Presented By: B.Tech (Mechanical Engineering) Mr. K. Sunil Kumar, M.Tech Assistant Professor

Industrial Robots
Presented by
Yashwanth Galla (18B91A03T4)

Ajay Kumar Prajapati (18B91A03T6)
Kella Jagadeesh Kumar (19B95A0320)
Kattunga Pavan Sai (19B95A0319)
Neela Akhil Babu (19B95A0330)
Balla Durga prasad (17B91A0319)
Chakka Surendra (17B91A0337)
B.Tech(Mechanical Engineering)
Under the guidance of

Mr. K. Sunil Kumar, M.Tech
Assistant Professor
Department of Mechanical Engineering

Sagi Rama Krishnam Raju Engineering College, Bhimavaram
Industrial
Robots
`
Introduction To Robotics :
- Robotics is an applied engineering science that has been

referred to as a combination of machine tool technology
and computer science.
- Today Robots are highly automated mechanical

manipulators controlled by computers in various fields.
- In an industrial context, we can dean automation and robots

as a technology that is concerned with the use of
mechanical, electronic, and computer-based systems in the
operation and control of production.
Industrial Robot :
- An automatically controlled, reprogrammable, multipurpose

manipulator programmable in three or more axes, which can
be either fixed in place or mobile for use in industrial
automation applications.
Need of Industrial Robot :
01 Speed
02 Accuracy
03 Precision
04 Adaptability
Logo
Structure of Robot :
- The structure of a robot is mostly mechanical and can be
called a kinematic chain.
- The chain is formed of links, actuators and joints which can

allow one or more degrees of freedom.
Configurations of Industrial Robots :
- Depending on the shape, size and accessibility, Industrial

robots are available in different configurations.
1. Polar Configuration
2. Cylindrical Configuration
3. Cartesian Configuration
4. Jointed Arm Configuration
5. SCARA
Polar Configuration :
- It uses a telescopic arm that can be raised or lowered about a
horizontal pivot.
- The pivot is mounted on a base and the various joints provide

the robot with the capability to move its arm within a
spherical space.
Cylindrical Configuration :
- The cylindrical configuration uses a vertical column and a slide that
can be moved up or down along the column.
- The robot arm is attached to the slide so that it be moved radially
with respect to the column.
- By routing the column, the robot is capable of achieving a work
space that approximation a cylinder.
Cartesian Configuration :
- The cartesian coordinate robot uses three perpendicular
slides to construct the x, y, and z axes.
- By moving the three slides relative to one another, the robot

is capable of operating within a rectangular work envelope
Jointed Arm Configuration :
- Jointed-arm robotic configuration is similar to that of the
human arm. It consists of two straight components,
corresponding to the human forearm and upper arm,
mounted on a vertical pedestal.
- These components are connected by two rotary joints

corresponding to the shoulder and elbow
SCARA Configuration :
- It is similar in construction to the jointer-arm robot, except
the shoulder and elbow rotational axes are vertical.
- The arm is very rigid in the vertical direction, but compliant in

the horizontal direction. Robot wrist assemblies consist of
either two or three degrees-of freedom.
Control Systems in a Industrial Robot :
With respect to robotics, the motion control system is used to control the movement of
the end-effector or tool.
(a) Limited Sequence Control :
- Elementary control type, it is used for simple motion cycles, such as pick and place
operations.
- It is implemented by fixing limits or mechanical stops for each joint and sequencing
the movement of joints to accomplish operation.
- Feedback loops may be used to inform the controller that the action has been
performed, so that the programme can move to the next step.
- No servo-control exists for precise positioning of joint. Many pneumatically driven
robots are this type.
(b) Playback with Point to Point Control :
- Playback control uses a controller with memory to record motion sequences in a

work cycle, as well as associated locations and other parameters and then plays back
the work cycle during programme execution.
- Point to point control means individual robot positions are recorded in the memory.
- These positions include both mechanical stops for each joint and the set of values
that represent locations in the range of each joint.
- Feedback control is used to confirm that the individual joints achieve the specified
locations in the programme.
(c) Playback with Continuous Path Control :
- Continuous path control refers to a control system capable of continuous

simultaneous control of two or more axes.
- Greater storage capacity - the number of locations that can be stored is greater than
in point to point and interpolation calculations may be used, especially linear and
circular interpolations.
(d) Intelligent Control :
- An intelligent robot is one that exhibits behavior that makes it seem intelligent.
- For example, capacities to interact with its ambient surroundings, decision-making
capabilities, communication with humans; computational analysis during the work
cycle and responsiveness to advanced sensor inputs.
- They may also possess the playback facilities of the above two instances.
- Requires a high level of computer control and an advanced programming language
to input the decision-making logic and other ‘intelligence’ into the memory.
End Effectors :
- End Effectors grasp and manipulate objects during the work cycle. Typically the objects
grasped are work parts that need to be loaded or unloaded from one station to another.
- It may be custom-designed to suit the physical specifications of the work parts they have
to grasp.
Type Description
Mechanical gripper Two or more fingers that can be actuated by robot controller to open and
close on a work part.
Vacuum gripper Suction cups are used to hold flat objects.
Magnetized devices Making use of the principles of magnetism, these are used for holding
ferrous work parts.
Adhesive devices Deploying adhesive substances these hold flexible materials, such as fabric.
Sensory feedback Mechanical gripper with sensory feedback capabilities in the fingers to aid
locating the work part and to determine correct grip force to apply (for
fragile work parts)
Sensors in Robots :
Internal sensors are used to monitor and control the various
joints of the robot.
Sensor Type Description

Tactile sensors Used to determine whether contact is made between sensor and
another object. Two types: touch sensors which indicate when contact is
made and force sensors which indicate the magnitude of the force with
the object.
Proximity sensors Used to determine how close an object is to the sensor. Also called a
range sensor.
Optical sensors Photocells and other photometric devices that are used to detect the
presence or absence of objects. Often used in conjunction to proximity
sensors
Precision of Movement of Robots :
In case of robot movements, we usually define precision as a function of three features:

1.Spatial resolution
2.Accuracy
3.Repeatability
1. Spatial resolution :
- The spatial resolution of a robot is the smallest increment of movement into which the robot can
divide its work volume.
- Spatial resolution depends on two factors: the system's control resolution and the robot's
mechanical inaccuracies.
2. Accuracy :
- Accuracy refers to a robot's ability to position its wrist end at a desired target point within the
work volume.
- The accuracy of a robot can be expressed in terms of spatial resolution because the ability to
achieve a given target point depends on how closely the robot can define the control increments
for each of its joint motions.
3. Repeatability :
- Repeatability is concerned with the robot's ability to position its wrist or an end effector attached
to its wrist at a point in space is known as repeatability.
- Repeatability and accuracy refer to two different aspects of the robot’s precision. Accuracy
relates to the robot's capacity to be programmed to achieve a given target point.
Applications of Industrial Robots :
Industrial Applications :
- Spot welding
- Continuous arc welding
- Spray painting
- Metal cutting and deburring operations
- Various machining operations like drilling,
grinding, laser and waterjet cutting and
riveting.
- Rotating and spindle operations
- Adhesives and sealant dispensing
Material-Handling Applications :
- Palletizing or depalletizing
- Machine loading or unloading
- Stacking and insertion operations
THANK YOU
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Presented By: B.Tech (Mechanical Engineering) Mr. K. Sunil Kumar, M.Tech Assistant Professor

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Industrial Robots

Yashwanth Galla (18B91A03T4)

Under the guidance of

Department of Mechanical Engineering

- Robotics is an applied engineering science that has been

- Today Robots are highly automated mechanical

- In an industrial context, we can dean automation and robots

- An automatically controlled, reprogrammable, multipurpose

- The chain is formed of links, actuators and joints which can

- Depending on the shape, size and accessibility, Industrial

- The pivot is mounted on a base and the various joints provide

- By moving the three slides relative to one another, the robot

- These components are connected by two rotary joints

- The arm is very rigid in the vertical direction, but compliant in

(a) Limited Sequence Control :

(b) Playback with Point to Point Control :

- Playback control uses a controller with memory to record motion sequences in a

(c) Playback with Continuous Path Control :

- Continuous path control refers to a control system capable of continuous

(d) Intelligent Control :

Sensor Type Description

In case of robot movements, we usually define precision as a function of three features:

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