.
Robot Sensors
Robot Programming Modes

• Physical setup:- an operator sets up switches and hard


stops that control the motion.
• Lead through or teach mode:- the robot’s joints are moved
with a teach pendant.
• Continuous walk-through mode:- all robot joints are
moved simultaneously, while the motion is continuously
sampled and recored by the controller.During playback, the
recorded motion is executed.
• Software mode:- a program is written off-line/on-line and is
executed by the controller to control the motion.
Robot Specifications

• Payload: the weight a robot can carry and still remain within
it other specifications.
• Reach: the maximum distance a robot can reach within
work envelope.
• Precision: how accurately a specified point can be reached.
• Repeatability: how accurately the same position can be
reached if the motion is repeated many times.

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