CHAPTER 1: OVERVIEW OF ROBOTS

CHAPTER 1
OVERVIEW OF ROBOTS

1 Historical Evolution of Industrial Robotics

The evolution of industrial robotics is a fascinating journey that spans decades and reflects the
continuous pursuit of automating and enhancing manufacturing processes. The roots of industrial
robotics can be traced back to the mid-20th century when the idea of utilizing machines to perform
repetitive tasks gained traction.

Early Developments (1950s-1960s): The concept of programmable machines that could mimic human
movements emerged in the 1950s. In 1954, George Devol patented the first digitally operated and
programmable robot, naming it the Unimate. Developed in collaboration with Joseph Engelberger,
the Unimate was introduced to the General Motors assembly line in 1961, marking the birth of
industrial robotics. This robotic arm, initially designed for die-casting applications, revolutionized
manufacturing by handling tasks that were dull, dirty, or dangerous for human workers.

Expansion and Diversification (1970s-1980s): The 1970s witnessed a significant expansion of

industrial robotics. Companies like ASEA (now ABB) and KUKA introduced robotic arms with
improved capabilities. The introduction of microprocessors enhanced the robots' control systems,
making them more versatile and adaptable. The automotive industry became a major adopter of
robotics, utilizing them for tasks ranging from welding to assembly.

In 1973, the Stanford Arm, a groundbreaking achievement in robotics, was developed at Stanford
University. This robotic arm demonstrated advanced capabilities, including touch sensitivity and
compliance, paving the way for future innovations.

Technological Advancements (1990s-2000s): The 1990s saw further technological advancements,

with robots becoming more sophisticated and capable. Six-axis robotic arms became standard,
allowing for increased flexibility in movement. The integration of sensors and vision systems
enhanced robots' perception and interaction with their environment.

Parallelly, research in the field of artificial intelligence and machine learning contributed to the
development of intelligent robotic systems. These advancements facilitated the emergence of
collaborative robots (cobots), designed to work alongside human operators.

Contemporary Landscape (2010s Onward): The 2010s marked a shift towards creating robots that are
not only highly precise but also safe to work closely with humans. The focus on human-robot
collaboration led to the development of advanced safety features, such as force/torque sensors and
collaborative control mechanisms.
 CHAPTER 1: OVERVIEW OF ROBOTS

In conclusion, the historical evolution of industrial robotics showcases a remarkable progression from
basic programmable machines to highly advanced and collaborative robotic systems. As technology
continues to advance, the future promises even greater integration of robotics into various aspects of
industry, contributing to increased efficiency, safety, and innovation.

2 Definitions
2.1 Robot
A robot is an autonomous machine capable of sensing its environment, carrying out computations to
make decisions, and performing actions in the real world.

2.2 Industrial robot

An industrial robot is a specialized, programmable machine designed to execute tasks within an
industrial setting, with a primary focus on automating manufacturing and production processes. These
versatile machines are equipped with mechanical arms and integrated control systems, capable of
performing a wide array of repetitive, precise, and often intricate tasks, thereby enhancing efficiency,
precision, and productivity in industrial operations.

2.3 Mini-industrial robot

A mini-industrial robot is a small-scale robotic system designed for performing tasks typically found
in industrial settings. These robots are characterized by their compact size, lightweight construction,
and often modular design. They are capable of carrying out various manufacturing, assembly,
handling, and inspection tasks. Mini-industrial robots are often used in environments where space is
limited or where smaller, more agile robots are required to perform intricate or delicate tasks. They
may be mounted on fixed bases, mobile platforms, or integrated into larger automated systems.

3 Classification of Robots
 CHAPTER 1: OVERVIEW OF ROBOTS

4 Components of a Robot
The main components and subsystems of an industrial robot are the mechanical structure, the sensors,
the actuator and the controller, as it is shown in Figure 00.

4.1 Mechanical Structure

The mechanical structure represents the physical framework and body of the robot. The robot's
mechanical structure includes the chassis, joints, and links that determine its form and range of motion.
The design of the mechanical structure influences the robot's stability, payload capacity, and ability to
navigate its environment. It is tailored to meet specific application needs.

4.2 Sensors
Sensors are devices that provide robots with information about the surrounding environment. Robots
use various sensors, such as cameras, force/torque sensors, and proximity sensors, to perceive and
interpret their surroundings. For example, a camera can be employed for object recognition, while
force/torque sensors enable the robot to sense external forces and adapt its actions accordingly.

4.3 Actuators
Actuators are mechanisms responsible for the movement and control of the robot's physical parts.
Motors and servos serve as actuators in robots, converting electrical signals into mechanical motion.
They enable precise control of the robot's limbs, joints, and other movable parts. Actuators play a
crucial role in executing tasks such as picking, placing, and manipulating objects.

4.4 Controller
The controller is the central processing unit that manages and coordinates the robot's functions. The
controller receives input from sensors, processes the information, and sends commands to actuators. It
acts as the robot's "brain," orchestrating its movements and responses. Advanced controllers use
algorithms to ensure safe and efficient robot operations.

5 Characteristics of a Robot
A robot possesses various characteristics that define its capabilities and functionalities. Understanding
these features is crucial for designing robots tailored to specific tasks. Let's delve into the key
characteristics:

5.1 Maximum Payload Capacity

5.2 Workspace

5.3 Positioning Accuracy

 CHAPTER 1: OVERVIEW OF ROBOTS

6 Degree of freedom (DoF)

The number of degrees of freedom (DoF) determining the location of a body in Cartesian space is six
(6). However, a robot manipulator could have less, equal or more than 6 DoF depending on the
requirements of the task to be performed.

The Chebychev-Grübler-Kutzbach formula is used to determine the number of degrees of freedom

(or 'mobility') of a kinematic chain (a mechanism consisting of links and joints), is expressed as
follows:

𝑵𝒋
M= 𝝀 𝑵𝒍 − 𝑵𝒋 − 𝟏 + ∑𝒌 𝟏
𝒇𝒌
Where:
M: Degree of freedom (or mobility) of the mechanism.
Nl: Number of links (the 'Frame' is also considered as a link).
Nj: Number of joints.
λ: Number of degrees of freedom of a link (3 for the planar mechanism, 6 for the spatial mechanism).
fk: Number of joints' freedom.

Lower DoF decreases the cost and software components but limits the scope, flexibility and dexterity
of the manipulator. Higher number of DoF increases the flexibility and dexterity enhancing the scope
of the manipulator. However, it increases the weight, software and control complexity, the actuators
power and torque and the cost.