UNIT 3 ROBOTICS

Robot:
1. It is an automatically controlled, programmable, multipurpose
manipulator, programmable in three or more axes, which may be either
fixed in place or mobile for use in industrial automation applications.
2. Robots are devices that are programmed to move parts, or to do work
with a tool.
Advantages of Robots :
1. The cost of maintaining a robot is much less than the average cost of
maintaining a human being when additional benefits are taken into
account.
2. Robots do not get any additional benefits as they are not paid any
salary, do not need vacations, sick leave or retirement benefits.
Limitations of Robots :
1. Initial cost of the involvement of robots is very high.
2. Dependency on the machines increased so if there is any problem in
smooth running of machines and robots the production will suffer.
3. Robots follow the command so lack of intelligence can create serious
problems, sometimes.
4. The job opportunity reduced for the man due to automation .

Robotics and robot

1. 1.
Robotics Robot

1. Robotics deals with the Robot is a

design, construction, machine in the
operation, and use of form
robots, as well as computer of a human being
systems for their control, that performs
sensory feedback, and mechanical
information processing. functions of
human
being, but lack
sensitivity.
2. . Robotics technologies are Robots can be
used to develop machines used in any
 that can substitute for situation and for
humans. any purpose, but
today many are
used in
dangerous
environments
(including bomb
detection and
de-activation),
manufacturing
processes, or
where humans
cannot survive.
3. Robotics is an art of Robots are
developing a robot. artificial devices
that
replicate human
work.
4. It is technology which A robot is a
enables us to design virtual or
automated mechanism. mechanical
artificial agent.
automated mechanism

Geometric classification of robot is as follows :

SCARA Robots :
1. SCARA means selective, compliant, robot arm. This robot is especially
designed for assembly automation and uses 4-axis of motion, each axis
is driven by a servo motor.
2. The two joints have a motor each and the base has a rotating axis.
3. The fourth axis is the vertical axis that generally inserts a component.
This arrangement makes a very stiff arrangement that is ideally suited
for accurate insertion.
4. The SCARA is the least expensive of the servo powered robots and is
usually small and can be very fast.
.

Gantry Robot :
1. This type of robot is generally mounted directed to the shop floor and
usually has a large work envelope.
2. It can be used for material handling applications such as stacking and
de-stacking steel blanks, that were laser welded into tailored blanks.
3. They can be pneumatic powered.

Cartesian Robot :
1. These machines are usually mounted on a table and are similar in
concept to the gantry robot but on a smaller scale.
2. The axis can be air or servo motor powered and is generally offered in
modules that are complete and can be bolted together to form the
motions required.

3. It is available in a wide range of sizes and payloads, they can be small

enough to mount on a table.

4. Applications are universal in the field of industrial robotics. The robot arm
can be found in all types of uses, from assembly to welding to painting and
material handling.
Cylindrical Coordinate Robot :

1.Cylindrical configured robots use a vertical column with the robot arm
attached to a side which can move up and down the column.
Simultaneously, the arm can move radially with respect to the column.
2. Usually, a full 360° rotation in  is not permitted, due to restrictions
imposed by hydraulic, electrical, or pneumatic connections or lines.
Also, there is minimum, as well as maximum extension (i.e., R), due to
mechanical requirements.
3. Consequently, the overall volume or work envelope is a portion or a
Cylinder

.
Spherical or Polar Configuration Coordinate Robot :
1. The configuration has a telescopic arm which pivots about a horizontal
axis and also rotates about a vertical axis.
2. Owing the mechanical and/or actuator connection limitations, the work
envelope of such a robot is a portion of sphere.
Articulated Arm Robot :
1. The jointed arm robot most resembles a human arm and consists of a
series of links connected by rotary joints which when referenced from
base are referred to as the shoulder, arm and wrist joints.

Robotic Control System :

1. The control system is the part of a robot that coordinates all movements
of the mechanical system. It also receives input from the immediate
environment through various sensors.
2. The heart of the robot’s control system is generally a microprocessor
linked to input/output and monitoring devices.
3. The commands issued by the controller activate the motion control
mechanism, consisting of various controllers, amplifiers and actuators.
B. Types of Robot Control System : Robot control system may be
classified by the following two ways :

i. Servo Robot Control System :

1. The servo robot is a closed loop system because it allows feedback.
2. In a close loop system, the feedback signal sent to the servo amplifier
affects the output of the system.
3. A servo amplifier translates signals from the controller into motor
voltage and current signals.
4.Servo amplifiers are used in motion control systems where precise
control of position or velocity is necessary.
Fig.shows a block diagram of a servo robot control system.
ii. Non-Servo Robot Control System :
1. Non-servo robot are the simplest robots and are often referred the as
limited sequence, pick and place, or fixed-stop robots.
2. The non-servo robot is an open loop system.
3. In an open loop control, no feedback mechanism is used to compare
programmed positions to actual positions.
4. Non-servo robots are also limited in their movement and these
limitations are usually in the form of a mechanical stop.
5. This form of robot is excellent in repetitive tasks, such as material
transfer.
6. Fig. 3.4.2 represents a pneumatic (air-controlled), non-servo robot .

Laws of robots are as follows :

i. Zeroth Law : A robot must not injure humanity or, through inaction,
allow humanity to come to harm.
ii. First Law : A robot must not harm a human being or, through inaction,
allow one to come to harm.
iii. Second Law : A robot must always obey human beings unless it is in
conflict with a higher order law.
iv. Third Law : A robot must protect itself from harm unless that is in
conflict with a higher order law.

Different components of robot are as follows :

i. Power Supply : The working power to the robot is provided by batteries,
hydraulic power sources, solar power, or pneumatic power sources.
ii. Actuators :
1. Actuators are the energy conversion device used inside a robot.
2. The major function of actuators is to convert energy into movement.
iii. Electric Motors (DC/AC) :
1. Motors are electromechanical component used for converting electrical
energy into its equivalent mechanical energy.
2. In robots, motors are used for providing rotational movement.
iv. Sensors :
1. Sensors provide real time information on the task environment.
2. Robots are equipped with tactile sensor, it imitates the mechanical
properties of touch receptors of human fingerprints and a vision sensor
is used for computing the depth in the environment.
v. Controller :
1. Controller is a part of robot that coordinates all motion of the mechanical
system.
2. It also receives an input from immediate environment through various
sensors. The heart of robot's controller is a microprocessor linked with
the input/output and monitoring device.
3. The command issued by the controller activates the motion control
mechanism, consisting of various controller, actuators and amplifier.

Various systems of robot coordinates are as follows :

a. Tool Coordinate System :
1. The orientation of a tool at a programmed position is given by the
orientation of the tool coordinate system.
2. The tool coordinate system refers to the wrist coordinate system,
defined at the mounting flange on the wrist of the robot.
3. The tool mounted on the mounting flange of the robot often requires
its own coordinate system to enable the definition of its tool center
point, which is the origin of the tool coordinate system as shown in

4. The tool coordinate system can also be used to get appropriate motion
directions when jogging the robot.

5. If a tool is damaged or replaced, the tool coordinate system must be

redefined.
b. Wrist Coordinate System :
1. The wrist coordinate system can be used to define the orientation of
the tool.
2. Here the Z-axis is coincident with axis of the robot.

The wrist coordinate system cannot be changed and is always the

same as the mounting flange of the robot in the following aspects :
i. The origin is situated at the centre of the mounting flange (on the
mounting surface).
ii. The X-axis points in the opposite direction, towards the control
hole of the mounting flange.
iii. The Z-axis points outwards, at right angles to the mounting flange.
Automation and Robotics .
c. Base Coordinate System :
1. It is linked to the mounting base and stationary base of a robot.
2. Programming can be done in the base coordinate system; here the
Z-axis is coincident with axis of the robot [Fig. 3.7.3].
3. The origin is situated at the intersection of axis and the base mounting
surface.
4. The XY plane is same as the base mounting surface.
5. The X-axis points forwards.
X
Y
Z