ROBOTICS UNIT -1

1. Explain the basic Components of Robot with neat Diagram.

➢ Manipulator

A manipulator is the robot's arm. It has:

• Major links – These are the large parts of the arm, called the robot body. They help the
robot reach the right location.

• Minor links – These are smaller parts near the end, called the wrist or flange. They help
position the end effector (the tool or gripper at the end).

• The whole arm is mounted on a base, which can be fixed or movable.

➢ Sensor Devices

Sensors give feedback to help the robot know what it’s doing and adjust actions. There are
two main types:

(a) Tactile Sensors (Contact Sensors)

• These touch the object directly.

• They detect force, pressure, position, etc.

• Examples: Force sensors, torque sensors, position sensors.

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(b) Non-Tactile Sensors (Contactless Sensors)

• These work without touching the object.

• They use signals from a distance.

• Examples: Proximity sensors, infrared sensors, range sensors, electro-optical sensors.

➢ Types of Robotic Arms

1. Cartesian Arm

o Moves in straight lines along 3 axes (X, Y, Z).

o Looks like a crane.

2. Cylindrical Arm

o Moves in a circular and up-down direction.

o Combines rotation and linear motion.

3. (Others may include SCARA, Spherical, Articulated, etc., if needed)

➢ Controller

The controller is like the robot's brain. It does these jobs:

• Gets data from sensors

• Decides what action to take

• Sends signals to the robot’s parts (actuators) to move

➢ Controller includes:

• Memory – Stores programs

• Computation unit – Processes info

• Hardware – Connects sensors to actuators

• User interface – Lets a person control the robot.

➢ Power Conversion Unit

This part converts digital signals (computer instructions) into physical movement for the
robot.

• It helps the actuators (robotic motors) understand and carry out tasks.
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2. Explain Classification of Robotics by Control Systems and Classification of

Robots by Coordinate Systems
Classification of Robotics by Control Systems
Robots can be classified based on how they are controlled. The two main categories are:

1. Non-Servo Controlled Robots

• Also called open-loop robots.

• These robots do not use sensors or feedback to monitor movement.

• They simply follow pre-set instructions.

• Example: Pick-and-place robots with fixed paths.

Limitation: No accuracy check. If something goes wrong, the robot won’t know or correct itself.

2. Servo Controlled Robots

• Also called closed-loop robots.

• These robots use sensors and feedback to monitor and adjust their movements.

• Much more accurate and flexible.

Servo-controlled robots are further divided into:

a) Point-to-Point (PTP) Control

• Robot moves from one fixed point to another.

• It does not care about the path taken, just the start and end positions.

• Used in tasks like spot welding, pick-and-place, etc.

b) Continuous Path (CP) Control

• Robot moves along a continuous, smooth path.

• Every point on the path is important.

• Used in tasks like painting, welding, or drawing.

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Classification of Robots by Coordinate Systems

Robots are also classified based on the shape of their working area (workspace), which
depends on the type of joints and link arrangements used. These are called robot coordinate
systems.

1. Cartesian Coordinate Robot

• Moves in straight lines along the X, Y, and Z axes (like a 3D printer).

• Uses linear (prismatic) joints.

• Shape of workspace: Rectangular box.

Advantages: Simple control, high accuracy.

Applications: Pick-and-place, CNC machines.

2. Cylindrical Coordinate Robot

• One rotary joint at the base + linear joints.

• Moves vertically, rotates around base, and extends outwards.

• Shape of workspace: Cylinder.

Advantages: Good for vertical stacking or storage.

Applications: Assembly, handling at machine tools.

3. Spherical (or Polar) Coordinate Robot

• Has a rotating base, an elevation joint, and a telescoping arm.

• Moves like a crane.

• Shape of workspace: Part of a sphere.

Advantages: Wide working area with fewer movements.

Applications: Material handling, die casting.

4. Articulated Robot (Revolute or Jointed-arm)

• Like a human arm – uses multiple rotary joints.

• Most flexible and common industrial robot.

• Shape of workspace: Irregular, rounded.

Advantages: High flexibility, can reach around objects.

Applications: Welding, painting, complex assembly.
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5. SCARA Robot (Selective Compliance Assembly Robot Arm)

• Has 2 rotary joints + 1 vertical movement.

• Stiff in vertical direction, flexible in horizontal.

• Shape of workspace: Donut-like.

Advantages: Fast, precise, great for assembly.

Applications: Electronics, light assembly tasks.

6. Delta Robot

• Uses parallel arms connected to a single base.

• Very fast and precise.

• Shape of workspace: Dome or cone-shaped.

Advantages: High-speed picking.

Applications: Packaging, food industry.

3. What are different types of joints used in robots. Explain with Neat Diagrams.

➢ Prismatic Joint (Linear Motion)

➢ Revolute Joint (Rotational Motion)
➢ Screw Joint (Linear and Rotational Motion)
➢ Spherical Joint
➢ Planar Joint
➢ Cylindrical Joint
➢ wisting Joint

PRISMATIC JOINT (Linear Motion):

* These are called as Sliders.

* They constitute purely linear motion along the joint axis.
* The joint slides in either direction along the singular axis.
* This type of motion is common in Hydraulic and pneumatic cylinders.
* Since there is no rotation, Degree of Freedom will be One
* Known as Translation.
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REVOLUTE JOINT (Rotational Motion)

* Revolute joins constitute purely rotational motion along the joint axis.
* These joints are most commonly found in industrial robots.
* The degree of freedom is 1 and there is no translation motion.

SCREW JOINT (BOTH LINEAR AND ROTATIONAL):

* A screw joint combines rotational and linear motion simultaneously along the same
joint axis.

* It works like a screw thread, where turning the joint causes movement along the axis
(like a bolt moving through a nut).
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* These joints are more commonly used in robot tools or end effectors rather than as
main motion joints for the robot arm itself.

* The linear movement is directly linked to the amount of rotation, providing precise
control over position.

* This design is ideal when you need controlled, smooth motion with the ability to hold a
position firmly due to the screw mechanism.

SPHERICAL JOINT:

* Spherical joints allow rotational movement in multiple directions around a fixed point,
much like a ball-and-socket.

* They provide three degrees of freedom, enabling pitch, yaw, and roll motions.

* These joints are highly versatile and are among the most commonly used joints in
robotic arms due to their flexibility.

* They enable the end effector or robot segment to move freely in various orientations.

* Because of their design, spherical joints are ideal for tasks requiring complex positioning
and orientation.
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PLANAR JOINT:

* The mechanism consists of three degrees of freedom, comprising one rotational (rotary)
motion and two translational (sliding) motions, as illustrated in the figure.
* This combination allows versatile movement along and around different axes, making it
suitable for applications requiring both positioning and orientation control.

CYLINDRICAL JOINT:

* A cylindrical joint provides two degrees of freedom: one rotational (rotary) motion
around the axis of the cylinder and one translational (sliding) motion along the same
axis.

* This joint allows the connected parts to rotate and slide independently, making it
suitable for robotic arms that need both turning and extending movements.
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* It is often used in robot manipulators where a combination of turning and linear

positioning is required.

TWISTING JOINT:

* The twisting joint allows rotational motion between two connected parts, typically
around a single axis.
* It provides one degree of freedom, enabling the robot part to twist or rotate without
any linear movement.
* This joint is commonly used in robotic wrists or tools where precise rotational
adjustment is needed.

4. Define Robotics, History and its Laws in detail.

Robotics is the branch of science and engineering that deals with the design, construction,
operation, and use of robots—automated machines that can perform tasks typically done by
humans. These machines are widely used in industrial manufacturing, space exploration,
medicine, military, and many other fields where precision, repetition, or safety is key.
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Year / Details / Significance

Event / Milestone
Period
Signed a licensing deal with George Devol, the
Condec Corporation inventor of the first programmable robotic arm.
1958
enters robotics This marked the industrial birth of robotics.

Planet Corporation One of the earliest robots capable of basic

1959 develops first Pick-and- automated movements, such as picking and
Place robot placing items—ideal for manufacturing lines.

Unimate – first industrial Deployed at General Motors for lifting hot die
1961 robot introduced by castings. First practical use of robots in industry.
Chulation Inc.

Intel introduced Made it possible for robots to become

1963 microprocessor programmable and intelligent—kickstarting the
technology era of smart robotics.

Robots used in Major shift: Replacing dangerous, repetitive

1969 automobile factories for tasks in car manufacturing with robots for
spot welding improved speed, safety, and accuracy.

First computer-controlled industrial robot,

Cincinnati Milacron capable of more advanced tasks beyond basic
1974
introduced the T3 robot repetition.

Introduction of: – 6-axis multipurpose robots–

1983– Massive technological Microprocessor-based pick-and-place robots–
1984 upgrades in robotics First man-carrying walking machine– Two-
legged walking robot

Basic pick-and-place robots, repetitive motions,

Since non-servo, used mostly in industries. Still 80%
1st Generation Robots
1960s of current industry use.

Since Path-controlled, more accurate, some sensors

2nd Generation Robots involved.
1980s
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Year / Details / Significance

Event / Milestone
Period
High-speed robots with Artificial Intelligence,
Since decision-making, vision systems, and adaptive
3rd Generation Robots
1990s behavior.

Advanced humanoids, androids, and robots

Since with biological-like intelligence, capable of
4th Generation Robots
2000s learning and interacting with humans.

Laws of Robotics (by Isaac Asimov)

Isaac Asimov, a science fiction author, proposed three fundamental laws to govern robot
behavior, especially in human environments:
1. First Law:
A robot may not harm a human, or by inaction, allow a human to come to harm.
2. Second Law:
A robot must obey the orders given by humans, except when such orders conflict with
the First Law.
3. Third Law:
A robot must protect its own existence, as long as that doesn't conflict with the First or
Second Law.
Thumb Rules for Using Robots
To decide when and where robots should be used, some general rules or "thumb rules"
are followed:
1. Follow the Four D’s:
Use robots where the task is Dirty, Dull, Difficult, or Dangerous—jobs humans don’t prefer
or where they’re at risk.
2. Do not make humans jobless:
Robots should support humans, not replace them entirely. The goal is to increase
productivity and safety, not unemployment.
3. Check cost-effectiveness:
Using robots should be economically sensible—they must save money or add significant
value in the short or long term.
4. Avoid unnecessary use:
Robots should only be used when humans can't do the job better or safer. Don't over-
automate for the sake of it.
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5. Explain the word Robotic Actuation and Feedback Components.

Robotic Actuation
Actuation in robots means making parts of the robot move, like bending an arm or
turning a wheel. This movement can be either linear (straight line) or angular (rotation).
The device that makes this movement happen is called an actuator. You can think of
actuators as the robot’s muscles—they provide the force needed to move the robot’s
joints.
Actuators don’t just move the parts; they also control how fast and how much power is
used for the movement. This helps in smooth and precise robot actions.
There are three main types of actuators depending on the power source they use:
• Hydraulic actuators: Use pressurized fluid (liquid) to create movement. These are strong
and used for heavy jobs.
• Pneumatic actuators: Use compressed air to move robot parts. These are fast and
simple.
• Electric actuators: Use electrical energy, like motors, to control movement precisely.
2. Feedback Components
Feedback components act like the robot’s senses. They give the robot information about
what it is doing right now. For example, they tell the robot where its arm is or how fast it
is moving.
The two important types of feedback devices are:
• Position sensors: These sensors tell the exact position or angle of the robot’s joints or
end part (like a hand).
• Velocity sensors: These sensors tell how fast the robot parts are moving.
By constantly sending this information back to the robot’s control system, the robot can
adjust its movements in real time and be more accurate.
3. Control Action Components
The control system of the robot decides what movement is needed and sends
commands to the actuators to perform those movements.
The main control action components are:
• Actuators: Receive commands and create physical movement.
• Power transmission devices: These are gears, belts, and shafts that transfer the power
from actuators to the robot parts smoothly and efficiently.
4. How It All Works Together
• The controller tells the robot what to do.
• The actuators move the robot parts as instructed.
• The feedback sensors continuously check the position and speed.
• The robot compares the actual position with the desired position.
• If there is any difference, the controller adjusts the actuators to fix it.
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This system ensures the robot moves precisely and safely, performing its tasks correctly.

6. Explain about linear and rotary actuators.

An actuator is a crucial device that provides the actual force needed to move the robot’s
joints and parts in automated manufacturing and industrial robots. Actuators convert
energy into physical movement, which can be either a straight-line (linear)
displacement or a rotational (angular) displacement.
The power to drive actuators generally comes from one of three sources:
• Electricity (electric motors)
• Pressurized fluids (hydraulic actuators)
• Compressed air (pneumatic actuators)
Actuators not only generate motion but also control the speed and force involved in the
movement to ensure accurate and efficient operation.
1. Linear Actuators
Linear actuators create motion along a straight line by converting energy from
compressed air or fluid into mechanical movement. They are widely used in industries
for operations like stamping, bending, turning, clamping, and tilting. Pneumatic
cylinders are the most common form of linear actuators.
Classification of Linear Actuators:
• By Duty Type:
o Heavy duty cylinders: For very strong, tough jobs.
o Medium duty cylinders: For medium strength tasks.
o Light duty cylinders: For lighter, less forceful operations.
• By Rotation:
o Rotating type cylinder: These can rotate slightly while moving linearly.
o Non-rotating type cylinder: Fixed in position, moves strictly in a straight line.
• By Acting Mechanism:
o Single acting cylinders: These use air pressure to move in one direction only. The
return movement happens by gravity or a spring. Types include:
▪ Diaphragm cylinder
▪ Rolling diaphragm cylinder
▪ Gravity return cylinder
▪ Spring return cylinder
o Double acting cylinders: These use air pressure for both forward and backward
motion, allowing greater control. Subtypes include:
▪ Single rod type
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▪ Double rod type (which can push/pull from both ends)

• Special Types of Cylinders:
o Tandem cylinders (multiple cylinders working together)
o Telescopic cylinders (extend in stages, like a telescope)
o Impact cylinders (built for shock or impact forces)
o Duplex cylinders (two cylinders in one unit)
o Rodless cylinders (move without a visible piston rod) with variations like:
▪ Sealing band cylinder with slotted barrel
▪ Magnetic type cylinders
▪ Cable cylinders
o Cylinders equipped with sensors for position feedback, improving accuracy
2. Rotary Actuators
Rotary actuators convert energy into rotational motion, producing torque and angular
displacement. These actuators are used when the robot requires turning or rotating
parts, such as rotating arms or tools. They are capable of high torque output and come
with fixed rotation angles like 90°, 180°, or 270°.
Types of Rotary Actuators:
➢ Helix Spine Type Rotary Actuator:
Uses a helical spline to convert linear motion into rotary motion.
➢ Vane Type Limited Rotation Actuator/Motor:
Uses a vane inside a chamber that rotates when air pressure is applied. Limited to a fixed
angle of rotation.
➢ Rack and Pinion Type Rotary Actuator:
Uses a rack and pinion gear mechanism to convert linear motion into rotary motion,
providing smooth rotation.
o Each of these rotary actuators can be designed with:
➢ Single vane rotation (one rotating element)
➢ Double vane rotation (two vanes for more torque and smoother movement)

7. Explain the types of actuators used for robots. Explain in detail.

Types of Actuators Used in Robots

An actuator is a device that provides the physical force needed to move robot parts. In
robots, actuators turn energy from various sources into motion (linear or rotary).
The three main types of actuators are:
1. Hydraulic Actuators
2. Pneumatic Actuators
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3. Electric Motors

Types of Actuators and Their Subtypes

1. Hydraulic Actuators
• Use pressurized liquid (hydraulic fluid) to create motion.
• Common types:
o Linear or Two-Stage Flow Actuators — provide straight-line movement.
o Rotary Actuators (Hydraulic Motors) — produce rotational movement.
2. Pneumatic Actuators
• Use compressed air to generate motion, usually linear.
• Common types:
o Cylinders (also called pneumatic cylinders) used for stamping, bending, clamping,
etc.
o Diaphragm Cylinders
o Single-acting and Double-acting Cylinders (depending on whether air pressure
acts on one or both sides of the piston).
o Rotary Pneumatic Actuators (e.g., vane type, rack and pinion type).
3. Electric Motors
• Use electricity to generate rotary motion.
• Common types:
o DC Servomotors — precise control, used in robotic joints.
o Stepper Motors — move in discrete steps, good for positioning.
o AC Servomotors — used for high-power, smooth control applications.
Working of Pneumatic Actuator
Steps:
1. Air is compressed by a compressor and passed through a primary filter to remove dust.
2. The filtered air enters a pressure regulator that controls the air pressure.
3. Air then passes through a control valve which directs the airflow to either side of the
piston inside the pneumatic cylinder.
4. Compressed air pushes the piston, causing linear displacement of the piston rod.
5. This linear motion is transferred to the robot joint or end-effector to perform the desired
action.
Key Equation:
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Working of Hydraulic Actuator

Steps:
1. Hydraulic fluid is pressurized by a hydraulic pump.
2. The pressurized fluid is directed by a servo valve to one side of the piston in the cylinder.
3. Due to the incompressibility of fluid, pressure transmits instantly and pushes the piston.
4. The piston moves either linearly (in linear actuators) or rotates (in rotary actuators),
producing mechanical output.
5. Fluid returns to the reservoir through the valve when piston moves back.
Key Equation:
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Working of Electric Motor Actuator

Steps:
1. Electric current flows through the motor windings, generating a magnetic field.
2. Interaction between the magnetic field of the stator and rotor causes the rotor to spin.
3. The rotor shaft delivers rotary motion to the robot joint.
4. Controllers regulate current and voltage to control speed and position of the motor.
5. Feedback sensors provide real-time position data for precise control.
Key Equations:
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8. Explain role of sensors in robotics, explain Internal and External sensors,

there Differentiation, and explain about Position sensors.
Sensors play a crucial role in robotics by allowing robots to perceive their environment and
their own internal states. They act as the sensory organs of robots, enabling them to
perform complex tasks with accuracy, adaptability, and safety. Sensors collect information
and send it to the robot’s controller for processing, which then decides the necessary
actions.
The main roles of sensors include:
1. Monitoring internal and external conditions of the robot.
2. Ensuring accurate motion control by providing feedback on position, speed, and force.
3. Detecting obstacles and environmental conditions for navigation.
4. Improving autonomy and decision-making in dynamic environments.
Types of Sensors in Robotics
Sensors in robotics can be classified into:
1. Internal Sensors
• Measure the internal state of the robot.
• Provide feedback for motion control and mechanical functions.
• Examples:
o Position sensors (encoders, potentiometers)
o Velocity sensors (tachometers)
o Force/torque sensors
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2. External Sensors
• Monitor the external environment.
• Help in interaction with surroundings and navigation.
• Examples:
o Proximity sensors
o Vision systems (cameras)
o Infrared sensors
o Ultrasonic sensors
Difference Between Internal and External Sensors
Aspect Internal Sensors External Sensors

Function Monitor robot’s internal parameters Sense the external environment

Infrared, ultrasonic, vision

Examples Position, velocity, torque sensors sensors

Used for feedback and control of Used for obstacle detection and
Role navigation
joints/movement

Outside or on the surface of the

Placement Inside the robot body robot

Position Sensors
Position sensors are a type of internal sensor used to determine the position of a robotic
joint or end effector. They play a vital role in controlling robot movement by providing
accurate feedback on location.
Types of Position Sensors:
1. Potentiometers
o Measure angular displacement.
o Work by varying resistance with movement.
2. Encoders
o Used for both linear and rotary position measurement.
o Types:
▪ Incremental Encoder – measures change in position.
▪ Absolute Encoder – provides unique position values.
3. LVDT (Linear Variable Differential Transformer)
o Used for precise measurement of linear displacement.
Working of Position Sensors:
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• A position sensor detects the position of a robot joint or link by measuring displacement
(either angular or linear).
• It sends a signal (voltage or pulse) to the controller.
• The controller interprets this signal and adjusts actuator input to reach or maintain the
desired position.
Example (Encoder working with equation):
For a rotary encoder:

9. Explain about working Principles in encoder

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