Presentation on robots
Sharwan kumar
Intro
Robot, defined
"A re-programmable, multifunctional
manipulator, designed to move material,
parts, tools, or specialized devices through
various programmed motions for the
performance of a variety of tasks."-- From
the Robot Institute of America, 1979
Robot Physical Configuration
All most all of the current day robots fall
under the following four configurations.
Polar Co-ordinate Configuration
Cylindrical Co-ordinate Configuration
Jointed Arm Configuration
Cartesian Co-ordinate Configuration
Polar Co-ordinate Configuration
This configuration sometimes also referred to
as Spherical Co-ordinates as the workspace
within which it can move its arm is a partial
sphere.
The robot typically has a rotary base and a
pivot that can be used to raise and lower the
telescopic arm
Polar Co-ordinate Configuration
Cylindrical Co-ordinate
Configuration
Here, robot body is a vertical column that
swivels about a vertical axis. The arm consists
of several orthogonal slides which allow the
arm to be moved up or down and in and out
with respect to the body.
Cylindrical Co-ordinate
Configuration
Jointed Arm Configuration
The jointed arm is similar to human arm in
appearance. The arm consists of several
straight members connected by joints which
are analogous to human shoulder, elbow and
wrist.
The robot arm is mounted to the base which
can provide the robot with a capacity to work
within a spherical work enclosure.
Jointed Arm Configuration
Cartesian Co-ordinate
configuration.
This robot is Cartesian because it allows x-y-z
positioning. Three linear joints provide the
three axes of motion and define the x, y and z
planes. This robot is suited for pick and place
applications where either there are no
orientation requirements or the parts can be
pre-oriented before the robot picks them up
(such as surface mounted circuit board
assembly)..
Cartesian Co-ordinate
configuration.
Robotic Motions
Irrespective of the configuration, the purpose
of a robot is to perform an useful task. To
accomplish the task, an end Effector or Hand
is attached to the end of the robot’s arm. By
moving the end effectors along with the arm a
robot can perform any specific function for
which the effectors are designed.
Basic robot motions
There are six basic motions which provide the
robot with the capability to move the end
effectors through the required sequence of
motions.The six basic motions consist of
three arm and body motions and three wrist
motions. These motions are describe below:-
Degrees of Freedom
In three dimensions, the six DOFs of a rigid body are
sometimes described using these nautical names:
Moving up and down (heaving);
Moving left and right (swaying);
Moving forward and backward (surging);
Tilting along vertical axis (pitching);
Tilting front to back (yawing);
Tilting side to side , along length (rolling).
Degrees of Freedom
Major features of a Robot
The major features that are common to almost
all types of robots are :
Manipulator (or arm)
Controller(the brain of robot )
Sensors
Power supply unit
Manipulator (or arm)
The robot manipulator contains three structural
elements.
The arm ,
the wrist and
the hand (or end effectors).
The end effectors
At the end of human arm there is hand and
figures , similarly at the free end of the robot
arm there is a component called end effectors.
The end effectors
End effectors
End effectors fall in two major categories .
these are:
Grippers
Tools
Grippers
Grippers are end effectors used to hold objects.
The objects are the work parts that are moved
by the robot for purposes such as picking parts
from conveyors, arranging parts in
pallets,machine loading and unloading,
handling of cartoons and materials etc
Tools
Tools are end effectors designed to perform
some work on the part rather than merely
grasping it .
Such applications include spot welding gun ,
spray painting gun , arc welding gun etc
Controller
A digital computer is the most commonly used
controller.
It directs and controls the movement of the
manipulator and the end effector by controlling
the motors that drive the robot links at the
joints.
Sensors
Sensors are the transducers that are used to
measures physical variable of interest.the robot
must take on more humanlike senses and
capabilities in order to perform the task in a
satisfactory way.
These senses and capabilities include vision
and hand-eye coordination, touch and hearing.
Power supply unit
This unit provides the required to the
manipulator’s actuators
Industrial robots make use of three types of
drives . these are:-
Hydraulic drive:
Pneumatic drive:
Electric drive:
Hydraulic drive:
These are mostly used for driving high power
robots as they can deliver large power while
being relatively small in size.
Pneumatic drive:
This type of drive is used in smaller
robots.these robots are often limited to pick
and place operation with fast cycles.
Thank You
