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Module 1 Lecture 2

This document provides an overview of robotics and kinematics. It discusses the key elements of industrial robots including their mechanical structure, control computer, power sources, actuators, sensors, and end effectors. Robots consist of joints that allow for sliding or rotating motions. Their configuration depends on their intended purpose, with examples given of robots for spray painting versus stacking cement bags. The document also provides a block diagram of a basic robot system and describes how robots are powered and programmed.

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50 views8 pages

Module 1 Lecture 2

This document provides an overview of robotics and kinematics. It discusses the key elements of industrial robots including their mechanical structure, control computer, power sources, actuators, sensors, and end effectors. Robots consist of joints that allow for sliding or rotating motions. Their configuration depends on their intended purpose, with examples given of robots for spray painting versus stacking cement bags. The document also provides a block diagram of a basic robot system and describes how robots are powered and programmed.

Uploaded by

navaneethanks
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 PPTX, PDF, TXT or read online on Scribd
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Module I

ROBOTICS AND KINEMATICS


Elements of robots
 An industrial robot is constructed for a specific purpose. It
has to be economical and be able to do varieties of industrial
jobs.
 Hence, it has to be of varied structures so as to suit specific
requirements.
 For example, for spray painting, a robot has to carry the
weight of spray painting gun. The robot for this job can be of
light weight.
 However, a robot which is intended to stack cement bags in a
lorry has to be powerful, strong in structure, with long arms
and less articulations.
 Hence, the configurations of these robots have to be different.
The configurations of industrial robots are many to suit
several job requirements.
Elements of robots
A robotic system basically consists of
robot
◦ mechanical structure,
◦ a robot control computer and
◦ power sources
◦ all necessary actuators
◦ internal sensors
◦ switches and relays
Block diagram of a robot system
Robot computer
 The robot has its brain in terms of a robot computer.
The computer has the set of software required for the
functioning of the robot.
 The computer has facilities to interface with number of
sensor systems such as a vision camera that can be
attached to the robot or placed elsewhere near the
robot.
 The computer can have facilities to interface with other
industrial equipments typically a conveyor system
which brings the product to the robot so that the robot
can perform handling or processing operations.
Power sources
The robot is also connected to a power supply unit
that gives the required power –electrical or
hydraulic or pneumatic or combination of these.
Electric supply is required to operate the internal
motors coupled to various joints.
Hydraulic and pneumatic powers are useful in
operating cylinder–piston mechanisms built in the
robot structure.
There is a provision to teach a robot on how to
perform a task. This can be done in various ways.
The usual method is through a teach pendant.
Joints
 Relative movements between the various
components of the body and arm and wrist are
provided by a series of joints.
 These joint movements usually involve either
sliding or rotating motions.
 The body, arm and wrist sometimes called as the
manipulator.
Attached to the robot’s wrist is a hand or a tool
called the “end effector”.
The end effector is not considered as part of the
robot’s anatomy.
References
Industrial Robotics Technology
Programming And Applications (Special
Indian Edn), 2Nd Edn by GROOVER
Introduction to Industrial Robotics by
Ramachandran Nagarajan

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