Robotics >modified<

OUTLINE
• History.
• What is robotics ?
• What is a robot ?
• Parts of a robot.
• Robots degrees of
freedom.
• Robot Coordinates.
• Advantages of Robots.
• Disadvantages of
Robots.
• Application.

WHAT IS ROBOTICS ?
• The study of the design ,Construction & Use of robots.
• Consist of not only robots but also other devices and systems
to perform the necessary tasks.
,
Humanoid
robot
Industrial robot

WHAT IS A ROBOT ?
• Origin of the word “robot”
• Czech word “robota”– labor, “robotnik” – workman
• A machine that resembles a human being and does
mechanical routine tasks on command. (Random House
Dictionary )
• An industrial robot is a re-programmable,
multifunctional manipulator designed to move
materials, parts, tools, or specialized devices through
variable programmed motions for the performance of a

What are the parts of a robot?
1. Manipulator
2. Pedestal
3. Controller
4. End Effectors
5. Power Source

1.Manipulator
• Base
• Appendages
Shoulder
Arm
Grippers

2.Pedestal
(Human waist)
• Supports the
manipulator.
• Acts as a
counterbalance.

3.Controller
(The brain)
• Issues instructions to
the robot.
• Controls peripheral
devices.

4.End Effectors
(The hand)
• Grippers
• Spray paint attachments
• Welding attachments

5.Power Source
(The food)
• Electric
• Pneumatic
• Hydraulic

Robots degrees of freedom
 Degrees of Freedom : Number of
independent position variables which
would has to be specified to locate all
parts of a mechanism.
 In most manipulators this is usually the
number of joints.

ROBOT JOINTS
Prismatic Joint: Linear, No rotation involved.
(Hydraulic or pneumatic cylinder)
Revolute Joint: Rotary .
(electrically driven with stepper motor, servo motor)

ROBOT COORDINATES
 Cartesian/rectangular/gantry (3P) : 3 cylinders joint
 Cylindrical (R2P) : 2 Prismatic joint and 1 revolute joint
 Spherical (2RP) : 1 Prismatic joint and 2 revolute joint
 Articulated/anthropomorphic (3R) : All revolute(Human arm)
 Selective Compliance Assembly Robot Arm (SCARA):
2 paralleled revolute joint and 1 additional prismatic joint
Fig. 1.4

ROBOT REFERENCE FRAMES
Most robots may
be programmed
to move relative
to either of
these reference
frames.
Fig. 1.6 A robot’s World, Joint, and Tool reference frames.

ADVANTAGES OF ROBOTS
 Robots increase productivity, safety, efficiency, quality, and
consistency of products.
 Robots can work in hazardous environments without the need.
 Robots need no environmental comfort.
 Robots work continuously without experiencing fatigue of problem.
 Robots have repeatable precision at all times.
 Robots can be much more accurate than human.
 Robots replace human workers creating economic problems.
 Robots can process multiple stimuli or tasks simultaneously.
Disadvantages of Robots
 Robots lack capability to respond in emergencies.
 Robots, although superior in certain senses, have limited capabilities
in Degree of freedom, Dexterity, Sensors, Vision system, real time
response.
 Robots are costly, due to Initial cost of equipment, Installation costs,
Need for Peripherals, Need for training, Need for programming.

ROBOT APPLICATION
• Machine loading
• Pick and place operations
• Welding
• Painting
• Sampling
• Assembly operation
• Manufacturing
• Surveillance
• Medical applications
• Assisting disabled individuals
• Hazardous environments
• Underwater, space, and remote locations
Spot Welding
Manipulator
NASA space
robot
Medical robot

Robotics >modified<

More Related Content

What's hot (20)

Viewers also liked (7)

Similar to Robotics >modified< (20)

Recently uploaded (20)