ROBOTICS

(VII Semester, B.Tech. Mechatronics)

Prepared By:
Nehul J. Thakkar
Asst. Professor
U.V.Patel College of Engineering
Ganpat University
 Chapter 2: Fundamentals of Robot
Technology
 Robot Anatomy
 Robot Motions
 Work Volume
 Degree of Freedom (DOF)
 Robot Drive Systems
 Speed of Motions
 Load-carrying Capacity
 Control Systems
 Dynamic Performance
 Compliance
 End Effectors
 Sensors
7 October 2019 2 Cont.
 Robot Anatomy

 The physical construction of the body, arm

and wrist of the machine
 The wrist is oriented in a variety of positions
 Relative movements between various
components of body, arm and wrist are
provided by a series of joints
 Joints provide either sliding or rotating
motions
 The assembly of body, arm and wrist is called
“Manipulator”
7 October 2019 3 Cont.
 Robot Anatomy..

 Attached to the robot’s wrist is a hand which

is called “end effector”
 The body and arm joints position the end
effector and wrist joints orient the end
effector

7 October 2019 4 Cont.

 Robot Anatomy..
Robot Configurations
 Variety of sizes, shapes and physical
configuration
1. Cartesian Coordinates Configuration
2. Cylindrical Configuration
3. Polar or Spherical Configuration
4. Articulated or Jointed-arm Configuration
5. Selective Compliance Assembly Robot Arm
(SCARA) Configuration

7 October 2019 5 Cont.

 Robot Anatomy..
1. Cartesian Coordinate Configuration
 Uses three perpendicular slides to construct
x , y and z axes
 X-axis represents right and left motions,Y-
axis represents forward-backward motions
and Z-axis represents up-down motions
 Kinematic designation is PPP/LLL
 Other names are xyz robot or Rectilinear
robot or Gantry robot
 Operate within a rectangular work volume

7 October 2019 6 Cont.

 Robot Anatomy..
1. Cartesian Coordinate Configuration..

7 October 2019 7 Cont.

 Robot Anatomy..
1. Cartesian Coordinate Configuration..
 Advantages
 Linear motion in three dimension
 Simple kinematic model
 Rigid structure
 Higher repeatability and accuracy
 High lift-carrying capacity as it doesn’t vary at
different locations in work volume
 Easily visualize
 Can increase work volume easily
 Inexpensive pneumatic drive can be used for
P&P operation

7 October 2019 8 Cont.

 Robot Anatomy..
1. Cartesian Coordinate Configuration..
 Disadvantages
 requires a large volume to operate in
 work space is smaller than robot volume
 unable to reach areas under objects
 must be covered from dust

 Applications
 Assembly
 Palletizing and loading-unloading machine tools,
 Handling
 Welding
7 October 2019 9 Cont.
 Robot Anatomy..
2. Cylindrical Configuration
 Use vertical column which rotates and a slide
that can be moved up or down along the
column
 Arm is attached to slide which can be moved
in and out
 Kinematic designation is RPP
 Operate within a cylinder work volume
 Work volume may be restricted at the back
side

7 October 2019 10 Cont.

 Robot Anatomy..
2. Cylindrical Configuration..

7 October 2019 11 Cont.

 Robot Anatomy..
2. Cylindrical Configuration..
 Advantages
 Simple kinematic model
 Rigid structure & high lift-carrying capacity
 Easily visualize
 Very powerful when hydraulic drives used
 Disadvantages
 Restricted work space
 Lower repeatability and accuracy
 Require more sophisticated control
 Applications
 Palletizing, Loading and unloading
7 October 2019  Material transfer, foundry
12 and forging Cont.
 Robot Anatomy..
3. Polar or Spherical Configuration
 Earliest machine configuration
 Has one linear motion and two rotary
motions
 First motion is a base rotation, Second
motion correspond to an elbow rotation and
Third motion is radial or in-out motion
 Kinematic designation is RRP
 Capability to move its arm within a spherical
space, hence known as ‘Spherical’ robot
 Elbow rotation and arm reach limit the design
of full spherical motion
7 October 2019 13 Cont.
 Robot Anatomy..
3. Polar or Spherical Configuration..

7 October 2019 14 Cont.

 Robot Anatomy..
3. Polar or Spherical Configuration..
 Advantages
 Covers a large volume
 Can bend down to pick objects up off the floor
 Higher reach ability
 Disadvantages
 Complex kinematic model
 Difficult to visualize
 Applications
 Palletizing
 Handling of heavy loads e.g. casting, forging

7 October 2019 15 Cont.

 Robot Anatomy..
4. Jointed Arm Configuration
 Similar to human arm
 Consists of two straight components like
human forearm and upper arm, mounted o a
vertical pedestal
 Components are connected by two rotary
joints corresponding to the shoulder and
elbow
 Kinematic designation is RRR
 Work volume is spherical

7 October 2019 16 Cont.

 Robot Anatomy..
4. Jointed Arm Configuration..

7 October 2019 17 Cont.

 Robot Anatomy..
4. Jointed Arm Configuration..

7 October 2019 18 Cont.

 Robot Anatomy..
4. Jointed Arm Configuration..
 Advantages
 Maximum flexibility
 Cover large space relative to work volume
objects up off the floor
 Suits electric motors
 Higher reach ability
 Disadvantages
 Complex kinematic model
 Difficult to visualize
 Structure not rigid at full reach
 Applications
7 October 2019  Spot welding, Arc welding
19 Cont.
 Robot Anatomy..
5. SCARA Configuration
 Most common in assembly robot
 Arm consists of two horizontal revolute
joints at the waist and elbow and a final
prismatic joint
 Can reach at any point within horizontal
planar defined by two concentric circles
 Kinematic designation is RRP
 Work volume is cylindrical in nature
 Most assembly operations involve building up
assembly by placing parts on top of a partially
complete assembly
7 October 2019 20 Cont.
 Robot Anatomy..
5. SCARA Configuration..

7 October 2019 21 Cont.

 Robot Anatomy..
5. SCARA Configuration..

7 October 2019 22 Cont.

 Robot Anatomy..
5. SCARA Configuration..
 Advantages
 Floor area is small compare to work area
 Compliance
 Disadvantages
 Rectilinear motion requires complex control of
the revolute joints
 Applications
 Assembly operations
 Inspection and measurements
 Transfer or components

7 October 2019 23 Cont.

 Robot Motions
 Industrial robots perform productive work
 To move body, arm and wrist through a series
of motions and positions
 End effector is used to perform a specific task
 Robot’s movements divided into two
categories:
1. Arm and body motions
2. Wrist motions

 Individual joint motions referred as ‘ DOF ’

 Motions are accomplished by powered joints

7 October 2019 24 Cont.

 Robot Motions..
 Three joints are associated with the action of
arm and body
 Two or three used to actuate the wrist
 Rigid members are used to connect
manipulator joints are called links
 Input link is closest to the base
 Output link moves with respect to the input
link

7 October 2019 25 Cont.

 Robot Motions..
 Joints involve relative motions of the
adjoining links that may be linear or rotational
 Linear joints involve a sliding or translational
motion which can be achieved by piston,
telescopic mechanism
 May be called ‘Prismatic’ joint
 Represented as L or P joint
 Three types of rotating motion:
1. Rotational (R)
2. Twisting (T)
3. Revolving (V)

7 October 2019 26 Cont.

 Robot Motions..

7 October 2019 27 Cont.

 Robot Motions..
 Physical configuration of the robot can be described
by a joint notation scheme
 Considering the arm and body first
 Starting with the joint closest to the base till the joint
connected to the wrist
 Examples are LLL, TLL, TRL, TRR,VVR
 Wrist joints can be included for notation
 From joint closest to the arm to the mounting plate
for the end effector have either T or R type
 Examples are TRL : TRT, TRR : RT
 The scheme also provide that robot move on a track
or fixed to a platform
 Example TRL : TRT, L-TRL : TRT
7 October 2019 28 Cont.
 Robot Motions..

7 October 2019 29 Cont.

 Robot Motions..

7 October 2019 30 Cont.

 Robot Motions..

7 October 2019 31 Cont.

 Robot Work Volume
 The space within which the robot can
manipulate its wrist end
 different end effector might be attached to
wrist but not counted as part of the robot’s
work space
 Long end effector add to the extension of the
robot compared to smaller end effector
 End effector may not be capable of reaching
certain points within the robot’s normal work
volume
 Larger volume costs more but can increase
capabilities of robot
7 October 2019 32 Cont.
 Robot Work Volume..
 It depends upon following physical
characteristics:
 Robot’s configuration
 Size of the body, arm and wrist components
 Limits of the robot’s joint movements

7 October 2019 33 Cont.

 Robot Work Volume..

7 October 2019 34 Cont.

 Robot Work Volume..

7 October 2019 35 Cont.

 Degree of Freedom (DOF)

Rotate Base of Arm

Pivot Base of Arm
Bend Elbow
Wrist Up and Down
Wrist Left and Right
Rotate Wrist

7 October 2019 36 Cont.

 Degree of Freedom..
 It is a joint , a place where it can bend or
rotate or translate
 Can identify by the number of actuators on
the arm
 Few DOF allowed for an application because
each degree requires motor, complicated
algorithm and cost
 Each configurations discussed before utilizes
three DOF in the arm and the body
 Three DOF located in the wrist give the end
effector all the flexibility

7 October 2019 37 Cont.

 Degree of Freedom..
 A total 6 DOF is needed to locate a robot’s
hand at any point in its work space
 The arm and body joints move end effector
to a desired position within the limits of
robot’s size and joint movements
 Polar, cylindrical and jointed arm
configuration consist 3 DOF with the arm
and body motions are:
1. Rotational traverse: Rotation of the arm about
vertical axis such as left-and-right swivel of the
robot arm about a base

7 October 2019 38 Cont.

 Degree of Freedom..

2. Radial traverse: Involve the extension and

retraction (in or out movement) of the arm
relative to the base
3. Vertical traverse: Provide up-and-down motion
of the arm
 For a Cartesian coordinate robot, 3 DOF are vertical
movement (z-axis motion), in-and-out movement (y-
axis motion), and right-and-left movement (x-axis
motion) which are achieved by slides of the robot
arm

7 October 2019 39 Cont.

 Degree of Freedom..

7 October 2019 40 Cont.

 Degree of Freedom..
 Wrist movement enable the robot to orient
the end effector properly to perform a task
 Provided with up to 3 DOF which are:
1. Wrist Pitch/Bend: Provide up-and-down
rotation to the wrist
2. Wrist Yaw: Involve right-and-left rotation of the
wrist
3. Wrist Roll/Swivel: Is the rotation of the wrist
about the arm axis

7 October 2019 41 Cont.

 Degree of Freedom..

7 October 2019 42 Cont.

 Degree of Freedom..

7 October 2019 43 Cont.

 Drive Systems
 Capacity to move robot’s body, arm and wrist
 Determine speed of the arm movements,
strength of the robot & dynamic performance
 Type of applications that the robot can
accomplish
 Powered by three types of drive systems:
1. Hydraulic
2. Pneumatic
3. Electric

7 October 2019 44 Cont.

 Drive Systems..

7 October 2019 45 Cont.

 Drive Systems..
1. Hydraulic Drive
 Associated with large robot
 Provide greater speed & strength
 Add floor space
 Leakage of oil
 Provide either rotational or linear motions
 Applications such as:
• Spray coating robot
• Heavy part loading robot
• Material handling robot
• Translatory motions in cartesian robot
• Gripper mechanism

7 October 2019 46 Cont.

 Drive Systems..
1. Hydraulic Drive..

7 October 2019 47 Cont.

 Drive Systems..
1. Hydraulic Drive..

7 October 2019 48 Cont.

 Drive Systems..
2. Pneumatic Drive
 Reserved for smaller robot
 Limited to “pick-and-place” operations with fast
cycles
 Drift under load as air is compressible
 Provide either rotational or linear motions
 Simple and low cost components
 Used to open and close gripper

7 October 2019 49 Cont.

 Drive Systems..

7 October 2019 50 Cont.

 Drive Systems..
3. Electric Drive
 Rotor, stator, brush and commutator assembly
 Rotor has got windings of armature and stator has
got magnets
 The brush and the commutator assembly switch
the current in armature windings
 The most commonly used are DC servomotors,
AC servomotors and stepper motors

7 October 2019 51 Cont.

 Drive Systems..
3. Electric Drive..

Servomotor
7 October 2019 52 Cont.
 Drive Systems..
3. Electric Drive..

7 October 2019 53 Cont.

 Drive Systems..
3. Electric Drive..

7 October 2019 54 Cont.

 Speed of Motion
 Speed determines how quickly the robot can
accomplish a given work cycle
 Desirable in production to minimize cycle
time
 Industrial robot speed range up to a
maximum of 1.7 m/s
 Speed would be measured at wrist
 Highest speed can be obtained by large robot
with fully extended arm

7 October 2019 55 Cont.

 Speed of Motion..
 Most desirable speed depends on factors:
 Accuracy
 Weight of the object
 Distance

 Inverse relation between the accuracy and

the speed
 Heavier objects must be handled more slowly
 Capable of traveling one long distance in less
time than a sequence short distances whose
sum is equal to the long distance

7 October 2019 56 Cont.

 Speed of Motion..
 Short distance may not permit for
programmed operating speed

7 October 2019 57 Cont.

 Load-Carrying Capacity
 It depends upon size, configuration,
construction and drive system
 Robot arm must be in its weakest position to
calculate load-carrying capacity
 In polar, cylindrical and jointed-arm, the robot
arm is at maximum extension
 Ranges from less than a pond to several
thousand pounds
 Gross weight include the weight of the end
effector

7 October 2019 58 Cont.

 Control Systems
 Controlling drive system to properly regulate
its motions
 Four categories according to control systems
1. Limited-sequence robot
2. Playback robots with PTP control
3. Playback robots with continuous path control
4. Intelligent robot

7 October 2019 59 Cont.

 Speed of Response & Stability
 The speed of response refers to the capability
of the robot to move to the next position in
a short amount of time
 Stability is defined as a measure of the
oscillations which occur in the arm during
movement from one position to the next
 Good stability exhibit little or no oscillation
and poor stability indicated by a large amount
of stability
 Damping control stability but reduces the
speed of response

7 October 2019 60 Cont.

 Speed of Response & Stability..

7 October 2019 61 Cont.

 Spatial Resolution

7 October 2019 62 Cont.

 Spatial Resolution..
 Defined as smallest increment of movement
into which the robot can divide its work
volume
 Depends on two factors: system’s control
resolution and the robot’s mechanical
inaccuracies
 Control resolution is determined by robot’s
position control system and its feedback
measurement system
 Ability to divide total range of movement for
the particular joint into individual increments
that can be addressed in the controller
7 October 2019 63 Cont.
 Spatial Resolution..
 Joint range depends on the bit storage
capacity in the control memory
 Number of increments for a axis is given by
Number of Increments = 2n
 Have a control resolution for each joint in
case of several DOF
 Resolution for each joint to be summed
vectorially
 Total control resolution depend on the wrist
motions as well as the body and arm motions

7 October 2019 64 Cont.

 Spatial Resolution..
 Mechanical inaccuracies come from elastic
deflection in the structure elements, gear
backlash, stretching of pulley cords, leakage of
hydraulic fluids and other imperfections in the
mechanical system
 Also affected by load being handled, the speed
of arm moving, condition of maintenance of
robot

7 October 2019 65 Cont.

 Accuracy
 Ability to position its wrist end at a desired
target point within the work volume

7 October 2019 66 Cont.

 Accuracy..
 Depends on spatial resolution means how
closely the robot can define the control
increments
 Lie in the middle between two adjacent
control increments
 One half of the control resolution

7 October 2019 67 Cont.

 Accuracy..
 Depends on spatial resolution means how
closely the robot can define the control
increments
 Lie in the middle between two adjacent
control increments
 One half of the control resolution
 Same anywhere in work volume
 It may be changed in work volume due to
mechanical inaccuracies

7 October 2019 68 Cont.

 Accuracy..
 Affected by many factors
 Mechanical inaccuracies
 Work range
 Weight

7 October 2019 69 Cont.

 Repeatability
 Ability to position its wrist at a point in space
that had been taught
 Accuracy relates to its capacity to be
programmed to achieve a given target point
 Programmed point and target point may be
different due to limitations of resolution
 Repeatability refers to ability to return to the
programmed point when commanded to do
so

7 October 2019 70 Cont.

 Repeatability..

7 October 2019 71 Cont.

 Compliance
 Displacement of the wrist end in response to
a force or a torque exerted against it
 High compliance means that wrist is displaced
a large amount by small force known as
‘Springy’
 Reduce the robot precision of movement
under load
 Directional feature
 Reaction force of the part may cause
deflection to the manipulator

7 October 2019 72 Cont.

 Thank You

7 October 2019 73