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De Es ZG561 PDF
De Es ZG561 PDF
De Es ZG561 PDF
Fundamentals of
Robot Technology
Ø Introduction
Ø Automation and Robotics
Ø Robotics in Science Fiction
Ø Progressive Advancement
Ø The Robotics trends and the future prospects
Ø Robot Anatomy
Ø Links, Joints and Joint Notation scheme
Mechanisms and Robotics Ø Degrees of Freedom (DOF)
Ø Required DOF in a Manipulator
Ø Arm Configuration
DE ES ZG561 Ø Wrist Configuration
Ø The End-Effector (EE)
BITS Pilani Lecture -1 Ø Human arm characteristics
Pilani Campus Ø Arm Configurations
Ø Robot drive systems
3 4
Use of the word Robot Robotics in Science Fiction
v The word ''robot comes from the
Czech word ''robota'' which means
forced labor.
v It was first used in 1921 by the
novelist Karel Capek in his novel
''Rossum‘s Universal Robots".
Gort from the movie The
Robot in The Terminator
v The fantasy associated with robotics day the earth stood still.
offered by science fiction movies, Source: www.jeffbots.com
9 10
13 14
15 16
Industrial Robot - History Industrial Robot - History
v First industrial Robot produced by Unimation was Unimation also manufactured
installed in General Motors, USA in 1961. Programmable Universal
Machine for Assembly (PUMA
robot).
• Cartesian
27 28
Robot Anatomy Mechanism Basics
Arm
v Study of the physical construction of Wrist v Mechanisms consist of connected parts with the objective
a Robot. of transferring motion and force from a power source to an
Shoulde output.
v The Manipulator consists of Rigid r
links and Joints.
v One part is designated the frame because it serves as the
v A Joint provides relative motion Elbow
frame of reference for the motion of all other parts. The
between two links.
Manipulator frame is typically a part that exhibits no motion.
Wrist
v Links are the individual parts of the mechanism. They are
considered rigid bodies and are connected with other links
Elbow
to transmit motion and forces
Shoulder
or
Hand End Effector Base
29 30
Degrees of Freedom
Joints
v Links in a mechanism are connected v Degrees of freedom is often used to describe the
using joints. number of directions that a robot can pivot or move a
joint.
v The joints can be of the following
types
v Pin Joint
v Sliding Joint (Prismatic Joint)
Source: Machines and Mechanisms, Applied Kinematic Analysis (Fourth Edition) – David H. Myszka
BITS Pilani, Pilani Campus DE ZG/ES ZG561 Mechanisms and Robotics BITS Pilani
Pin Joint
(Revolute)
37 38
Further classification of
revolute Joints Human Arm Characteristics
prismatic joint L
rotational joint R
revolving joint V
twisting joint T
DE ZG/ES ZG561 Mechanisms and Robotics BITS Pilani DE ZG/ES ZG561 Mechanisms and Robotics BITS Pilani
THANK YOU
The presenter is grateful to the authors of the following textbooks.
DE ES ZG561
BITS Pilani Lecture - 2
Pilani Campus
41
Robot Anatomy
Ø Arm Configuration
Ø Joint Notation scheme
Ø Degrees of Freedom (DOF)
Ø Required DOF in a Manipulator
Ø Wrist Configuration
Ø Design & Control issues
Ø Manipulation & Control
Ø Robot specifications
45 46
47 48
Robot Configurations Robot Configurations
• Cartesian • Cylindrical
49 50
51 52
Arm Configurations Arm Configurations
53 54
Robot Configurations and Work Envelope Robot Configurations and Work Envelope
• Cartesian • Cylindrical
Wo r k Volu m e or Wor k
Envelope is a term that
refers to the space within
which a robot can
manipulate its wrist’s end
55 56
Robot Configurations and Work Envelope Robot Configurations and Work Envelope
57 58
59 60
Degrees of Freedom
Further classification of Joints
vDegrees of freedom is often used to describe the prismatic joint L
number of directions that a robot can pivot or
move a joint.
rotational joint R
revolving joint V
twisting joint T
DE ZG/ES ZG561 Mechanisms and Robotics BITS Pilani DE ZG/ES ZG561 Mechanisms and Robotics BITS Pilani
DE ZG/ES ZG561 Mechanisms and Robotics BITS Pilani DE ZG/ES ZG561 Mechanisms and Robotics BITS Pilani
Joint Notation Scheme Joint Notation Scheme
DE ZG/ES ZG561 Mechanisms and Robotics BITS Pilani DE ZG/ES ZG561 Mechanisms and Robotics BITS Pilani
69 70
71 72
Required Degrees of Freedom Required Degrees of Freedom
73 74
second major part of a Manipulator, Wrist is attached to the must possess at least 3-DOF.
end-effector to perform the desired task properly. v Less than 3-DOF wrists are also used depending on the
requirement.
v The end effector, if gripper, must be oriented at an
appropriate angle to pick and grasp a work piece. v Wrist must be compact and at the same time must not
affect the performance of the arm.
BITS Pilani, Pilani Campus BITS Pilani, Pilani Campus
Wrist Configurations Wrist Configurations
Two Axis Wrist (RT) Two Axis Wrist (TR) Three Axis Wrist (TRT)
DE ZG/ES ZG561 Mechanisms and Robotics BITS Pilani DE ZG/ES ZG561 Mechanisms and Robotics BITS Pilani
81 82
83 84
Speed of Motion Spatial Resolution, Accuracy, Precision
• Maximum speed of 500 degrees/second can be
achieved.
• Highest speed can be achieved by large robots
with arm extended fully.
• Hydraulic robots tend to be faster than electric drive
robots.
• Robots with electric drives have better control.
• Selection of the most desirable speed also
depends on Spatial Resolution is the smallest increment of movement into which the
robot can divide its work volume.
– Accuracy of positioning of the object
– Weight of the object to be handled Accuracy refers to a robot’s ability to position its wrist at a target point
– Distances to be moved. within its work volume.
85 86
87 88
Load Carrying Capacity THANK YOU
1. The load the robot can carry at its weakest position
The presenter is grateful to the authors of the following textbooks.
without including the weight of the end effector, while
maintaining its specified accuracy. Machines and Mechanisms, Applied Kinematic Analysis (Fourth Edition) –
David H. Myszka
89 90
DE ES ZG561
BITS Pilani Lecture-3
Pilani Campus
92
Mechanisms Mechanisms
• Kinematic Link: Each part of a machine, which moves • Kinematic Chain: When the kinematic pairs are
relative to some other part is known as a kinematic link coupled in such a way that the last link is joined with the
or link or element. first link to transmit definite motion, it is called kinematic
• Types of Links: chain (Closed).
– Rigid Link • Mechanism: When one of the links in a kinematic chain
– Flexible Link is fixed, the chain is known as a mechanism.
– Fluid Link • Machine: When a mechanism is required to transmit
power or do some particular work, it is called a machine.
• Structure: Assemblage of resistant bodies having no
relative motion between them and meant for carrying
loads.
• Kinematic Pair: The two links or elements of a machine,
when in contact with each other if the relative motion
between them is completely constrained, the pair is
known as kinematic pair.
93 94
Simple Link
with Point of Pin Joint
interest
95 96
Links and Kinematic symbols Links and Kinematic symbols
Slide Joint
97 98
99 100
Robot Construction Joint types
v A robot is mechani cally
constructed by connecting a
set of bodies, called links, to
each other using va rious
types of joints.
101 102
103 104
Find the degrees of freedom Find the degrees of freedom
Dof = 4 Dof = 2
Dof = 1
Dof = 1
105 106
N=8
J=9
Dof = 3
107 108
Gr¨ubler’s formula for degrees of
freedom
• l = 12 v Consider a mechanism consisting of
N links, where ground is also
• j = 15 regarded as a link. Let J be the
• Dof = 3 number of joints, m be the number of
degrees of freedom of a rigid body.
Ø (m = 3 for planar mechanisms and
Ø m = 6 for spatial mechanisms)
v f i b e t h e n u mb e r o f d eg r ee s of
freedom provided by joint i, and ci be
the number of constraints provided
by joint i (it follows that fi + ci = m for
all i).
v Then Gr¨ubler ’s formula for the
degrees of freedom (dof) of the robot
is
109 110
N =14
J = 18
Dof = 6
111 112
Find the dof Find the dof
N= 8
J=9
Fi = 15
Dof = 3
113 114
L= 8
J=9
Fi = 15
Dof = 3
115 116
Find the dof Find the dof
117 118
119 120
Fundamentals of Robot Technology
DE ES ZG561
BITS Pilani Lecture-4
Pilani Campus
122
B Y
r2
r3 A
r1
ϕ
C X
r0 O
BITS Pilani, Pilani Campus BITS Pilani, Pilani Campus
B Y
r2
r3 A
r1
ϕ
C X
r0 O
BITS Pilani, Pilani Campus DE ZG/ES ZG561 Mechanisms and Robotics BITS Pilani
Algebraic Method of Kinematic Synthesis Approximate and Exact Synthesis
v If the required link follows the
exact curve specified, the
synt h e si s is ca l le d e xac t
synthesis.
DE ZG/ES ZG561 Mechanisms and Robotics BITS Pilani DE ZG/ES ZG561 Mechanisms and Robotics BITS Pilani
Chebyshev’s Spacing of
accuracy points Function Generator
DE ZG/ES ZG561 Mechanisms and Robotics BITS Pilani DE ZG/ES ZG561 Mechanisms and Robotics BITS Pilani
Solution Solution
DE ZG/ES ZG561 Mechanisms and Robotics BITS Pilani DE ZG/ES ZG561 Mechanisms and Robotics BITS Pilani
Solution Solution
DE ZG/ES ZG561 Mechanisms and Robotics BITS Pilani DE ZG/ES ZG561 Mechanisms and Robotics BITS Pilani
Robot Kinematics
Direct Kinematics
139
140
Kinematic Parameters Coordinate Systems
Joint Link
Parameters Parameters
141 142
Rotation Matrices
Coordinate Systems
Robot Kinematics
• Forward kinematics
• Rotation
• Translation
• Post-multiplication Vs. Pre-multiplication
• Homogeneous Transformation
Mechanisms and Robotics • Introduction to Denavit – Hartenberg
Parameters
• θ – r manipulator
DE ES ZG561
Lecture - 5
BITS Pilani
Pilani Campus
148
Direct Kinematics Kinematic Parameters
Joint Link
Parameters Parameters
149 150
151 152
Rotation Matrices Rotation Matrices
v Find the result of rotating the point [7,2,5]T through 90° in the positive direction about the
z-axis followed by a rotation of 90° about the x-axis, followed by a translation of (4,5,6).
Denavit - Hartenberg
Representation
Link i θ d a Home
Solution: 1 θ1 90 L1 90
2 d2
[x’,y’,z’] = Rotz (q1)*Transx(L1)*Rotz(90)* Rotx(90)* Transz(d2)* [0,0,0]’
167 168
2 dof manipulator – Forward
2 dof manipulator – Forward Kinematics
Kinematics
169 170
172
171
Forward kinematics
174
175 176
Homogeneous Transformation
Homogeneous Transformation Matrices Matrices
179 180
D-H Parameters D-H Parameters
Solution: • Solution:
[x’,y’,z’] = [Rotz(q1).Transz(L1)].[Transz(d2).Rotx(-90).transz(L2)].Transz(d3).[0,0,0]’ Solution: [x’,y’,z’] = [Rotz(q1).Transz(L1)].[Transz(d2).Rotx(-90).transz(L2)].
Transz(d3).[0,0,0]’
D-H Parameters
Link i θ d a Home
1 θ1 L1
2 d2, L2 -90
3 d3
181 182
183 184
3 dof Articulated Robot – Forward 3 dof Articulated Robot – Forward
Kinematics Kinematics
• 3 dof Articulated manipulator
Link i θ d a Home
1 θ1 L1 90
2 θ2 L2
3 θ3 90 L3 90
185 186
P=
[rotz(theta1)*transz(L1)*rotx(90)]*[rotz(theta2)*transx(L2)]*[rotz(theta3)*transx(L
3)]*[rotz(theta4)*rotz(90)*rotx(90)]*[rotz(theta5)*transz(L5)]*origin
L1 = 200mm, L2 = 250mm,
L3 = 300mm, L4 = 150mm,
187 188
5 dof manipulator 5 dof manipulator
P=
[rotz(theta1)*transz(L1)*rotx(90)]*[rotz(theta2)*transx(L2)]*[rotz(theta3)*tra
nsx(L3)]*[rotz(theta4)*rotz(90)*rotx(90)]*[rotz(theta5)*transz(L4)]*origin
Axis θ d a α Home
1 θ1 L1 90
2 θ2 L2
3 θ3 L3
4 θ4 90 90
5 θ5 L5
189 190
5 dof manipulator
5 dof manipulator
P=
[rotz(theta1)*transz(L1)*rotx(90)]*[rotz(theta2)*tran
sx(L2)]*[rotz(theta3)*transx(L3)]*[rotz(theta4)*roty
(90)*transz(L4)]*[rotz(theta5)]*origin
191 192
THANK YOU
DE ZG561
Lecture - 7
BITS Pilani
Pilani Campus
193
L1 = 500 mm
195
196
2 dof manipulator – Link Coordinate 2 dof manipulator – Inverse
Diagram Kinematics
Link i θ d a Home
1 θ1 90 L1 90
2 d2
Solution:
197 198
Axis d a Home
1 L1 90
2 L2 90 90
3 d3
q1 = 12.9946 °
q2 = 8.5255 °
d3 = 174.5368 mm
L1 = 700 mm
L2 = 600 mm
P (750,750,300)
Axis d a Home
1 L1 L2 90 90
2 d1 90
3 d2
Axis d a Home
1 L1 90
P (650, 200, 250)
2 L2
L1 = 150 mm 3 L3 90 90
L2 = 400 mm
L3 = 300 mm
209 210
P=
[rotz(theta1)*transz(L1)*rotx(90)]*[rotz(theta2)*transx(L2)]*[rotz(theta3)*transx(L3)*rotz(90)rotx(90)]*ori
gin
Ø T 0 1 = [rotz(theta1)*transz(L1)*rotx(90)]
Ø T 1 2 = [rotz(theta2)*transx(L2)]
Ø T 2 3 = [rotz(theta3)*transx(L3)*rotz(90)rotx(90)]
Ø P = [T 0 1] * [T 1 2] * [T 2 3] *origin
211 212
• Theta 1 = 17.10 deg
• Theta 2 = 17.77 deg
• Theta 3 = - 22.153 deg
213 214
THANK YOU
The presenter is grateful to the authors of the following text books for their
wonderful work.
DE ZG561
Lecture - 8
BITS Pilani
215 Pilani Campus
Inverse Kinematics Homogeneous Transformation Matrices
• Inverse Kinematics
– Inverse Kinematics of a 4 dof SCARA Arm
– Inverse Kinematics of a 2 dof RR Planar Arm using Matrix inverse
– Inverse Kinematics of a 3 dof Articulated Arm using Matrix inverse
• 4 dof SCARA
P=
Transz(L1)*rotz(theta1)*transx(L2)*transz(L23)*rotz(theta2)*transx(L3)*rotx(180)*transz(
d3)*rotz(theta4)*transz(L4)*origin
• 4 dof SCARA
• d3 = 150 mm
• 4 dof SCARA
• Theta1 = 46.69 deg (21.0375+25.6525)
• Theta2 = 59.4735 deg
8 October 2020 DE ZG561, MECHANISMS AND ROBOTICS 223 8 October 2020 DE ZG561, MECHANISMS AND ROBOTICS 224
2 dof Planar Arm 2 dof Planar Arm
Coupled
Equations
Decoupled
Equations
8 October 2020 DE ZG561, MECHANISMS AND ROBOTICS 225 8 October 2020 DE ZG561, MECHANISMS AND ROBOTICS 226
solving
8 October 2020 DE ZG561, MECHANISMS AND ROBOTICS 227 8 October 2020 DE ZG561, MECHANISMS AND ROBOTICS 228
Home Work – Inverse Kinematics of a 3 dof Home Work – Inverse Kinematics of
arm using matrix inverse a 3 dof arm using matrix inverse
Solution from Forward
Kinematics
• Find the angles for the given tool point
L1 = 150 mm
L2 = 400 mm
L3 = 300 mm
8 October 2020 DE ZG561, MECHANISMS AND ROBOTICS 229 8 October 2020 DE ZG561, MECHANISMS AND ROBOTICS 230
P = (400,350,250)
L1 = 200mm,
L2 = 400mm,
L3 = 300mm,
L5 = 150mm,
8 October 2020 DE ZG561, MECHANISMS AND ROBOTICS 231 8 October 2020 DE ZG561, MECHANISMS AND ROBOTICS 232
5 dof manipulator 5 dof manipulator
P=
Solution: [rotz(theta1)*transz(L1)*rotx(90)]*[rotz(theta2)*transx(L2)]*[rotz(theta3)*transx(L3)]*
[rotz(theta4)*rotz(90)*rotx(90)]*[rotz(theta5)*transz(L4)]*origin
P=
rotz(theta1)*transz(L1)*rotx(90)]*[rotz(theta2)*transx(L2)]*[rotz(theta3)*transx(L3)]*
[rotz(theta4)*rotz(90)*rotx(90)]*[rotz(theta5)*transz(L4)]*origin Axis θ d a α Home
1 θ1 L1 90
2 θ2 L2
3 θ3 L3
4 θ4 90 90
5 θ5 L4
8 October 2020 DE ZG561, MECHANISMS AND ROBOTICS 233 8 October 2020 DE ZG561, MECHANISMS AND ROBOTICS 234
THANK YOU
The presenter is grateful to the authors of the following text books for their wonderful
work.