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Robotics 01

The document provides an introduction to robots and robotics, including definitions of robots and robotics, the history and applications of robots, and classifications and components of robotic systems. It discusses topics like degrees of freedom, workspaces, and the interdisciplinary areas involved in robotics.

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44 views45 pages

Robotics 01

The document provides an introduction to robots and robotics, including definitions of robots and robotics, the history and applications of robots, and classifications and components of robotic systems. It discusses topics like degrees of freedom, workspaces, and the interdisciplinary areas involved in robotics.

Uploaded by

33majeesamir66
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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Introduction to Robots and Robotics

A Few Questions

 What is a robot?
 What is robotics?
 Why do we study robotics?
 How can we teach a robot to perform a particular task?
 What are possible applications of robots?
 Can a human being be replaced by a robot?,
and so on.
Definitions

 The term: robot has come from the Czech word: robota, which
means forced or slave laborer

 In 1921, Karel Capek, a Czech playwright, used the term: robot


first in his drama named Rossum’s Universal Robots (R.U.R)

 According to Karel Capek, a robot is a machine look-wise similar


to a human being
Robot has been defined in various ways:

1) According to Oxford English Dictionary A


machine capable of carrying out a complex series of actions
automatically, especially one programmable by a computer

2) According to International Organization for Standardization


(ISO): 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
3) According to Robot Institute of America (RIA) It is
a reprogrammable multi-functional manipulator designed to
move materials, parts, tools or specialized devices through
variable programmed motions for the performance of a variety
of tasks

Note: A CNC machine is not a robot


Robotics

 It is a science, which deals with the issues related to design,


manufacturing, usages of robots

 In 1942, the term: robotics was introduced by Isaac Asimov in his


story named Runaround

 In robotics, we use the fundamentals of Physics, Mathematics,


Mechanical Engg., Electronics Engg., Electrical Engg., Computer
Sciences, and others
3 Hs in Robotics

3 Hs of human beings are copied into Robotics, such as

 Hand

 Head

 Heart
Motivation
To cope with increasing demands of a dynamic and
competitive market, modern manufacturing methods should
satisfy the following requirements:
 Reduced production cost
 Increased productivity
 Improved product quality

Notes:
(1) Automation can help to fulfil the above requirements
(2) Automation: Either Hard or flexible automation
(3) Robotics is an example of flexible automation
A Brief History of Robotics

Year Events and Development


1954 First patent on manipulator by George Devol, the
father of robot

1956 Joseph Engelberger started the first robotics


company: Unimation

1962 General Motors used the manipulator: Unimate in


die-casting application
Year Events and Development
1967 General Electric Corporation made a 4-legged
vehicle
1969  SAM was built by the NASA, USA
 Shakey, an intelligent mobile robot, was built by
Stanford Research Institute (SRI)
1970  Victor Scheinman demonstrated a manipulator
known as Stanford Arm
 Lunokhod I was built and sent to the moon by
USSR
 ODEX 1 was built by Odetics
Year Events and Development

1973 Richard Hohn of Cincinnati Milacron


Corporation manufactured T3 (The Tomorrow
Tool) robot

1975 Raibart at CMU, USA, built a one-legged


hopping machine, the first dynamically stable
machine

1978 Unimation developed PUMA (Programmable


Universal Machine for Assembly)
Year Events and Development

1983 Odetics introduced a unique experimental six-


legged device

1986 ASV (Adaptive Suspension Vehicle) was


developed at Ohio State University, USA

1997 Pathfinder and Sojourner was sent to the Mars


by the NASA, USA
Year Events and Development
2000 Asimo humanoid robot was developed by Honda

2004 The surface of the Mars was explored by Spirit and


Opportunity

2012 Curiosity was sent to the Mars by the NASA, USA

2015 Sophia (humanoid) was built by Hanson Robotics,


Hong Kong
A Robotic System Various Components
1.Base
2.Links and Joints
3.End-effector /
gripper
4.Wrist
5.Drive / Actuator
6.Controller
7. Sensors
Interdisciplinary Areas in Robotics
Mechanical Engineering

 Kinematics: Motion of robot arm without considering the


forces and /or moments

 Dynamics: Study of the forces and/or moments

 Sensing: Collecting information of the environment


Computer Science
 Motion Planning: Planning the course of action
 Artificial Intelligence: To design and develop suitable brain for
the robots

Electrical and Electronics Engg.


 Control schemes and hardware implementations

General Sciences
 Physics
 Mathematics
Connectivity / Degrees of Freedom of a Joint
It indicates the number of rigid (bodies) that can be connected to a
fixed rigid body through the said joint

Joints with One dof


Revolute Joint (R)
Joints with One dof
Prismatic Joint (P)
Joints with two dof
Cylindrical Joint (C)
Joints with two dof
Hooke Joint or Universal Joint (U)
Representation of the Joints
Revolute joint (R)

Prismatic joint (P)

Cylindrical joint (C)


Representation of the Joints
Degrees of Freedom of a System
It is defined as the minimum number of independent parameters /
variables / coordinates needed to describe a system completely

Notes
 A point in 2-D: 2 dof; in 3-D space: 3 dof
 A rigid body in 3-D: 6 dof
 Spatial Manipulator: 6 dof
 Planar Manipulator: 3 dof
Redundant Manipulator

Either a Spatial Manipulator with more than 6 dof


or a Planar Manipulator with more than 3 dof

Under-actuated Manipulator

Either a Spatial Manipulator with less than 6 dof


or a Planar Manipulator with less than 3 dof
Numerical Example
Serial planar manipulator

Mobility/dof:
Parallel planar manipulator

Mobility/dof:
Parallel spatial manipulator

Mobility/dof:
Classification of Robots

 Based on the Type of Tasks Performed

1. Point-to-Point Robots
Examples:
Unimate 2000
T3
2. Continuous Path Robots
Examples:
PUMA
CRS
 Based on the Type of Controllers
1. Non-Servo-Controlled Robots
 Open-loop control system
Examples: Seiko PN-100
• Less accurate and less expensive

2. Servo-Controlled Robots

 Closed-loop control system


Examples: Unimate 2000, PUMA,
T3
• More accurate and more expensive
 Based on Configuration (coordinate
system) of the Robot
1. Cartesian Coordinate Robots
 Linear movement along three
different axes
 Have either sliding or prismatic
joints, that is, SSS or PPP
 Rigid and accurate
 Suitable for pick and place type of
operations
 Examples: IBM’s RS-1, Sigma robot
2. Cylindrical Coordinate Robots
 Two linear and one rotary
movements
 Represented as TPP, TSS
 Used to handle parts/ objects in
manufacturing
 Cannot reach the objects lying on the
floor
 Poor dynamic performance
 Examples: Versatran 600
3. Spherical Coordinate or Polar
Coordinate Robots
 One linear and two rotary movement
 Represented as TRP, TRS
 Suitable for handling parts/objects in
manufacturing
 Can pick up objects lying on the floor
 Poor dynamic performance
 Examples: Unimate 2000B
4. Revolute Coordinate or Articulated
Coordinate Robots
 Rotary movement about three
independent axes
 Represented as TRR
 Suitable for handling
parts/components in manufacturing
system
 Rigidity and accuracy may not be
good enough
 Examples: T3, PUMA
• Based on Mobility Levels

1. Robots with fixed base (also known as manipulators)


Manipulators

Serial Parallel
PUMA, CRS Stewart platform
• Based on Mobility Levels (contd.)

2. Mobile robots
Mobile robots

Wheeled robots Tracked robots Multi-legged robots


• Based on Mobility Levels (contd.)

2. Mobile robots

Wheeled Robot Six-legged Robot


Workspace of Manipulators

It is the volume of space that the end-effector of a manipulator can reach

Workspace

Dextrous Reachable
Dextrous Workspace
It is the volume of space, which the robot’s end-effector can reach with various
orientations

Reachable Workspace
It is the volume of space that the end-effector can reach with one orientation

Note
Dextrous workspace is a subset of the
reachable workspace
Workspace of Cartesian Coordinate Robot
Workspace of Cylindrical Coordinate Robot
Workspace of Spherical Coordinate Robot
Workspace of Revolute Coordinate Robot

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