ELEMENTS OF MECHANICAL ENGINEERING

ROBOTICS

Robot: It is reprogrammable, multifunctional manipulator, design to move materials, parts,

tools or special devices through variable programmed motions for the performance of a
variety of tasks.

Robotics: Robotics can be defined as a field of technology that deals with the conception,
design, construction, operation and application of robots.

ROBOT ANATOMY AND RELATED ATTRIBUTES

The manipulator of an industrial robot consists of a series of joints and links. Robot
anatomy is concerned with the type and size of these joints and links and other aspects of
the manipulator’s physical construction.

Joints and links:

A joint of an industrial robot is similar to a joint in human body; it provides relative motion
between two parts of the body. Each joint, or axis as it is sometimes called, provides the
robot so-called degree-of freedom (DOF) of motion. In nearly all cases, only one degree-of-
freedom is associated with each joint. Robots are often classified according to the total
number of degree-of-freedom they possess. Connected to each joint are two links, an input
link and output link. Links are the rigid components of the robot manipulator. The purpose
of the joint is to provide controlled relative movement between the input link and the
output link.

Fig.01: Robot construction showing how a robot is made up of a series of joint-link

combination

Most robots are mounted on a stationery base on the floor. Let us refer Fig. 01 to this base
and its connection to the first joint as link 0. It is the input link to joint1, the first in the

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series of joint used in the construction of the robot. The output link of the joint 1 is link 1.
Link 1 is the input link to joint 2, whose output link is link 2, and so forth.

Nearly all industrial robots have mechanical joints that can be classified into one of five
types; two types that provide translation motion and three types that provide rotary
motion.

1. Linear joint (type L joint): The relative movement between the input link and the
output link is a Translational sliding motion, with the axes of the two links parallel.

Fig.02: Linear Joint

2. Orthogonal joint (type O joint): This is also a translation sliding motion, but the
input and output links are perpendicular to each other during move. Fig.03 shows
orthogonal joint.

Fig.03: Orthogonal joint

3. Rotational joint (type R joint): This type provides rotational relative motion, with
the axis of rotation perpendicular to the axes of the input and output link.

Fig. 04: Rotational joint

4. Twisting joint (type T joint):This joint also involves rotary motion, but the axis of
rotation is parallel to the axes of the two links.

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Fig. 05: Twisting joint

Each of these joint types has a range over which it can be moved. The range for a
translational joint is usually less than a meter, but for large gantry robots, the range may be
several meters. The three types of rotary joints may have a range as small as few degrees of
as large as several complete turns.

Classification based on ROBOT configurations:

Industrial robots are designed to have various arm manipulations to have motion in
different directions. The possible types of arm movements that a robot is designed with
defines configurations.
A robot can have any one the following configurations.
1. Cartesian configuration
2. Cylindrical configuration
3. Polar configuration
4. Jointed – arm configuration
5. SCARA(Selective Compliance Assembly Robot Arm)

1. CARTESIAN CONFIGURATION ROBOT

Cartesian configurations robot is so called because the Arm movement of robot is designed
to move parallel to x, y, z-axis of a Cartesian coordinate system as show in Fig.06. A robot
designed with this type of configurations Capable of moving its arm to any point linearly
within rectangular workspace. Since the arm movement in linear, the robot is also called as
rectilinear or gantry robot.

Fig. 06: Cartesian Configuration Robot

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Advantages:

1. Simple control due to linear movement and also easy visualize

2. High degree of mechanical rigidity, accuracy and repeatability
3. It is able to carry heavy loads
4. Movement can start and stop simultaneously along all three axis, motion of wrist
end is smoother

Disadvantages:
1. The arm movement is limited to a small rectangular work space
2. Occupy large space.
3. Low ratio of robot size to operate volume
Applications: Assembly, welding, machine loading and unloading, surface finishing,
inspection etc.

2. CYLINDRICAL CONFIGURATION ROBOT

The cylindrical configuration combines both vertical (z-axis) and horizontal (x-axis) linear
movements with rotary movement in the horizontal plane about vertical axis (y-axis). It is
also called so because its motions sweep out a partially cylindrical working volume. This
robot configuration finds application in radial workplace layout where the work
approached primarily in the horizontal plane and where no obstructions are present. Fig.
07 shows Cylindrical configuration robot.

Fig. 07: Cylindrical Configuration Robot

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A typical cylindrical configuration is illustrated in Fig. 07. It consists of a base, a horizontal

arm and a prismatic joint built into the horizontal around the vertical column, describing a
partial cylinder in space. The prismatic joint can slide in and out remaining parallel to the
base.

Advantages:
1. Larger work space than Cartesian configuration.
2. Robot is relatively easy to program.

Applications: Machine loading and unloading, investment casting, forging operations,

conveyor pellet transfer, assembly, coating applications etc.

3. POLAR CONFIGURATION OR SPHERICAL CONFIGURATION ROBOT:

The geometry of the spherical or polar configuration combines rotational movement in
both horizontal and vertical planes with a single linear movement of the arm. This
configuration occupies and sweeps out a relatively large volume and access of the arm
within this total volume is restricted. This robot rotates about the vertical axis (T joint) of
its waist on the base. The second axis is a horizontal rotary joint (R joint) allowing arm to
rotate in a vertical plane. Making use of both axes, the arm can sweep through a partial
sphere of radii depending on the length of the prismatic joint (L joint) shown in Fig. 08:
shows Polar configuration or spherical configuration robot

Fig. 08: Polar configuration or spherical configuration robot

Advantages:
1. Configuration is simple in design, and hence easy to program.
2. Provides good weight lifting capabilities

Applications: Die-casting, injection moulding, forging, machine tool press, material

transfer applications

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4. JOINTED – ARM CONFIGURATION ROBOT:

This robot manipulator has the general configuration of human arm. Consisting straight
component’s corresponding to the human forearm and upper are mounted on a vertical
pedestal that can be rotated about the base. The jointed arm configuration shown in Fig. 09
consists of a vertical column that swivels about the base using a T joint. At the top of the
column is a shoulder joint (R joint), whose output link connects to an elbow joint (R joint).

Fig.09: shows Jointed – arm configuration robot

Advantages of robots
1. Robotics and automation can, in many situation, increase productivity, safety,
efficiency, quality and consistency of product.
2. Robots can work in hazardous environments.
3. Robots need no environmental comfort.
4. Robots work continuously without any humanity needs and illness.
5. Robots have repeatable precision at all times.
6. Robots can be much more accurate than humans; they may have milli or micro inch
accuracy.
7. Robots and their sensors can have capabilities beyond that of humans.
8. Robots can process multiple tasks simultaneously but humans can only one.
9. Robots replace human workers who can create economic problem.

Disadvantages of robots
1. Robots lack capability to respond in emergencies, this can cause:
a) In appropriate and wrong response
b) A lack of decision making power
c) A loss of power
d) Damage to the robot and other devices
e) Human injuries

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2. Robots may have limited capabilities in

a) Degrees of freedom
b) Dexterity
c) Sensors
d) Vision system

3. Real Time response robots are costly due to

a) Initial cost of equipment
b) Installation cost
c) Need for peripherals
d) Need for training
e) Need for programming

Robot applications
Need to replace human labour by robot
1. Work environment hazardous for human beings
2. Repetitive task
3. Boring and unpleasant task
4. Multi shift operations
5. Operating for long hours without rest
6. Assembly applications
7. Material handling applications
8. Processing operations
9. Inspection applications

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