Introduction:

-Manufacturing Industries

-Automation

Definition by Robot Institute of America:

“A robot is a reprogrammable multi-fuctional manipulator designed to move
material, parts, tools, or specialized devices, through variable programmed
motions for the performance of a variety of tasks”
History
After World War II

Early work- Remotely operated robotic arm for handling radio-active material (1940s)

Force feed-back mechanical coupling

Mid-1950s Hydraulic and electric driven manipulator

Mid-1950s autonomous, repetitive operation, programmable robot

Unlike hard automation machine, programmable robots flexible

1962 computer controlled robotic hand MH-1

1968 Japan- Kawasaki Heavy Industries

1974 MIT- Artificial Intelligence Laboratory

1975 IBM – Computer controlled manipulator with touch and force sensors for assembly
Advantages:

Human Fatigue over repetitive task, precise, cheap, efficient(continuous)

Hazardous environment: Nuclear power plant, Underwater……

Classification and usages of robot
Based on applications: Mobile robot, Industrial robots, Underwater
robots,

Industrial robot: A general-purpose, computer-controlled

manipulator consisting of several rigid links connected in series by
revolute or prismatic joints.

One end of the chain is attached to supporting base other end

equipped with tool for manipulation work and assembly.

Workspace: the sphere of influence of a robot whose arm can

deliver the endeffector to any point within the sphere.
Classification and usages of robot

Industrial robot: Categorized based on motion.

- Cartesian (three linear joints) (e.g. Sigma robot)

- Cylindrical (two linear and one rotary joints) (e.g. Versatran 600 robot)

- Spherical (one linear and two rotary joints) (e.g. Unimate 2000B robot)

- Revolute or articulated (three rotary joints) (e.g. PUMA robot)

Cartesian (three linear axes) (e.g. Sigma robot)
Cylindrical (two linear and one rotary axes) (e.g. Versatran 600 robot)
- Spherical (one linear and two rotary axes) (e.g. Unimate 2000B robot)
- Revolute or articulated (three rotary axes) (e.g. PUMA robot)
Common Robot Specifications

Robot Size
Category
Payload
Degrees of freedom
Maximum vertical and horizontal reach
Robot Size
Maximum speed

Application - material handling, manufacturing and assembly.

Sensors:

Microprocessors & controllers:

Actuators:
Actuators are basically prime movers providing both force and motion. Pneumatic cylinders, hydraulics,
permanent magnet motors, stepper motors, linear motors are some conventional actuators. More
advanced ones are based on hi-tech polymers, shape memory alloys, piezo patches, and pneumatic
muscles. Brushless servo motors also exist for low noise levels, and printed armature motors are used for
quick response.
Application Area: Industrial Applications:
• Automotive Industry
• Agriculture • Material Handling
• Aerospace • Material/ Parts/Tools transfer
• Military • Spot welding
• Medical • Continuous Arc welding
• Manufacturing • Spray painting
• Entertainment • Loading/ Unloading
• Domestic purpose
Robotic system:
• Mechanical Sub-system
• Electronic sub-system
• Control Module

Development of a Robot involves:

• Selection, Design and Development of Mechanical components and integration

• Selection of sensors and signal conditioning circuit
• Selection and integration of actuators and interfacing
• Development and modelling of the process involved
• Devising control strategy and selection of the controller
• Micro-processor based control module development and software applications
Classifications:
Geometrical Configuration:
• Cartesian robot (P-P-P)
• Cylindrical robot (R-P-P)
• Spherical robot (R-R-P) (SCARA (Selective Compliance Assembly Robotic Arm ))
• Articulated robot (R-R-R) (PUMA (Programmable Universal Machine for
Assembly))
Classifications:
Actuators:
• Electrical
• Pneumatic
• Hydraulic
• Advanced (soft material, flexible, smart material (piezoelectric))

Kinamatics:
• Flying
• Swimming
• Wheeled
• Legged
• Crawling
• Skating
Classifications:
Automation:
• Robot of kind I: Manipulators (Laborious Task)
• Robot of kind II: Wheeled/legged Robot (Laborious Task)
• Robot of kind III: Autonomous Robot (Autonomous underwater vehicles,
Unmanned aerial vehicles)
• Robot of kind IV: AI(Cog, KISMET, Alpha GO)
• Robot of kind V: Humanoid/ Android
Task:
• Rigid: (predefined repetitive task)
• Flexible: (Operates in dynamic environment)

Motion of the base:

• Fix
• Mobile
Classifications:
Manipulator type:
• Serial: (SCARA, PUMA)
• Parallel:

Degrees of freedom:
Control:
• Manual:
• Autonomous:
• Intelligent:
Links and joints:
Degrees of freedom:
Number of degrees of freedom that a manipulator possesses is the
number of independent position variables that would have to be
specified to locate any part of the manipulator.

Open Chain: DOF = no. of actuators

Closed chains: DOF = 3(n-1)-2Jr-2Jp
n= no. of links
Jr= no. of revolute joint
Jr= no. of prismatic joint

Under actuated system: no. of Actuators < DOF

END EFFECTORS:
1. Grippers
2. Tools
Grippers:

1. Single
2. Multiple

1. External
2. Internal
Physical constrain
Friction (Grip – soft material to increase
friction)
𝜇𝑛𝑓 𝐹𝑔 = 𝑤𝑔
Types of Gripper Mechanisms:
Based on finger movement:
1. Pivoting movement
2. Linear movement
Types of Gripper Mechanisms:
Based on Kinematic device used to actuate finger movement:
1. Linkage actuation
2. Gear-and-rack actuation
3. Cam actuation
4. Screw actuation
5. Rope-and pulley actuation
6. Miscellaneous
Linkage actuation
Gear-and-rack actuation
Cam actuation
Screw actuation
Rope-and pulley actuation
Other Types of Gripper :

1. Vacuum Cup (Venturi, vacuum cup)

2. Magnetic Gripper
3. Adhesive Gripper
4. Hooks, Scoops and other miscellaneous devices
Vacuum Cup
Magnetic Gripper Advantages:
1. Electro-Magnet 1. Fast pickup
2. Permanent Magnet 2. Variation in part size
3. Handel metal parts with holes
4. Only one surface for Griping
Tools:
Physical support of End Effectors:
Strength (weight of end-effector and payload, Inertial,
thrust )
Compliance
Overload protection

Compliance:
The wrist socket’s ability to yield elastically when subjected to a force.
(Remote centre compliance device)
Power and signal Transmission:
Pneumatic
Electric
Hydraulic
Mechanical

Design consideration:
Reach
Size Variation of Payload
Allowance in payload
Scratching, Payload deformation
Grasping with larger Face
Use replicable part
Self allingment
ACTUATORS:
Provides motive force for the robot joints
Pneumatic
Hydraulic
Electric

Power Transmission systems:

Gears
Power screw
Others(pulley, chain drive, harmonic drive)
Sensors(Transducers):
Transducer is a device that converts one type of physical variable()Position, velocity, flow rate, force,
pressure into another form.
Sensor is a transducer used to make a measurement of a physical variable of interest.

Desirable properties of a sensor:

Sensors:
• Accuracy
• Internal sensor: Internal working; Closing the • Precision
feedback loop
• Wide Operating range
• External sensor: Interaction with the surrounding • High speed of response
Transducer: • Calibration
• Analog • Reliability
• Digital • Cost and ease of operation
Internal sensor:
Position: Velocity sensor:
• Potentiometers • Tachometer
• Resolver • Encoder
• Encoder
Internal sensor:
Potentiometers
Internal sensor:
Resolver:
A resolver is a type of analog device whose output is proportional to the angle of a rotating element with respect
to a fixed element.

Encoder:
Incremental(optical)
Absolute
External sensor:
• Tactile sensor
• Proximity and range sensor
• Miscellaneous
• Machine vision
Tactile sensor:
Tactile sensors are devices which indicate contact between themselves and some other
solid objects.
• Touch sensor
• Force sensor
Touch sensor
Force sensor
Force-sensing wrist
Joint sensing
Tactile array sensors
Range sensors
Ultrasonic(Sound)
Optical(light beam, Infrared)

Time of flight
Light beam linear array reflection

Proximity sensors
Inductive
(Ferromagnetic
material)
Hall-effect
sensor(Ferromagnetic
material)

Capacitive sensor
Ultrasonic sensor
Optical proximity sensor (IR)
Vision system
1. Sensing: image accusation
2. Pre-processing: Noise reduction and enhancement of details
3. Segmentation: Partition an image into objects of interest
4. Description: computation of features (shape size)
5. Recognition: Object detection
6. Interpretation: Assigns meaning to the recognised object.

Low –level vision: (No intelligence required: Intensity variation)

Medium- level vision: (Characterise and level components: segmentation, recognition
of object)
High-level vision:
Sensing: image accusation
Old Black-and –white camera: vidicon tube
Solid state camera:
Charge-coupled devices
Charge injection devices
Silicon bipolar camera
Analog-to-Digital signal Conversion

Sampling
Quantization
Encoding

Image processing
Image data reduction
Segmentation
Feature extraction
Object recognition
Image data reduction
Digital conversion
Windowing
Segmentation

Thresholding
Region growing
Edge detection

Object recognition

Template- matching
Structural technique