Robot Mechanics

Lec. 1: An Introduction

Prof. S.K. Saha

Dept. of Mech. Eng.
IIT Delhi

August 03, 2015@IIT Delhi

Contribution of IIT Delhi
 Humanoid Robots

Asimo (Honda): 120cm; 52kg Qrio (Sony): 58cm; 7kg

More Robots

Move to Directory
• Session: ‘sess1’ (9 min)
00-03, 06-12 min
• Session: ‘sess2’ (7 min)
08-15 min
History: Definition of Robot

• What is a robot?
Robit (Check word) --> Work
Robota (Slav word) --> Menial or slave
labour
Got publicity from the play
Rossum’s Universal Robots (RUR) [1921]
Karel Capek
PUMA Robot
 RTX
Robot
SCORBOT-Israeli (by Falcon)
Pick/Place Robot-Systemantics, India
 Fig. 1.3 (b) Six-axis robot from MTAB India
[Courtesy: http://www.mtabindia.com/robotics/aristorobotics.htm]
Programme for Autonomous Robotics
(Sponsored by BARC/BRNS) PAR Lab.

Visit us at http://robotics.iitd.ac.in
 Adaptive F/T Control Virtual Environment
I/O Devices

Kinematic Identification
Dynamic Identification

Show
Vision Based Control
Parallel Robots
More Robots
• Parallel Robots
• Made in IITD
Space Robot
 (a) (b)
Fig. 1.4 An AGV: (a) Stand alone; (b) At work
[Courtesy: www.globalspec.com]
Wheeled Robots

With Mecanum wheel (Jonsson,

Centre-driven Vehicle 1985) or Omnidirectional wheel
(Carlisle, 1984) (Muir and Neuman, 1987)
RoboTRAC

A system supported with wheels and legs

Snake-like articulated mobile robot
Fig. 1.2 (b) Sojourner microrover
Daksh

21
 Fig. 1.14 Defence robot ‘Daksh’ by DRDO
[Courtesy: http://en.wikipedia.org/wiki/DRDO_Daksh]
Legged robot
At homes
• Robots to work
with human beings
• Arriving at
– Homes
– Kitchens
– Hospitals
RoboSquare, Japan
 Robot Mechanics
Lec. 2: An Introduction
(contd.)

Prof. S.K. Saha

Dept. of Mech. Eng.
IIT Delhi

August 07, 2015@IIT Delhi

 Remotely operated underwater robot by
CMERI, Durgapur
[Courtesy: http://www.cmeri.res.in/rnd/rov.html]
 Medical Applications

The da Vinci robot for minimally invasive surgery

[Courtesy: http://www.intuitivesurgical.com/products/]
Netra

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 Int. Std. Org. (ISO) Definition
• Robot
An automatically controlled, re-programmable,
multi-purpose manipulative machine, with or
without locomotion, for use in industrial
automation applications
• Other definitions: Rob. Soc. of Japan, etc.
• Common temrs: Re-programmable, Multi-
purpose
 Laws of Robotics
• By Issac Asimov (1940s)
1. A robot may not injure a human being or,
though inaction, allow a human being to come
to harm.
2. A robot must obey the orders given by human
beings, except when such orders would
conflict with the first law.
3. A robot must protect its own existence, as
long as such protection does not conflict with
the first or second law.
First Robot

• First Commercial Robot (1962)

By Unimation Inc., USA, founded by
Joseph F. Engelberger
(Father of Robotics)
in 1950
• Installed in General Motors plant
 Photo of a Unimate robot
[Courtesy: http://www.robothalloffame.org/inductees/
03inductees/unimate.html]
 Fig. 1.18 Estimated populations of industrial robots
[Courtesy: http://www.ifr.org/industrial-robots/statistics]
 Fig. 1.19 Number of service robots sold in 2011 and
2012
[Courtesy: http://www.ifr.org/statistics/keyData2005.htm]
Table 1.1 Estimated stock of industrial robots during 2011-
12 and forecast for 2013 and 2016
 Reasons for Poor Utilization
• Mainly due to

U N E M P L O Y M E N T
[Japan with 3 50 000 robots in 1992 had <
3% unemployment]
• Other reasons
– Lack of proper perspective
– Cheap labour
– Non-availability
– High import cost/High investment
More Reasons
• R&D Supports: By Govt. only
• Companies involved: Almost nil
• Advanced Research Absorption: Poor
• Questions:
Should We Use Robots? Yes

Do We Need Robots? Yes (modified way)

If yes, how? Let’s see

 Robotics in Our Countries

• To Overcome `Robotics vs. Unemployment’

• Do we like to
– work in front of a furnace at 500oC [Hazardous]
– weld two parts for 8H/day for several years?
[Monotonous]

• Robot = Machine [Robot  Human]

 Where and How?
• Where? • How?
– In hazardous – Indigenous design
environment – Develop as required
(Chemical, Steel, (Customized design)
Nuclear, … plants)
– Make awareness
– High precision
applications – Think it as a
machine
– Export oriented
products
When to Use a Robot?

Thumb Rules:
• Is task Dirty, Dull, Dangerous, Difficult?
• Will a human be jobless?
• Is a human willing to do a job?
• Is robot usage economic?
 DD-MIT-Robocon’07
Hanoi, Vietnam

Final in DD-Sports Test of Automatic

Robotech Room@IITD
RoboCon2RoboMuse: A New Initiative

Nov.’08-Mar’09 Nov.’09
 Projects and Awards

• Three B. Tech projects guided

• Two awarded best awards + 2014
(RoboMuse for 24x7)
• Excel-based module for gripper design
• Program for chasis design
• Motivated students to correlate theory
with practise
Conclusions

• Robotics is explained
• Several advanced robots are shown
• Robocon robots
• RoboMuse
Thank You
saha@mech.iitd.ac.in
sahaiitd@gmail.com

http://sksaha.com