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WEEK 2: ROBOTICS
PT PROF. (DR.) DILIP KUMAR PRATIHAR
MECHANICAL ENGINEERING DEPARTMENT, IIT KHARAGPUR
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Topic 1: Introduction to Robots and Robotics
PT PROF. (DR.) DILIP KUMAR PRATIHAR
MECHANICAL ENGINEERING DEPARTMENT, IIT KHARAGPUR
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Resolution, Accuracy and Repeatability
Resolution

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It is defined as the smallest allowable position increment of a robot
Resolution

Programming resolution Control resolution

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Smallest allowable position
increment in robot
programme
Basic Resolution Unit
Smallest change in position
that the feedback device
can measure say 0.36
degrees per pulse
BRU = 0.01 inch/0.1degree
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Accuracy (mm)

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It is the precision with which a computed point can be reached

Repeatability (mm)

It is defined as the precision with which a robot re-position itself to a

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previous taught point
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 Applications of Robots

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In Manufacturing Units

Advantages of Robots
 Robots can work in hazardous and dirty environment
 Can increase productivity after maintaining improved
quality
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 Direct labour cost will be reduced
 Material cost will be reduced
 Repetitive tasks can be handled more efficiently
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Application Areas

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 Arc Welding
 Spot Welding
 Spray Painting
 Pick and Place Operation
 Grinding

 Milling
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Drilling
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Under-Water Applications

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Purposes

 To explore various resources

 To study under-water environment
 To carry out drilling, pipe-line survey, inspection and
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repair of ships
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Notes

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 Robots are developed in the form of ROV (Remotely
Operated Vehicle) and AUV (Autonomous Under-water
Vehicle)
 Robots are equipped with navigational sensors,
propellers/ thrusters, on-board softwares, and others

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Medical Applications
 Telesurgery
 Micro-capsule multi-legged robots
 Prosthetic devices
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Space Applications

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 For carrying out on-orbit services, assembly job and
interplanetary missions
 Spacecraft deployment and retrieval, survey of outside
space shuttle; assembly, testing, maintenance of space
stations; transport of astronauts to various locations
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 Robo-nauts
 Free-flying robots
 Planetary exploration rovers
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In Agriculture

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 For spraying pesticides
 For spraying fertilizers in liquid form
 Cleaning weeds
 Sowing seeds
 Inspection of plants
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Some Other Applications

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 Replacement of maid-servant
 Garbage collection
 Underground Coal mining
 Sewage-line cleaning
 Fire-fighting etc.
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Robot End-Effectors
An end-effector is a device attached to the wrist of a manipulator for

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the purpose of holding materials, parts, tools to perform a specific
task End Effectors

Grippers Tools
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End-effectors used to grasp
and hold objects
End-effectors designed to
perform some specific tasks
Ex: Spot welding electrode,
Spray gun
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Classification of Grippers
1. Single gripper and double gripper

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 Single gripper: Only one gripping device is mounted on
the wrist

 Double gripper: Two independent gripping devices are

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attached to the wrist

Example: Two separate grippers mounted on the wrist for

loading and unloading applications
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2. Internal gripper vs. External gripper

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PT
Internal gripper External gripper
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3. Soft gripper vs. Hard gripper

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Hard gripper: Point contact between the finger and object

Soft gripper: Area (surface) contact between the finger and

object

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4. Active Gripper and Passive Gripper

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 Active gripper: Gripper equipped with sensor

 Passive gripper: Gripper without sensor

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A Few Robot Grippers

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1. Mechanical Grippers

 Use mechanical fingers (jaws) actuated by some

mechanisms

 Less versatile, less flexible and less costly

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Examples
i. Gripper with linkage actuation

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PT
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ii. Gripper with rotary actuation

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PT
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iii. Gripper with cam actuation

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PT
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2. Vacuum Gripper (used for thin parts)

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PT
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PT
•Suction cup is made of elastic material like rubber or soft plastic
•When the object to be handled is soft, the cup should be made
of hard substance
•Two devices can be used: Either Vacuum pump or venturi
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3. Magnetic Gripper (for magnetic materials only. For
example: various steels but not stainless steel)

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 Can use either electro-magnets or permanent magnets
 Pick up time is less
 Can grip parts of various sizes
 Disadvantage: residual magnetism
 Stripping device: for separating the part from the
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permanent magnet
 For separating the part from electro-magnet, reverse the
polarity
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Magnetic Gripper

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PT
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4. Adhesive Gripper

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 Grasping action using adhesive substance
 To handle lightweight materials

5. Universal Gripper
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Example: Human gripper
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Passive Gripper

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Task: To insert a peg into a hole

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Solution: Use Remote Center Compliance (RCC)

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RCC is inappropriate for
assembly of pegs in
horizontal direction
Insertion angle must be
less than 45 degrees
PT Cannot be used in
chamferless insertion
tasks
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Robot Teaching
 To provide necessary instructions to the robot

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Teaching Methods

Online Methods Off-line Methods

(Programming language)
Manual teaching Lead-through Teaching
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(point to point task) (continuous path task)
• Control handle / Joystick • Robot simulator
• Push buttons
• Teach-pendant
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Off-line Method
VAL Programming for PUMA

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Task: Pick and place operation
VAL program Other VAL commands
APPRO PART, 100 SPEED 40
MOVES PART EXECUTE
CLOSEI ABORT
DEPARTS 200 EDIT filename

MOVE BIN
OPENI
DEPART 100
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APPROS BIN, 300 LISTF
STORE
DELETE
LOAD filename
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Specification of a Robot

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 Control type
 Drive system
 Coordinate system
 Teaching/Programming methods
 Accuracy, Repeatability, Resolution
 Pay-load capacity



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Weight of the manipulator
Applications
Range and speed of arms and wrist
 Sensors used
 End-effector/ gripper used
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Economic Analysis

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 Let F: Capital investment to purchase a robot which
includes its purchasing cost and installation cost
 B: Savings in terms of material and labour cost
 C: Operating and maintenance cost
 D: Depreciation of the robot
 A: Net savings
PT A= B-C-D
G: Tax to be paid on the net savings
Pay-back period, E = (Capital investment, F)/ (B-C-G)
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Economic Analysis

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 Let I: Modified net savings after the payment of tax
 Rate of return on investment
H= (I/F)X100%

A company decides to purchase the robot, if

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 pay-back period < techno-economic life
 rate of return on investment > rate of bank interest
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 Numerical Example
The costs and savings associated with a robot installation are given

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below.
Costs of a robot including accessories : Rs. 12,00,000
Installation cost : Rs. 3,00,000
Maintenance and operating cost : Rs. 20 per hour
Labour saving : Rs. 100 per hour
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Material saving : Rs. 15 per hour
The shop runs 24 hours in a day (in 3 shifts) and the effective workdays
in a year are 200. The tax rate of the company is 30% and techno-
economic life of the robot is expected to be equal to six years.
Determine (a) pay-back period of the robot and (b) rate of return on
investment
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 Solution
Capital investment

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. , ,

Total hours of running of the robot per year

Saving per year

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Maintenance and operating cost per year

. , ,

. ,

Techno-economic life of the robot

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 Solution (Cont.)

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, ,
Constant depreciation per year . , ,

Net savings
, , , , ,
. , ,
Tax to be paid to the government by the company
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Pay-back period of the robot

%
. ,

. techno-economic life
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 Solution (Cont.)

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Net savings after the payment of tax
. , ,
. , ,
Rate of return on investment
% . %

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Therefore, the purchase of the robot is justified by taking loan from the
bank.
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Topic 2: Robot Kinematics
PT PROF. (DR.) DILIP KUMAR PRATIHAR
MECHANICAL ENGINEERING DEPARTMENT, IIT KHARAGPUR
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Representation of an Object in 3-D Space

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PT
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Representation of the Position

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 qx 
U  
Q   q y  ; 3x1 matrix
PT q 
 z
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Representation of the Orientation

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U
B R  [ U X̂ B U Ŷ B U Ẑ B ]
3x3 matrix

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Frame Transformations

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Frame: A set of four vectors
carrying position and orientation
information
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Translation of a Frame

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U U B
Q  Q Borg  Q

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Rotation of a Frame

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U B
Q UB R Q

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Translation and Rotation of a Frame

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U B U
Q  UB R Q  Q Borg

U B U
Q  UB R Q  Q Borg

PT 
U B
Q  UB T Q

where T: transformation
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 U Q (3 X 1)   U R (3 X 3) |
U
Q Borg (3 X 1)   Q (3 X 1) 
B

  B  
       |    
   |  
     
 U Q (3 X 1)   U R (3 X 3) |
U
Q Borg (3 X 1)   Q (3 X 1) 
B

  B  
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      


1  0 0 0
 
|
|
   
1 
 
1 

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Let [T]: Homogeneous transformation matrix

 U R (3x 3) | U
Q Borg (3x1) 
B 
T        |  
PT 0 0 0 |
 1 

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Say

 r11 r12 r13 qx 

r r22 r23 
qy 
T   21
 r31 r32 r33 qz 
PT 
0 0 0 1

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Translation Operator

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Trans , : Translation of q units along x-direction

Trans , = 1 0 0 q
0 1 0 0 

0 0 1 0
 
PT 0 0 0 1
Note: Trans operators are commutative in nature

, , , ,
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