Industrial Automation & Introduction

to Robotics

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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.

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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

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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
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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

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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
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Laws of Robot:
Isac Ashimov framed 3 laws of robot.

• Law 1 : Robot must not harm human being or through inaction,

human to be harmed.

• Law 2 : Robot should obey the orders given by human being except
when they conflicts with law 1.

• Law 3: A robot must protect its own existence unless that conflicts
with law1 and 2.
3 Hs in Robotics
3 Hs of human beings are copied into Robotics,
such as

 Hand

 Head

 Heart

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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 9
 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

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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

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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)

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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

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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

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 Applications of robots
Present Applications of Robots:- Future Applications of Robots:-
• Material transfer applications • Intelligence
• Sensor capabilities
• Machine loading and unloading • Telepresence
• Processing operations like, • Mechanical design
• Spot welding • Mobility and navigation (walking machines)
• Continuous arc welding • Universal gripper
• Systems and integration and networking
• Spray coating
• FMS (Flexible Manufacturing Systems)
• Drilling, routing, machining operations • Hazardous and inaccessible non-
• Grinding, polishing debarring wire manufacturing environments
brushing • Underground coal mining
• Laser drilling and cutting etc. • Fire fighting operations (xii) Robots in space
• Assembly tasks, assembly cell • Security guards (xiv) Garbage collection and
waste disposal operations
designs, parts mating. • Household robots
• Inspection, automation. • Medical care and hospital duties etc.
A Robotic System
Various
Componen
ts 1.Base
2.Links and
Joints 3.End-
effector /
gripper
4.Wrist
5.Drive /
Actuator
6.Controller
7. Sensors

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ELEMENTS OF ROBOTIC SYSTEM:
1. BASE – Fixed or Movable
2. MANIPULATOR (Combination of ARM, BODY & WRIST)
with several D.O.F.
3. END EFFECTOR or GRIPPER to hold object.
4. ACTUATORS for Transmission
5. CONTROLLER with hardware and software support for
giving commands to the drives.
6. SENSORS to feedback the information for subsequent actions
of the arm or gripper as well as to interact with environment in
which robot is working.
7. INTERFACES- Communication between subsystems to the
external world.
 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

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 Interdisciplinary Areas in Robotics
(Cont.)
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
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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)

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Joints with
One dof
Prismatic Joint (P)

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Joints with
two dof
Cylindrical Joint (C)

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Joints with two dof
Hooke Joint or Universal Joint
(U)

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Joints with three dof

Joint (𝑺′)
Ball and Socket Joint / Spherical

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Representation of the Joints

Revolute joint
(R)

Prismatic joint
(P)

Cylindrical joint
(C)
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Representation of the Joints

(𝑺′)
Spherical joint

Hooke joint
(U)

Twisting joint
(T)

Kinematic
Diagram 26
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

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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 28
Mobility/dof of Spatial
Manipulator

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Mobility/dof of Planar
Manipulator

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 Numerical
Example
Serial planar manipulator

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Parallel planar manipulator

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Parallel spatial manipulator

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Classification of Robots
• General Purpose Robots:
• Ready made robot
• These robots carry standard designs and parts
• Easily adopted to the user’s requirements by attaching suitable end effectors to
perform the work such as Part picking and placing in the pallets, welding ,
spray painting etc.
• * Such robots are mass produced and cheaper.
• Special purpose robots:
• Tailor made robot for specific job requirements.
• Their designing and manufacturing consumes lots of time.
• They cannot be readily available.
• *Not in mass production.
Classification of Robots
 Based on the Type of Tasks
Performed

1. Point-to-Point Robots
Examples:
Unimate
2000 T3

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2. Continuous Path Robots
Examples:
PUMA
CRS

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 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

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 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,
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
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,
• 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 Tracked Multi-legged
robots robots robots
• Based on Mobility Levels
(contd.)

2. Mobile robots

Wheeled Robot Six-legged Robot

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

Workspace

Dextrous Reachabl
e
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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Types of drive systems / Actuators :-
1.Hydraulic drive
2.Electric drive
3.Pneumatic drive
Specifications of robotics:-

1.Axil of motion 2.Work stations 3.Speed 4. Acceleration 5. Pay load capacity

6. Accuracy & Precision 7. Repeatability 8. Reach 9. Work volume 10. Degrees of Freedom

IMPORTANT DEFINITIONS:

1.Payload: The rated load carrying capacity of an industrial robot is defined by its weight of the object.

2. Repeatability: The accuracy with which the particular defined position can be repeatedly achieved by a
robot.

3.Precision: The reach of a position of a robot is defined by the resolution of actuators and control feedback
systems.

4.Reach: The maximum and minimum extents of the robot positions

5.Work volume: It is defined as the 3 dimensional space around the arm where it can reach again and again
with a desired accuracy and precision.

6. Degrees of Freedom: Translatory and Rotary motions of a robot arm.

Group presentation---15%
• Serial robots ---group-1
• Parallel robots ---group-1
• Robot programing ---group-3
• SCARA robots ---group-4
• Delta robot ---group-5

Note:-slide note more than 15 and it is a 10 min presentation