TUTORIAL 1: ROBOTIC ARM CONFIGURATIONS

1. A robotic arm is a type of mechanical arm, usually programmable,

with similar functions to a human arm. The links of such a manipulator
are connected by joints allowing either rotational motion or translation
displacement. The joints in these machines can be given names like
shoulder, elbow, and wrist. A robot arm can be categorized
according to its geometry. Identify and briefly discuss the four types of
robot arm configurations illustrated in the figure.

2.
a) List and explain the six degrees of freedom used for robots
b) In terms of degrees of freedom, explain why the human hand is
able to accomplish movements that are more fluid and complex
than a robots gripper
3.
a) What determines the shape of the robots work envelope?
b) Why should you be concerned about the work envelope shape
when installing a robot for a particular application?
4. Visit the following website and then use it to answer the question that
follow
Video:
Cartesian
v=ci_mpRERMog

https://www.youtube.com/watch?

Cylindrical https://www.youtube.com/watch?
v=Hj7PxjeH5y0
Scara

https://www.youtube.com/watch?v=y96-

_RLiZu8
Articulated https://www.youtube.com/watch?
v=0aEfUtiEza0
Questions
a) What are the benefits of a Cartesian work envelop?
b) What is the different between a SCARA and a horizontal jointed
cylindrical robot?
c) What is the work envelope of an articulated arm robots?
d) Which geometry is most commonly used in robots and why?

Robot Arm Configurations

Question:
A robotic arm is a type of mechanical arm, usually programmable, with
similar functions to a human arm. The links of such a manipulator are
connected by joints allowing either rotational motion or translation
displacement. The joints in these machines can be given names like
shoulder, elbow, and wrist. A robot arm can be categorized according
to its geometry. Identify and briefly discuss the four types of robot arm
configurations illustrated in the figure.
Answer:

Figure 1
a. Cartesian Configuration
The arm movement of a robot using the Cartesian configuration can be
described by three intersecting perpendicular straight lines, referred to as
the X, Y, and Z axes.One advantage of robots with a Cartesian configuration
is that their totally linear movement allows for simpler controls. They also
have a high degree of mechanical rigidity, accuracy, and repeatability.
Typical applications for Cartesian robots include the following: assembly,
machining operations, adhesive application, surface finishing, inspection,
waterjet cutting, welding, nuclear material handling, robotic x-ray and
neutron radiography, automated CNC lathe loading and operation, remotely
operated decontamination, advanced munitions handling.
b. Cylindrical Configuration
A cylindrical configuration consists of two orthogonal slides, placed at a 90
angle, mounted on a rotary axis. A cylindrical configuration generally results
in a larger work envelope than a Cartesian configuration. These robots are
ideally suited for pick-and-place operations. Typical applications for
cylindrical configurations include the following: machine loading and
unloading, investment casting, conveyor pallet transfers, foundry and forging
applications, general material handling and special payload handling and
manipulation, meat packing, coating applications, assembly,injection
molding and ,die casting.

c. Spherical (Polar) Configuration

The spherical configuration, sometimes referred to as the polar configuration,
resembles the action of the turret on a military tank. The spherical
configuration generally provides a larger work envelope than the Cartesian
or cylindrical configurations. The design is simple and provides good weight
lifting capabilities. Typical applications of spherical configurations include the
following: die casting, injection molding, forging, machine tool loading, heat
treating, glass handling, parts cleaning, dip coating, press loading, material
transfer, stacking and unstacking.
d. Revolute (Articulated) Configuration
The revolute configuration, or jointed-arm, is the most common. These
robots are often referred to as anthropomorphic because their movements
closely resemble those of the human body. It also offers a more flexible reach
than the other configurations, making it ideally suited to welding and spray
painting operations. Typical applications of revolute configurations include
the following: automatic assembly, parts and material handling, multiplepoint light machining operations, in-process inspection, palletizing, machine
loading and unloading, machine vision, material cutting, material removal,
thermal coating, paint and adhesive application, welding and, die casting.
Sources:
Gibilisco, Stan. Teach Yourself Electricity and Electronics (3rd ed.). McGrawHill Companies, Inc. New York: Robotics and artificial intelligence, pp.644-668
http://www.g-w.com/pdf/sampchap/9781605253213_ch02.pdf

TUTORIAL 2: ROBOTIC ARM CONFIGURATIONS

1. What is the difference between external and internal sensors of a mobile robot?
2. Illustrate your answer with examples from both classes.
3. List the most common range sensors used in mobile robots, as well as their relative
advantages and disadvantages. Provide examples of situations where some type of range
sensor is preferable to another type.
4. Explain how (rate-)gyros work as sensors, and how they can be used to estimate the
orientation of a mobile robot, listing the disadvantages of this method. Can a gyroscope
be used to measure the inclination of a mobile robot with respect to the horizontal plane?
How (attach some drawing to illustrate your answer).

PREPARATIONS
1.
a) Give the classifi cation of robots by coordinate system and
describe the features of each type.
b) Discuss the advantages and disadvantages of using the robots
in industry
2.
a) Give the classifi cation of robots based on control system
and describe their characteristic features.
b) Describe the present day industrial applications of robots.
3. Name any three types of end eff ectors for robots. State the
advantages of each?
4. Name five diff erent types of robot end eff ectors. Compare and
contrast the end effectors from the viewpoint of their functions.
5.
a) Briefly describe the various robot components.
b) Define degrees of freedom. How do you calculate the degrees of
freedom of a robot Manipulator?
6.
a) Discuss briefly about the grippers and give its classification.
b) Show the degrees of freedom for the following joints with the
help of neat sketches
(i) Prismatic joint

(ii) Revolute joint

(iii)Cylindrical joint

(iv)Spherical joint

(v) Planar joint

(vi)

Screw joint

7.
a) Describe the degrees of freedom of a robot wrist with the
help of a neat sketch.
b) Describe the common types of robot arms.
8. Explain various parts of robots with neat sketch
9. Describe the specifications of an industrial robot with its
configurations
10.
Describe in detail the anatomy of an industrial robot. Describe
the industrial application of robots
11.
Discuss the types of drive system used in Robots
12.
Discuss the silent features of stepper and servo motors with
limitations

13.
Discuss in detail the selection and design considerations of
grippers in robots
14.
Discuss the performance characteristics of actuators. Compare
electrical, pneumatic and hydraulic actuators for their characteristics
15.
Discuss the classification of sensors and factors to be considered
for its selection.
16. Explain the principles of of the following sensors and also mention how
they are