Industrial Robotics

Fundamentals
Classification
 The NASA special-purpose dextrous
17-DOF robot (courtesy Robotics Research manipulator (SPDM)
Corporation)
 Active cord mechanism (courtesy S. Hirose)

The continuum manipulator (courtesy OC

The OctArm continuum manipulator (courtesy Robotics)
I. Walker)
Definition : Industrial Robot [ISO 8373]
🞂 An automatically controlled, reprogrammable, multipurpose
🞂 Manipulator programmable in three or more axes, which may be
either fixed in place or mobile for use in industrial automation
applications
🞂 Reprogrammable : whose programmed motions or auxiliary functions
may be changed without physical alterations
🞂 Multipurpose : capable of being adapted to a different
applications
🞂 Physical alterations : alteration of the mechanical structure or control
system except for changes of programming cassettes, ROMs, etc
🞂 Axis : direction used to specify the robot motion in a linear or rotary
mode
Industrial Robotics

Yearly installations of industrial robots

worldwide
Industrial Robotics

Yearly supply of industrial robots by main

industries
Definition : Service Robot

🞂 A robot which operates semi- or fully autonomously to

perform a services useful to the well-being of humans and
equipment, excluding manufacturing operations
Concept of Robot Town
Daily Life Support by Robots in/out of a
house in Robot Town
Information Structuring of Robot Town
 Carry the Baggage

Wheelchair Robot

Camera

Laser
Range
Finder
Porter Robot
Camera

Laser
Range
Finder
Field Robots

Robots on stock for non-industrial

applications
Robot Wakamaru
🞂 Wakamaru is a Japanese domestic robot made by
Mitsubishi Heavy Industries, primarily intended to
provide companionship to elderly and disabled
people. The robot is yellow, 1m tall, and weighs 30
kilograms. It has two arms and its flat, circular base
has a diameter of 45 cm. The first hundred went on
sale in September, 2005, for USD$14,000.
🞂 Wakamaru runs a Linux operating system on
multiple microprocessors. It can connect to the
Internet, and has limited speech (in both male and
female voices) and speech recognition abilities.
Functions include reminding the user to take
medicine on time, and calling for help if it suspects
something is wrong.
Robots in Agriculture and Forestry

Cut-to-length (CTL) harvester made Walking forest harvester prototype by

by Ponsse Oy Ltd. Plustech Ltd., today part of John Deere
Service Robots

🞂The Cycab is an electrically-driven vehicle for

autonomous transportation in urban environments
(courtesy of INRIA)
🞂 Rhino, employing the synchro-drive mobile base B21 by Real World Interface,
was one of the first robots for museum guided tours (courtesy of Deutsches
Museum Bonn)
CLOUD ROBOTICS PROJECTS
🞂 RoboEarth is a European project led by the Eindhoven University of Technology, in
the Netherlands, to develop a "World Wide Web for robots," a giant database where
robots can share information about objects, environments, and tasks.
🞂 Researchers at Singapore's ASORO (A-Star Social Robotics Laboratory) have built a
cloud-computing infrastructure that allows robots to generate 3-D maps of their
environments much faster than they could with their onboard computers.
🞂 Google engineers developed Android-powered robot software that allows a
smartphone to control robots based on platforms like Lego Mindstorms, iRobot
Create, and Vex Pro.
🞂 Researchers at the Laboratory of Analysis and Architecture of Systems, in Toulouse,
France, are creating "user manual" repositories for everyday objects to help robots
with manipulation tasks.
🞂 At a children's hospital in Italy, Nao humanoid robots, created by the French firm
Aldebaran Robotics, will rely on a cloud infrastructure to perform speech recognition,
face detection, and other tasks that might help improve their interaction with patients.
Classification of Robots
JARA (JApanese Robot Association)
🞂Class1: Manual-Handling Device
🞂Class2: Fixed Sequence Robot
🞂Class3: Variable Sequence Robot
🞂Class4: Playback Robot
🞂Class5: Numerical Control Robot
🞂Class6: Intelligent Robot
Classification of Robots
RIA (Robotics Institute of America)

🞂Variable Sequence Robot(Class3)

🞂Playback Robot(Class4)
🞂Numerical Control Robot(Class5)
🞂Intelligent Robot(Class6)
Classification of Robots
AFR (Association FranÇaise de Robotique)

🞂Type A: Manual Handling Devices/ telerobotics

🞂Type B: Automatic Handling Devices/ predetermined
cycles
🞂Type C: Programmable, Servo controlled robot,
continuous point-to-point trajectories
🞂Type D: Same type with C, but it can acquire
information.
Comparisons
Advantage and Disadvantage
Components of a robotic system
Structure of Industrial Robots
Structure of Industrial Robots
Robot Components
🞂 Manipulator or Rover : Main body of robot (Links, Joints, other
structural element of the robot etc)
🞂 End Effector: The part connected to the last joint(hand) of a manipulator
🞂 Actuators: Muscles of the manipulators (servomotor, stepper motor,
pneumatic and hydraulic cylinder)
🞂 Sensors: To collect information about the internal state of the robot or
to communicate with the outside environment
🞂 Controller: Similar to cerebellum.
It controls and coordinates the motion of the actuators.
🞂 Processor: The brain of the robot.
It calculates the motions and the velocity of the robot’s joints.
🞂 Software: Operating system, robotic software and the collection of
routines.
Robot Joints
🞂 Prismatic Joint: Linear, No rotation involved.

🞂 Revolute Joint: Rotary, (electrically driven with stepper motor, servo

motor)
Robot Degree of Freedom

1 D.O.F. 2 D.O.F. 3 D.O.F.

Motion

🞂 Planar (two-dimensional, Plane) motion

🞂 Spatial(three-dimensional) motion : up to 3 Translations & 3 Rotations

⚫ Translations: x, y, z
⚫ Rotations : α, β, χ

Rigid body : Elastic Modulus [E] = ∞

Elastic Body : Elastic Modulus [E] < ∞
 Kinematic Pair
🞂 A joint which is formed by the contact between two bodies and allows
relative motion between them
Robot Kinematics
Various workspaces of
kinematic structures
Construction Form of Industrial Robots
🞂Cartesian & Portal Robot

🞂Vertically Articulated Robot

🞂Horizontally Articulated Robot

Robot Topology
• The kinematic skeleton of a robot is
modeled as a series of links connected by
either hinged or sliding joints forming a
serial chain.
• This skeleton has two basic forms, that of
a single serial chain called a serial Robot
and as a set of serial chains supporting a
single end-effector, called a parallel robot,
• Robots can be configured to work in
parallel such as the individual legs of
walking machines
Robot Topology

adaptive suspension vehicle

(ASV) walking machine
Robot Topology

Salisbury three-fingered robot hand with

its cable drive system, Salisbury three-
fingered hand grasping a block.
Serial Robots
A single finger of the
Salisbury hand is a serial
chain robot

🞂 A serial chain robot is a

sequence of links and
joints that begins at a base
and ends with an end-
effector.
• The links and joints of a robot are often configured to provide separate
translation and orientation structures. Usually, the first three joints are used
to position a reference point in space and the last three form the wrist which
orients the end-effector around this Point .
• The design of a robot is often based on the symmetry of its reachable
workspace. From this point of view there are three basic shapes:
rectangular, cylindrical, and spherical
 Parallel Robots
🞂 A robotic system in which two or
more serial chain robots support an
end-effector is called a parallel
robot.

🞂 The workspace of a parallel robot is

the intersection of the workspaces of
the individual supporting chains.

🞂 Another approach is to specify

directly the positions and
orientations that are to lie in the
workspace and solve the algebraic
equations that define the leg
constraints to determine the design
One leg of the ASV walking machine is a parallel robotparameters
The NASA gantry robot
 Parallel Kinematic Robot/Machine (KPM)

General Stewart-Gough HEXA platform; all

platform: the actuated joints joints are revolute
are prismatic, the passive
joints are revolute.
Climbing Parallel Robots

Steps that define the climbing process of the climbing parallel robot.
Climbing Parallel Robots

Different images of the parallel robot climbing o a palm tree trunk.

Climbing Parallel Robots

Parallel robot climbing inside/outside tubular structures

Parallel Platform