INTRODUCTION TO

ROBOTICS
DEPT. OF MECHANICAL ENGINEERING
NMAMIT NITTE

Prepared by
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Mr Sharath Chandra H.S
 Introduction

• Word robot was coined by a Czech novelist Karel Capek in

a 1920 play titled Rassum’s Universal Robots (RUR).

• Robot in Czech is a word for worker or servant

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Robotics History Robotics Terminology
The term 'robotics' refers to the study and use of robots. The term
was coined and first used by the Russian-born American scientist
and writer Isaac Asimov (born Jan. 2, 1920, died Apr. 6, 1992).
Asimov wrote prodigiously on a wide variety of subjects. He was
best known for his many works of science fiction.

The most famous include I Robot (1950), The Foundation Trilogy (1951-52),
Foundation's Edge (1982), and The Gods Themselves (1972), which won
both the Hugo and Nebula awards. He also wrote the three “Laws of
Robotics for which he is also famous.

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Robotics History Laws of Robotics
• Asimov proposed three “Laws of Robotics”
• Law 0: A robot may not injure humanity or through inaction,
allow humanity to come to harm.
• Law 1: A robot may not injure a human being or through
inaction, allow a human being to come to harm, unless this
would violate a higher order law.
• Law 2: A robot must obey orders given to it by human
beings, except where such orders would conflict with a
higher order law.
• Law 3: A robot must protect its own existence as long as
such protection does not conflict with a higher order law4
History of Robots

• 1954: The first programmable robot is designed by

George Devol, who coins the term Universal
Automation. He later shortens this to Unimation, which
becomes the name of the first robot company (1962).
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History of Robots

• 1978: The Puma (Programmable Universal Machine for

Assembly) robot is developed by Unimation with a
General Motors design support 6
History of Robots

• 1980s: The robot industry enters a phase of rapid growth. Many

institutions introduce programs and courses in robotics. Robotics
courses are spread across mechanical engineering, electrical
engineering, and computer science departments. 7
History of Robots

2003: NASA’s Mars Exploration Rovers will

launch toward Mars in search of answers about
the history of water on Mars

• 1995-present: Emerging applications in small robotics

and mobile robots drive a second growth of start-up
companies and research 8
ROBOTICS
• It is the type of automation.

• Automation or automatic control is the

use of various control systems for
operating equipment

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 Types of Automation

Fixed Automation
• Machine sequence of operation is fixed

Programmable Automation
• The sequence of machine actions can be changed by the programme.

Flexible automation
• The sequence of actions can be changed slightly
ROBOTICS
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 What is a robot
Constructed to take
on human form

Programmed ROBOT Capable of carrying out

By computer a complex series of
(Machine) actions automatically

Guided by

Controller Most robots are

machines designed
to perform a task
(External or Internal embedded) 11
Anatomy of Industrial Robot

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 General definition of robots

“ A robot is a mechanical device with links & joints, guided

by sensors, driven by actuators & controlled through a
programmed software, to handle & manipulate parts,
materials, tools & devices for performing various task in
variety of environment”.

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Types of industrial robots

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ROBOT WORK ENVELOPE

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Wrist & its motion

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ROBOT LINKS & JOINTS

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 Sensors used in robot

Internal State
Sensors
Robot Non-Contact
Sensors Sensors
External
State Sensors
Contact
Sensors
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Internal State Sensors

Detects Arm
Velocity

Detects Arm Detects Arm

Position Acceleration

Robot
Control

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External State Sensors
Provides Gross
Range Sensors
Guidance Information

Deals with object

Non-Contact Sensors Proximity Sensors
grasping

Provides Gross
Visual Sensors Guidance Information

Deals with object

Touch Sensors
grasping

Gives Feedback for Post

Contact Sensors Slip Sensors Grasping manipulator
control

Gives Feedback for

Force / Torque Sensors
Post Grasping
manipulator 20
control
 Robot specifications
3. Speed

4. Reach &
2. Load Stroke
1. Number of Axes Capacity
• Major Axes (1-3) 5. Operating
• Position the wrist Environment
• Minor Axes (4-6)
• Orient the tool 6. Tool
• Redundant (7-n) Orientation
• Reaching Round 7.
Obstacles Performance
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parameters
 Performance Parameters

REPEATABILITY RESOLUTION ACCURACY

• The ability of the • Least count of • Ability of the
robot to position movement into robot to orient &
the tool tip in the which the robot locate the tool
same place work envelope tip at the desired
repeatedly. can be divided. target location in
the prescribed
work envelope.

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 Robot drive system
Actuators

Hydraulic Actuators Pneumatic Electric

(Uses pressurised Fluid) (Uses Compressed air) (Uses electric current)

Reciprocating Type
Rotary Type Reciprocating Type Rotary Type Servo Motors Stepper Motors Direct Drive Motors

Produces rotational Produces translatory

Produces rotational Produces translatory motion in joints motion in joints Produces rotational Produces rotational Produces rotational
motion in joints motion in joints movements movements movements

Translatory Motion are Translatory Motion are Translatory Motion are

produced by produced by produced by
mechanical mechanical mechanical
transformation transformation transformation

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 Manipulator
System

End Effectors Drive System

Robotic
Control
System Computer
Software
System &
Hardware

Vision
Sensors
Systems

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 Knowledgebase for Robotics

Dynamic
Sensors &
system Feedback Power Hardware Computer
Signal Actuators
modelling & Control Electronics Interfacing Programming
Conditioning
analysis

Disciplines: mathematics, physics, biology, mechanical engineering, electrical engineering,

computer engineering, and computer science
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Robots in Industry
• Agriculture
• Automobile
• Construction
• Entertainment
• Health care: hospitals, patient-care, surgery , research, etc.
• Laboratories: science, engineering , etc.
• Law enfoncement: surveillance, patron, etc.
• Manufacturing
• Military: demining, surveillance, attack, etc.
• Mining, excavation, and exploration
• Transportation: air, ground, rail, space, etc.
• Utilities: gas, water, and electric
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• Warehouses
 Automobile Construction Entertainment

Health care Mining

Law enfoncement Manufacturing

Warehouses

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Transportation
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Thank YOU

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