Robotics: (VII Semester, B.E. Mech)

ROBOTICS
(VII Semester, B.E. Mech)

Unit -1
Robot - Definition - Robot Anatomy - Co ordinate

Systems, Work Envelope Types and
Classification- Specifications-Pitch, Yaw, Roll,
Joint Notations, Speed of Motion, Pay Load-
Robot Parts and their Functions-Need for
Robots-Different Applications.
Tuesday, September 28, 2021 Cont. 2

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
Tuesday, September 28, 20 3 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”
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

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

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

Robot Anatomy..
1. Cartesian Coordinate Configuration..

Cartesian Coordinate Configuration

Robot Anatomy..
 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

Robot Anatomy..
 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
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

Robot Anatomy..
2. Cylindrical Configuration..

Cylindrical Configuration..

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
Tuesday, September 28, 2021  Material transfer, foundry
15 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
Robot Anatomy..
3. Polar or Spherical Configuration..

Polar or Spherical Configuration..

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

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

Robot Anatomy..
4. Jointed Arm Configuration..

Robot Anatomy..

4 TYPES OF
CONFIGURATION

Robot Anatomy..
 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
Tuesday, September 28, 2021
 Spot welding, Arc24welding 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
Robot Anatomy..
5. SCARA Configuration..

SCARA ROBOT

Robot Anatomy..

Robot Anatomy..
 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

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

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

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)

Robot Motions..

JOINTS

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
Robot Motions..

Robot Motions..

Robot Motions..

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
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

Robot Work Volume..

Robot Work Volume..

Degree of Freedom (DOF)
Rotate Base of Arm

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

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

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

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

6 DOF

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

Degree of Freedom..

Degree of Freedom..

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

Drive Systems..

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

Drive Systems..
1. Hydraulic Drive..

Drive Systems..
1. Hydraulic Drive..

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

Drive Systems..

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

Drive Systems..
3. Electric Drive..
Servomotor
Drive Systems..
3. Electric Drive..

Drive Systems..
3. Electric Drive..

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

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

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

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

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

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

Speed of Response & Stability..

Spatial Resolution

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
 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

 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

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

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

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

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

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

Repeatability..

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

Th an k You
Tuesday, September 28, 2021 80

Robotics: (VII Semester, B.E. Mech)

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ROBOTICS

(VII Semester, B.E. Mech)

Robot - Definition - Robot Anatomy - Co ordinate

Tuesday, September 28, 2021 Cont. 2

 The physical construction of the body, arm

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

Tuesday, September 28, 2021 5 Cont.

Tuesday, September 28, 2021 6 Cont.

Tuesday, September 28, 2021 7 Cont.

Tuesday, September 28, 2021 8 Cont.

Tuesday, September 28, 2021 Cont. 9

Tuesday, September 28, 2021 10 Cont.

Tuesday, September 28, 2021 12 Cont.

Tuesday, September 28, 2021 13 Cont.

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Tuesday, September 28, 2021 17 Cont.

Tuesday, September 28, 2021 Cont. 18

Tuesday, September 28, 2021 19 Cont.

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Tuesday, September 28, 2021 Cont. 23

Tuesday, September 28, 2021 26 Cont.

Tuesday, September 28, 2021 Cont. 27

Tuesday, September 28, 2021 28 Cont.

Tuesday, September 28, 2021 29 Cont.

 Individual joint motions referred as ‘ DOF ’

Tuesday, September 28, 2021 30 Cont.

Tuesday, September 28, 2021 31 Cont.

Tuesday, September 28, 2021 32 Cont.

Tuesday, September 28, 2021 33 Cont.

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Tuesday, September 28, 2021 42 Cont.

Rotate Base of Arm

Tuesday, September 28, 2021 43 Cont.

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2. Radial traverse: Involve the extension and

Tuesday, September 28, 2021 46 Cont.

Tuesday, September 28, 2021 47 Cont.

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Tuesday, September 28, 2021 62 Cont.

 Inverse relation between the accuracy and the

Tuesday, September 28, 2021 63 Cont.

Tuesday, September 28, 2021 64 Cont.