Laboratory Manual: Robotics Lab

LABORATORY MANUAL
ROBOTICS LAB
B. Tech - V Semester
(For R-2020 Regulations)
DEPARTMENT OF MECHANICAL ENGINEERING
GAYATRI VIDYA PARISHAD COLLEGE OF ENGINEERING

(AUTONOMOUS)
(Approved by AICTE, New Delhi and Affiliated to Andhra University)
VISAKHAPATNAM-530048
Robotics Lab (20ME1205)
Institute Vision
To evolve into and sustain as a Centre of Excellence in Technological
Education and Research with a holistic approach.
Institute Mission
• To produce high quality engineering graduates with the requisite
theoretical and practical knowledge and social awareness to be able
to contribute effectively to the progress of the society through their
chosen field of endeavor.
• To undertake Research & Development, and extension activities in
the fields of Science and Engineering in areas of relevance for
immediate application as well as for strengthening or establishing
fundamental knowledge.
Department Vision
To become a sought after center for higher learning and application in
the field of Mechanical Engineering
Department Mission
• To produce competent and responsible mechanical engineering
graduates and post graduates by imparting quality and value based
education
• To prepare students for professional career and guide them for
entrepreneurship and higher studies including research
• To motivate the young minds towards services beneficial to the
society through their academic and professional activities
Gayatri Vidya Parishad College of Engineering (Autonomous)

Program Outcomes (POs): A graduate of mechanical engineering will be able to

PO-1 Apply the knowledge of mathematics, science, engineering fundamentals to solve complex
mechanical engineering problems.
PO-2 Attain the capability to identify, formulate and analyse problems related to mechanical
engineering.
PO-3 Design solutions for mechanical system components and processes that meet the specified
needs with appropriate consideration for public health and safety.
PO-4 Perform analysis, conduct experiments and interpret data by using research methods such
as design of experiments to synthesize the information and to provide valid conclusions..
PO-5 Select and apply appropriate techniques from the available resources and current
mechanical engineering and software tools.
PO-6 Carry out their professional practice in mechanical engineering by appropriately
considering and weighing the issues related to society.
PO-7 Understand the impact of the professional engineering solutions on environmental safety
and legal issues.
PO-8 Transform into responsible citizens by resorting to professional ethics and norms of the
engineering practice.
PO-9 Function effectively in individual capacity as well as a member in diverse teams and in
multidisciplinary streams.
PO-10 Communicate fluently with the engineering community and society, and will be able to
prepare reports and make presentations effectively.
PO-11 Apply knowledge of the engineering and management principles to managing projects and
finance in multidisciplinary environments.
PO-12 Engage themselves in independent and life-long learning to continuing professional
practice in their specialized areas of mechanical engineering.
Program Specific Objectives (PSOs): The student must attain the knowledge and skills to
PSO-1 Design, analyse and optimize mechanical systems along with control mechanisms
PSO-2 Manufacture mechanical components by selecting effective processing methods and

efficient tools
PSO-3 Design, analyse and evaluate thermal systems

ROBOTICS LAB
Course code: 20ME1205 L T P C
0 0 3 1.5
Course Outcomes: At the end of the course the student will be able to
CO1: demonstrate various components, degrees of freedom and coordinate systems of serial and
parallel robots (L3)
CO2: demonstrate various operations using teach pendant and simulate the robot motion using
ROBLOX (L3)
CO3: apply various functions for writing program for pick and place operation on vertical and
SCARA Robot (L3)
CO4: apply various functions for writing program for drawing a circle and looping on SCARA
robot (L3)
CO5: use various commands to develop programs for air inspection, deburring and assembly
operations on SCARA robot, and for pocket milling operations on parallel robots (L3)
LIST OF EXPERIMENTS
Note: Any twelve of the following experiments are to be performed
1. Study of Robot components and Degrees of Freedom of serial and parallel robots
2. Robot jogging and understanding coordinate systems using teach pendant
3. Teaching points to the robot using teach pendant
4. Programming to bring robot to home position
5. Programming for pick and place activities by Articulated robot
6. Programming for pick and place program for SCARA robot
7. Programming for drawing circle on SCARA robot
8. Programming to demonstrate loop commands on SCARA robot
9. Programming to demonstrate loop commands on Articulated robot
10. Programming to write a function/subprogram
11. Program for pocket milling on 2-DoF parallel kinematic machine
12. Program for rectangular contour on 3-DoF parallel kinematic machine

Beyond the curriculum

13. Simulation of robot using RoboX software
14. Programming for air cleaning on Articulated robot
15. Programming for assembly operation on SCARA robot
References:
1. Mitsubishi Manual
2. RoboX software
3. RT Toolbox software
Course Outcome versus Program Outcomes:
COs PO1 PO2 PO3 PO4 PO5 PO6 PO7 PO8 PO9 PO10 PO11 PO12
CO-1 3 2 2 1
CO-2 3 2 2 1
CO-3 3 2 2 1
CO-4 3 2 2 1
CO-5 3 2 2 1
1: Slight (Low), 2: Moderate (Medium), 3: Substantial (High), put -: No Correlation
Course Outcome Versus Program Specific Outcomes:
COs PSO1 PSO2 PSO3
CO-1 3
CO-2 3
CO-3 3
CO-4 3
CO-5 3
1: Slight (Low), 2: Moderate (Medium), 3: Substantial (High), put -: No Correlation

Assessment Methods: Observation / Record / Internal Exam / End Exam
Teaching-Learning and Evaluation
Week Contents Course Sample Teaching Assessment

Outcomes Questions Learning Method &
Strategy Schedule
Explain Internal Lab 1
1 Study of Robot CO – 1 different robot Experiment Observation
components and components Record
Degrees of Freedom and DoF for Submission
of serial and parallel SCARA and (Cycle 1)/
robots Articulated (Week:1/6)
Robot.
Demonstrate Internal Lab
how to Jog a 1 Observation
2 Robot jogging and CO – 2 robot using Experiment Record
understanding various Submission
coordinate systems coordinate (Cycle 1)/
using teach pendant systems. (Week:2/6)
Teaching points to How to teach Internal Lab

the robot using teach points to the 1 Observation
3 pendant CO - 2 robot using Experiment Record
teach pendent, Submission
demonstrate. (Cycle 1)/
(Week:3/6)
Programming to Write a Internal Lab
bring robot to home program to 1 Observation
4 position CO - 3 bring robot to Experiment Record
home position Submission
and execute it. (Cycle 1)/
(Week:4/6)
Programming for Write program Internal Lab 1
pick and place for pick and Observation
operation on place operation Record
5 Articulated robot CO – 3 and execute it Experiment Submission
on Articulated (Cycle 1)/
robot? (Week:5/6)

Programming for Write a Internal Lab

pick and place program for 1 Observation
6 operation on CO – 3 pick and place Experiment Record
SCARA robot operation and Submission
execute it on (Cycle 1)/
SCARA robot. (Week:6/6)
Internal Exam – 1
Programming for Internal Lab
drawing circle on Write a 2 Observation
7 SCARA robot CO – 4 program for Experiment Record
drawing circle Submission
and execute it (Cycle 2)/
on SCARA (Week:7/12)
robot

demonstrate loop program to 2 Observation
8 commands on CO - 4 demonstrate Experiment Record
SCARA robot loop Submission
commands on (Cycle 2)/
SCARA robot. (Week:8/12)
demonstrate loop program to 2 Observation
9 commands on CO – 4 demonstrate Experiment Record
Articulated robot loop Submission
commands on (Cycle 2)/
Articulated (Week:9/12)
robot.
Programming to How do you Internal Lab
write a call a function 2 Observation
10 function/subprogram CO – 4 in Robot Experiment Record
programming? Submission
(Cycle 2)/
(Week:10/12)
Program for pocket Write a Internal Lab
milling on 2-DoF program for 2 Observation
11 parallel kinematic CO – 5 pocket milling Experiment Record
machine and Submission
demonstrate it (Cycle 2)/
on 2-DoF (Week:11/12)
parallel
kinematic
machine.

Program for Write a Internal Lab

rectangular contour program for 2 Observation
on 3-DoF parallel rectangular Record
12 CO - 5 contour and Experiment Submission
kinematic machine
demonstrate it (Cycle 2)/
on 3-DoF (Week:12/12)
parallel
kinematic
machine.
Internal Exam – 2
External Lab Exam

EXPERIMENT 01
STUDY OF ROBOT COMPONENTS AND DEGREES OF FREEDOM OF

SERIAL AND PARALLEL ROBOTS
Aim: To study the robot components and understand the degrees of freedom of serial and parallel
robots.
Function Line Diagram Representation of Robot Arms:
The 4 basic components of a robot system are
a) Manipulator
b) Sensory Devices
c) Controller
d) Power Conversion Unit
Fig. Robotic arm function line diagram

Manipulator:
• The manipulator consists of a series of rigid members called lines connected by joints
• Every joint is connected by two links. One link is called ‘input link’ and the other is called
‘output link’
• A joint is that, which provide the relative motion to the two parts of a body or link
• The link can be connected to form a serial chain or parallel chain. Majority of industrial
manipulators are serial chains
• Each joint in the robot is provided with one degree of freedom (motion along one direction)
• The purpose of the joint is to provide a controlled relative movement between the input
and output links.
• The major links are set of joint link pairs that grossly position the manipulator in space.
Usually they consist of three sets (Counting from the base of the robot)
• The minor linkages are those joints and links associated with the fine positioning of the
end effector
• The end effector may be a total that does a function such as wielding, drilling or it may be
some type of gripper to hold objects.
The Manipulator is composed of 3 components:
1) The major linkages
2) The minor linkages (wrist components)
3) The end effector (Gripper or Tool)
Sensory Devices:
• For proper control of the manipulator, we must know the state of each joint i.e., its position,
velocity and acceleration. To achieve this, a sensory element must be incorporated into the
joint link pair.
• Other type of sensors may also be included in a robot system. Example: Vision system etc.
• This sensor along with its associated electronics and control is used to locate a particular
object in its field of view.
• Once found, it relays the co-ordinate of the object can position its gripper over the object
in order to pick it up.

Controller:
The controller provides the intelligence to cause manipulator to perform a specified task.
Essentially, the controller consists of:
• A memory to store data defining the positions of where the arm to move and other info
related to proper sequencing of system.
• A sequencer that interprets the data stored in memory and then utilizes the data inference
with other components of the controller.
• A computational unit that provides the necessary computations to aid the sequences.
• An interface to obtain the sensory data such as the position of each joint or information
from the vision system into the sequences.
• An interface to transfer sequence information to the power conversion unit so that
actuations can eventually cause the joints to move in derived manner.
• Some set of control unit for the operation to use in order to demonstrate positions and
control the robot (teach pendant)
Power Conversion Unit:
• The power conversion unit contains the components necessary to take a signal from the
sequencer (either digital or analog) and convert into a meaningful power level so that the
actuators can move
Degree of Freedom:
• The number of independent motions or movements that an object can perform in 3D space
is known as ‘DOM’. A rigid body free to move in space has 6 degrees of freedom (3
translations & 3 rotations).
• Industrial robots are designed to perform productive work such as pick and place, welding
and assembly etc.
• The work is accomplished by enabling the robot to move its body, arm and wrist through
a series of motion and positions.
• The individual joint motions associated with the performance of a task are referred to by
the term degree of freedom and a typical industrial robot is equipped with 4 to 6 DOF.
Articulated or revolute or jointed Configurations:
• The articulated arm is the same as the human arm. This type of an arm is often referred to
as an anthropomorphic manipulator.
• This type arm consists of 2 straight links, corresponding to the human fore arm and upper
arm with two rotary joints corresponding to the elbow and shoulder joints. These two links
are mounted on a vertical rotary table corresponding to the human wrist joint.
• The anthropomorphic structure is the most dexterous one, because all the joints are
revolute.
• The Work volume of this configuration is spherical and with proper arrangement of joint
and links the arm end point can sweep a full spherical shape.
• The positioning accuracy varies with arm end point location in work piece.
• The range of industrial applications of this arm is wide.
Fig. Articulated robotic arm

Other Configurations:
• If the characteristics of articulated and cylindrical configurations are combined, the result will
be another type of manipulator with revolute motions, confined to the horizontal plane. Such
config is called SCARA (Selective Compliance Assembly Robot Arm).

• The SCARA configuration has a vertical major axis rotation such that gravitational load,
Coriolis and centrifugal force do not stress the structure as much as they would if the axis
were horizontal, this advantage is very important at high speeds and high precision.
• This configuration provides high stiffness to the arm in vertical direction and high compliance
in the horizontal plane, thus making SCARA congenial for many assemblies’ tasks.
Fig. SCARA (Selective Compliance Assembly Robot Arm)

EXPERIMENT 02
ROBOT JOGGING AND UNDERSTANDING COORDINATE

SYSTEMS USING TEACH PENDANT
Aim: To jog the robot (SCARA or Articulated) and understand the coordinate system using teach
pendant.
Teach pendant:
The teach pendant is the main user interface for the robots. It is a handheld device with a color
touchscreen, a custom keypad, and various safety devices such as a “Deadman” switch, emergency
stop, and enable switch that can be swapped out with a key switch for security.
Fig. Teach pendent box

Teach Pendent Functions:
Fig. Teach pendent box functions

① [Emergency stop] switch: The robot servo turns OFF and the operation stops immediately.
② [TB ENABLE] switch: This switch changes the T/B key operation between enable and disable.
③ Enable switch: When the [Enable/Disable] switch " ② " is enabled, and this key is released or
pressed with force, the servo will turn OFF, and the operating robot will stop immediately.
④ LCD display panel: The robot status and various menus are displayed.
⑤ Status display lamp: Display the state of the robot or T/B.
⑥ [F1], [F2], [F3], [F4]: Execute the function corresponding to each function currently displayed
on LCD.
⑦ [FUNCTION] key: Switch the function display to check other functions assigned to the
function keys ([F1], [F2], [F3], and [F4]) when five or more functions are available for next
operation, where only four function keys are available.
⑧ [STOP] key: This stops the program and decelerates the robot to a stop.
⑨ [OVRD ↑] [OVRD ↓] key: Change moving speed. Speed goes up by [OVRD ↑] key. Speed
goes down by [OVRD ↓] key

⑩ [JOG] operation key: Move the robot according to jog mode. And, input the numerical value.
⑪ [SERVO] key: Press this key with holding enable switch lightly, then servo power will turn
on.
⑫ [MONITOR] key: It becomes monitor mode and display the monitor menu.
⑬ [JOG] key: It becomes jog mode and display the jog operation.
⑭ [HAND] key: It becomes hand mode and display the hand operation.
⑮ [CHARCTER] key: Switch the function of the number/character keys between number input
and character (letter or some special character) input when both inputs are available on the
T/B.
⑯ [RESET] key: This resets the error. The program reset will execute, if this key and the [EXE]
key are pressed.
⑰ [ ↑] [ ↓] [ ←] [ →] key: Moves the cursor each direction.
⑱ [CLEAR] key: Erase a text on the cursor position when number/character input is available.
⑲ [EXE] key: Input operation is fixed. And, while pressing this key, the robot moves when direct
mode.
⑳ Number/character key: Input the number or character when the number/character input is
available.
Procedure to jog the robot using teach pendant:
1) Before Jogging the Robot first, we have to switch on servo. A green light will be on
2) Now enable the switch at the back side of teach pendent. A yellow light will on. Now, hold
the yellow button and turn to right side or left side for jogging It is to be hold continuously
for jogging. If you not hold jogging will be stopped.
3) Now the jogging can be done in XYZ (world co-ordinate) or in joint coordinate system.
4) Now the jogging can be done in XYZ (world co-ordinate) or in joint coordinate system.
Understanding coordinate system using teach pendant
• Press Jog then press F1. It will shift to XYZ (world co-ordinate) or in joint co-ordinate
system. If we press X the Robot moves in X-direction. By Pressing Y, Robot moves in Y
direction Similarly if we press the gripper moves in Z-direction.
• Now we will close the XYZ co-ordinate system and we will move to Joint co-ordinate
system. For closing press FUNCTION then press F4 to close. Now press F1, display will
be changed to joint coordinate system.

• Now in joint mode If we press X, then joint J1 will moves. If we press Y, the joint J2 will
move. Similarly, if we press Z joint J3 will move. If we press ‘A’ the gripper will rotate.
To close this press FUNCTION after that press F4 to close.
Result:
Successfully jogged the SCARA or Articulated robot.

EXPERIMENT 03
TEACHING POINTS TO THE ROBOT USING TEACH PENDANT
Aim: To teach a point to the robot (SCARA or Articulated) using teach pendant box
Procedure:
1) Switch ‘on’ the main of Articulated Robot
2) Unlock the emergency stop on teach pendant and key box
3) Hold the teach pendant box in hand and enable switch should be in ‘on’ position
4) Keep the dead man switch to the right or left to make the robot to move
5) Switch ‘on’ the servo button to ‘on’ the servo
Procedure to Teach a Point:
1) Press the function key
2) Select File/Edit press enter key in teach pendant
3) Open a New File/ Edit File the Existing File
4) Open the File Name UST, press exe. Button.
5) Now we have to teach 2 points to the robot
Teaching Point – 1:
1) Press jog button to enter into co-ordinate system
2) By giving the joint configuration to the robot or take the robot gripper desired position
3) Close the jog mode
4) Go to mov P1 and press ‘f4’ to teach the point
5) Press ‘F1’ to confirm.
Teaching Point – 2:
1) Repeat the step ‘1,2 & 3’ in teaching point-1
2) Go to mov P2 and press ‘F4’ to teach the point
3) Press ‘F1’ to confirm.
Working on Teached Points:
1) Press Function Key
2) Press ‘f1’ to perform the operation
3) Go to mov ‘p1’ and press ‘f1’ to forward the gripper to teach point-1 same way, go to
point-2

Result:
Teaching the points to the robot (SCARA or Articulated) successfully completed.

EXPERIMENT 04
PROGRAMMING TO BRING ROBOT TO HOME POSITION
Aim: To write and execute program to bring robot (SCARA or Articulated) to home position
using teach pendant.
Procedure:
2) Unlock the emergency switch ‘on’ teach pendent
3) Create a new file and enter the program and create folder point-1 as mov-P1 and save.
Create another point-2 as mov P2 and close
4) Jog the robot to set the point-1 in workspace by moving the joints and teach and save
5) Again, jog the robot then close and save the program
6) Now press the function button and select the point-1 mov1 and press- forward ‘F1’ button
7) Forward to move robot at their initial coordinate position
8) The select the home position and press ‘F1’ button and observe the robot is moved to
initial home position
Program:
Tool 1
Mov P1 'HOME
End
Observation:
P1= (186.660, 105.000, 453.880,0.000,0.010,0.000) (7,0)
Precautions:
• Don’t hit the robot to any other element in workspace
• Don’t move the robot to its extreme position
Result:
Program is successfully executed to bring robots home position.

EXPERIMENT 05
PROGRAMMING FOR PICK AND PLACE ACTIVITIES BY

ARTICULATED ROBOT
Aim: To write and execute the program for pick and place of the given object.
Apparatus:
1. Teach pendant
2. Cylindrical shaped aluminum object
Procedure:
2) Unlock the emergency switch ‘on’ teach pendant
3) Create a new file and enter the program as pick and place
4) Then click the mov-p home and mov-p source give delay 1.0
5) Click on forward button and press button to move the robot continuously
6) Click delay switch just once to move the robot initially
7) Now open the gripper and pick the object by closing the gripper
8) After placing the object in another point send back robot arm to its initial stage
9) Before that note the values in teach pendent in observation
Programming for Pick and Place within the pallet:
1) Mov PHOME ' HOME
2) Mov PSOURCE 'APPROACH
3) Dly 1.0 'WAIT FoR 1 SECOND
4) HOpen 1 'GRIPPER Open
6) Mvs PPICK 'PICKING POSITION
8) HClose 1 ' GRIPPER Close
10) Mvs PSOURCE ' APPROACH POS 1
11) Mov PDEST 'APPROACH 2
12) Mvs PRELEACE ' PLACING POSITION


16) Mvs PDEST ' APPROACH POSITION
17) Mvs PHOME ' HOME
Observation:
PDEST=(445.480,-380.720,112.370,0.000,0.010,-84.800)(7,0)
PHOME=(199.010,105.020,453.870,0.000,0.010,0.000)(7,0)
PPICK=(264.290,-379.310,95.300,0.000,0.010,-84.800,0.000,0.000)(7,0)
PRELEACE=(443.060,-378.910,98.040,0.000,0.010,-84.800,0.000,0.000)(7,0)
PSOURCE=(264.290,-379.310,112.660,0.000,0.010,-84.800)(7,0)
Precautions:
• Give the points correctly before operation
• Keep speed in constant
Result:
Program is successfully executed and pick and place of the given object is performed.

EXPERIMENT 06
PROGRAMMING FOR PICK AND PLACE ACTIVITIES BY SCARA

ROBOT
Aim: To Write and execute the program for pick and place of the given object.
Apparatus:
1. Teach pendant
2. Cylindrical shaped aluminum object
Procedure:
2) Unlock the emergency switch ‘on’ teach pendant
3) Create a new file and enter the program as pick and place
4) Then click the mov-p home and mov-p source give delay 1.0
5) Click on forward button and press button to move the robot continuously
6) Click delay switch just once to move the robot initially
7) Now open the gripper and pick the object by closing the gripper
8) After placing the object in another point send back robot arm to its initial stage
9) Before that note the values in teach pendent in observation
Programming for Pick and Place within the pallet:
1) Mov PHOME ' HOME
8) HClose 1 ' GRIPPER Close


Observation:
PDEST=()(,)
PHOME=()(,)
PPICK=()(,)
PRELEACE=()(,)
PSOURCE=()(,)
Precautions:
Result:
Program is successfully executed, pick and place of the given object is performed.

EXPERIMENT 07
PROGRAMMING TO DEMONSTRATE LOOP COMMANDS ON SCARA

ROBOT
Aim: Programming to demonstrate loop commands on SCARA
Apparatus: Teach pendant
Program for Simple Loop:
1) M=0
2) *LOOP1
3) M=M+1 Traj 1
4) If M=1 Then Traj1
6) *Traj1
7) MVC p1, p2, p3
8) If M=1 Then *LOOP2
9) *Traj2
10) Mov p1
11) Mov p2
Traj 2
12) Mov p3
13) Mov p1
14) *LOOP2
15) If M<2 Then *LOOP1
16) End
Program for If Loop:
(5 times on the following rectangle.)
1. MOV P Safe ‘Robot in Home Position
2. MOV P1 ‘Move the Robot to the Safe Position 1
3. MVS P2 ‘Move the Robot in linear interpolation in safe position 2
4. M0=0 Initialize
5. *MEI
6. MVS P3 ‘Move the Robot in linear interpolation to position P1


10. ADD M0=M0+1
11. If M0<=5 Then go to *MEI
12. MVS P7 ‘Move the Robot to Safe Position 3
Program for For Loop:
1. MOV p Safe ‘Robot in Home Position
4. FOR M1=1 TO 5
9. NEXT
Precautions:
Result:
Program is successfully executed
EXPERIMENT 08

PROGRAMMING TO DEMONSTRATE LOOP COMMANDS ON

ARTICULATED ROBOT
Aim: Programming to demonstrate loop commands on articulated robot
Program for Simple Loop:
1) M=0
2) *LOOP1
3) M=M+1 Traj 1
6) *Traj1
7) MVC p1, p2, p3
8) If M=1 Then *LOOP2
9) *Traj2
10) Mov p1
11) Mov p2 Traj 2
12) Mov p3
13) Mov p1
14) *LOOP2
15) If M<2 Then *LOOP1
16) End
Program for If Loop:
1. MOV P Safe ‘Robot in Home Position
4. M0=0 Initialize
5. *MEI


10. ADD M0=M0+1
11. If M0<=5 Then go to *MEI
Program for For Loop:
1. MOV p Safe ‘Robot in Home Position
4. FOR M1=1 TO 5
9. NEXT
Precautions:
Result:

EXPERIMENT 9
PROGRAMMING FOR DRAWING CIRCLE ON SCARA ROBOT

Aim: Programming for drawing circle on SCARA
Program for Drawing Circle:
(Program the Robot to move in Circular path as per the given diagram)
1. MOV P Safe ‘Robot in the Home position
3. MVC P3, P4, P5 ‘Move the Robot in Circular Interpolation
5. MVR P3, P4, P5 ‘Move the Robot with Arc Interpolation
6. MVS P1 ‘Move the Robot to the Safe Position 3
Precautions:
Result:

EXPERIMENT 10
PROGRAMMING TO WRITE A FUNCTION/SUBPROGRAM
Aim: Programming to write a function/subprogram on Articulated robot

Main Program:
1) Mov PHOME ' HOME
4) CallP “GRIPOPEN”
8) CallP “GRIPCLOSE”
14) CallP “GRIPOPEN”
Sub Program (Gripper Open):
1) *LOOP1
2) Dly 0.5
3) HOpen 1
4) Dly 0.5

5) If M_In(900)=1 GoTo *LOOP10 'Check gripper 1 is open

6) Error 9000 ' GRIPPER NOT Opened
7) GoTo *LOOP1
8) *LOOP10
9) End
Sub Program (Gripper Close):
1) *LOOP1
2) Dly 0.5
3) HClose 1
4) Dly 0.5
5) If M_In(901)=1 GoTo *LOOP10 'Check gripper 1 is open
6) Error 9001
7) GoTo *LOOP1
8) *LOOP10
9) End
Precautions:
Result:
Program is successfully executed.

Sample Viva Questions:
1) Explain different robot components and DoF for SCARA and Articulated Robot.
2) Demonstrate how to Jog a robot using various coordinate systems
3) How to teach points to the robot using teach pendent, demonstrate
4) Write a program to bring robot to home position and execute it.
5) Write program for pick and place operation and execute it on Articulated robot?
6) Write a program for pick and place operation and execute it on SCARA robot.
7) Write a program for drawing circle and execute it on SCARA robot
8) Write a program to demonstrate loop commands on SCARA robot
9) Write a program to demonstrate loop commands on Articulated robot.
10) How do you call a function in Robot programming?
11) Write a program for pocket milling and demonstrate it on 2-DoF parallel kinematic
machine.
12) Write a program for rectangular contour and demonstrate it on 3-DoF parallel
kinematic machine.

EXPERIMENT 11
PROGRAM FOR POCKET MILLING ON 3-DOF

PARALLEL KINEMATIC MACHINE
Aim: Program for pocket milling on 2-dof parallel kinematic machine

Apparatus: PC, Keyboard, PKM programming software
Main Program:
G90 (Absolute command -origin is same for all commands)
S1000 (Set the spindle speed in RPM)
M03 (Spindle Rotation clockwise)
G01 X0 Y0 F## (G01 for linear interpolation/X horizontal axis distance, X10 means move 10mm left from central
axis, Y Vertical Distance, Y-10 means move 10 mm downward)
G01 X0 Y20 F50 (milling a pocket)
M42 (MACHINE STOP)
M30 (Program end and reset)
M05 (Spindle stop)
Precautions:
• Don’t move the PKM to its extreme position
• Keep speed constant
Result:
Program to perform pocket milling on 2-dof parallel kinematic machine is successfully
executed.

EXPERIMENT 12
PROGRAM FOR RECTANGULAR CONTOUR ON 3-DOF

PARALLEL KINEMATIC MACHINE
Aim: Program for rectangular contour on 3-DoF parallel kinematic machine

Apparatus: PC, Keyboard, PKM programming software
Main Program:
Trajectory Description:
G90 (Absolute command -origin is same for all commands)
G01 X0 Y0 Z0 F#70 (G01 for linear interpolation/the movement of the tool to the start point of the milling
M43 Q1000 (M43 MACHINE STARTS /Q= SPINLE SPEED)
G01 Z-0.1 F50 (lower the tool to the desired cutting depth)
G01 X0 Y20 F50 (milling side a)

G01 X30 Y20 (milling side b)
G01 X30 Y0 (milling side a)
G01 X0 Y0 (milling side b, return to the start point for milling)
M42 (MACHINE STOP)
M30 (Program end and Reset)

Precautions:
• Don’t move the PKM to its extreme position
• Keep speed constant
Result:
Program to perform rectangular contour milling on 3-dof parallel kinematic machine is
successfully executed.
Sample Questions on Exp 11 and 12:

1. What is PKM?
2. What is the difference between PKM and serial robot
3. What is G & M code?
4. G01 is used for what purpose?
5. M03 means what?
6. What is S100 code?
7. Which actuator is used in PKM?
8. What is the advantage of PKM?
9. What is the difference between 2 DoF and 3 DoF PKM?
10. What is the max spindle speed in PKM?
11. Write a command to move the tool of 2 DoF PKM vertically up and down.
12. Write a command to move the tool of 3 DoF PKM vertically up and down.
13. Write a command to move the tool of 2 DoF PKM along horizontal axis.
14. What is Ball screw mechanism?
15. What are LM Guides?
16. What is timing belt?

Laboratory Manual: Robotics Lab

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LABORATORY MANUAL

DEPARTMENT OF MECHANICAL ENGINEERING

GAYATRI VIDYA PARISHAD COLLEGE OF ENGINEERING

Gayatri Vidya Parishad College of Engineering (Autonomous)

Program Outcomes (POs): A graduate of mechanical engineering will be able to

PSO-2 Manufacture mechanical components by selecting effective processing methods and

PSO-3 Design, analyse and evaluate thermal systems

Gayatri Vidya Parishad College of Engineering (Autonomous)

Gayatri Vidya Parishad College of Engineering (Autonomous)

Beyond the curriculum

Course Outcome versus Program Outcomes:

Course Outcome Versus Program Specific Outcomes:

COs PSO1 PSO2 PSO3

1: Slight (Low), 2: Moderate (Medium), 3: Substantial (High), put -: No Correlation

Gayatri Vidya Parishad College of Engineering (Autonomous)

Assessment Methods: Observation / Record / Internal Exam / End Exam

Teaching-Learning and Evaluation

Week Contents Course Sample Teaching Assessment

Teaching points to How to teach Internal Lab

Gayatri Vidya Parishad College of Engineering (Autonomous)

Programming for Write a Internal Lab

Programming to Write a Internal Lab

Gayatri Vidya Parishad College of Engineering (Autonomous)

Program for Write a Internal Lab

Gayatri Vidya Parishad College of Engineering (Autonomous)

STUDY OF ROBOT COMPONENTS AND DEGREES OF FREEDOM OF

Fig. Robotic arm function line diagram

Gayatri Vidya Parishad College of Engineering (Autonomous)

Gayatri Vidya Parishad College of Engineering (Autonomous)

Fig. Articulated robotic arm

Gayatri Vidya Parishad College of Engineering (Autonomous)

Fig. SCARA (Selective Compliance Assembly Robot Arm)

Gayatri Vidya Parishad College of Engineering (Autonomous)

ROBOT JOGGING AND UNDERSTANDING COORDINATE

Fig. Teach pendent box

Gayatri Vidya Parishad College of Engineering (Autonomous)

Teach Pendent Functions:

Fig. Teach pendent box functions

Gayatri Vidya Parishad College of Engineering (Autonomous)

Gayatri Vidya Parishad College of Engineering (Autonomous)

Gayatri Vidya Parishad College of Engineering (Autonomous)

TEACHING POINTS TO THE ROBOT USING TEACH PENDANT

Gayatri Vidya Parishad College of Engineering (Autonomous)

Gayatri Vidya Parishad College of Engineering (Autonomous)

PROGRAMMING TO BRING ROBOT TO HOME POSITION

Gayatri Vidya Parishad College of Engineering (Autonomous)

PROGRAMMING FOR PICK AND PLACE ACTIVITIES BY

Gayatri Vidya Parishad College of Engineering (Autonomous)

13) Dly 1.0 'WAIT FoR 1 SECOND

Gayatri Vidya Parishad College of Engineering (Autonomous)

PROGRAMMING FOR PICK AND PLACE ACTIVITIES BY SCARA

Gayatri Vidya Parishad College of Engineering (Autonomous)

13) Dly 1.0 'WAIT FoR 1 SECOND

Gayatri Vidya Parishad College of Engineering (Autonomous)

PROGRAMMING TO DEMONSTRATE LOOP COMMANDS ON SCARA

Gayatri Vidya Parishad College of Engineering (Autonomous)

7. MVS P4 ‘Move the Robot in linear interpolation to position P2

Gayatri Vidya Parishad College of Engineering (Autonomous)

PROGRAMMING TO DEMONSTRATE LOOP COMMANDS ON

Gayatri Vidya Parishad College of Engineering (Autonomous)

9. MVS P6 ‘Move the Robot in linear interpolation to position P4

Gayatri Vidya Parishad College of Engineering (Autonomous)