Basic concepts of robotics

Definition and origin of robotics – different types of robotics – various generations of robots – degrees of freedom – Asimov’s laws of robotics – dynamic stabilization of robots

1. ROBOTICS & AUTOMATION By S.VEERAKUMAR Assistant Professor Mechanical Engineering Department [email protected] 15-04-2019 1

2. UNIT I BASIC CONCEPTS Definition and origin of robotics – different types of robotics – various generations of robots – degrees of freedom – Asimov’s laws of robotics – dynamic stabilization of robots

3. LECTURE-1 Definition Origin of robotics 15-04-2019 3

4. What is Robotics? Robotics is the branch of technology that deals with the design, construction, operation, and application of robots, as well as computer systems for their control, sensory feedback, and information processing. The design of a given robotic system will often contain principles of mechanical and electronic engineering and computer science. The word robotics was first used in 1941 by the writer Isaac Asimov.

5. 15-04-2019 5 Robotics is an interdisciplinary branch of engineering and science that includes mechanical engineering, electronic engineering, information engineering, computer science, and others. Robotics deals with the design, construction, operation, and use of robots, as well as computer systems for their control, sensory feedback, and information processing. Robotics is a branch of engineering that involves the conception, design, manufacture, and operation of robots . DEFINITION-ROBOTICS

6. 15-04-2019 6 Robotics institute of America defines a robot as a “programmable, multifunction manipulator designed to Move materials, parts, tools or special devices through variable programmed motions for the performance of the variety of task”. DEFINITION-ROBOTS

7. The Advantages of Robots Perform the defined tasks with speed and accuracy Give us information that we can’t Don’t get bored Work at any time without salary or food Can work in dangerous environment Can do many tasks at the same time Don’t need experience

8. The Disadvantages of Robots Can’t respond in emergencies Cost a lot of money Replace human workers Need a huge power supply

9. Future of Robotics Every person will have a robot at home Robots will do all the household tasks Robots will take care of children and elderly Nanorobots will be made The whole army will be composed of robots Robots will perform surgeries Robot brains that are based on computers can be ordered 100 trillion instructions per second will be made

10. 15-04-2019 10 Automation is the technique, method, or system of operating or controlling a process by highly automatic means, as by electronic devices, reducing human intervention to a minimum. A mechanical device, operated electronically, that functions automatically, without continuous input from an operator. (OR) Automation is a technology that is concerned with the use of electronic, mechanical and computer based system in the operation control and production. The definition of automation is the use of machines and technology to make processes run on their own without manpower. DEFINITION-AUTOMATION

11. 15-04-2019 11 DIFFERENCE BETWEEN ROBOTICS AND AUTOMATION The answer to this question is ‘ robotics is a form of automation , so there is no difference .’

12. 15-04-2019 12 DIFFERENCE BETWEEN ROBOTICS AND AUTOMATION The answer to this question is ‘ robotics is a form of automation , so there is no difference .’ The main difference between robotics and automation is that, robots are a piece of equipment that can perform a variety of tasks with programming, whilst be spoke automation is a term that is used for special purpose machines or systems that are designed to perform a specific task.

13. 15-04-2019 13 DIFFERENCE BETWEEN ROBOTICS AND AUTOMATION The answer to this question is ‘ robotics is a form of automation , so there is no difference .’

14. 15-04-2019 14 ORIGIN OF ROBOTS

15. Da Vinci sketched the first humanoid robot in 1495 George Devol and Joseph Engelberger formed the world’s first robot company in 1956 Unimate, the first industrial robot was designed in 1961 The Soviet Union launches the first artificial orbiting satellite in 1957 The first artificial robotic arm to be controlled by computer was designed at Rancho Los Amigos Hospital in Downey in 1963 Neil Armstrong became the first human to land on the moon in 1969

16. First mobile robot controlled by artificial intelligence was designed in 1970 Mars Pathfinder’s sojourner rover landed on Mars for the first time in 1977 Honda debuts a new humanoid robot called Asimo in 2002 Epsom release the smallest known robot helicopter in 2004 The Roomba robotic vacuum cleaner has sold over 2.5 million units in 2008

17. LECTURE-2 D ifferent types of robotics 15-04-2019 22

18. What is Robotics? Robotics is the branch of technology that deals with the design, construction, operation, and application of robots, as well as computer systems for their control, sensory feedback, and information processing. The design of a given robotic system will often contain principles of mechanical and electronic engineering and computer science. The word robotics was first used in 1941 by the writer Isaac Asimov.

19. Different Branches Occupied in the Development of Robotics: Robotics in contrast to other branches is a reasonably new domain of engineering. It is a multi-disciplinary domain. The different branches occupied in the development of Robotics are :- Mechanical Engineering : Deals with the machinery & structure of the Robots. Electrical Engineering : Deals with the controlling & intelligence (sensing) of Robots. Computer Engineering : Deals with the movement development and observation of Robots. BRANCHES INVOLVED IN ROBOTICS 15-04-2019 24

20. Branches of Robotics Artificial Intelligence: the developing of an intelligence of machine and is a branch of computer science Nanorobotics: the field of creating machines that are at a scale of a nanometre Telepresence: the study given to an illusion of being at a place without being there physically Robot Locomotion: the study of the methods that robots use to transport themselves from place to another

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28. Robots are categorized depending upon the circuits of the Robots and the variety of application it can perform. The robots are classified into three types : Simple level Robots-  These are automatic machines which do not contain complex circuit. They are developed just to extend human potential. For Example- Washing Machine. Middle level Robots – These robots are programmed but can never be reprogrammed. These robots contain sensor based circuit & can perform multiple tasks. For Example- Fully Automatic Washing Machine. Complex level Robots-  These robots are programmed and can be reprogrammed as well. They contain complex model based circuit. For Example- Laptop or Computer. CLASSIFICATION OF ROBOTS 15-04-2019 33

29. Classification by Degrees of Freedom Degrees of freedom refers to the different directions a robotic arm can move.  They represent the location as well as the orientation of an object. Basically, such type of robots is pick and place robots, which pick and place the objects on a location and with an orientation . 3 Degrees of Freedom: A robot with 3 degrees of freedom can only pick up the object and place it anywhere in its workspace, using the 3 different coordinate axes. 6 Degrees of Freedom: A robot with 6 degrees of freedom can pick the object and place it anywhere in its workspace, at any orientation. CLASSIFICATION OF ROBOTS 15-04-2019 34

30. 15-04-2019 35 Japanese Industrial Robot Association (JIRA) : “A device with degrees of freedom that can be controlled .” Class 1 : Manual handling device Class 2 : Fixed sequence robot Class 3 : Variable sequence robot Class 4 : Playback robot Class 5 : Numerical control robot Class 6 : Intelligent robot CLASSIFICATION OF ROBOTS

31. 15-04-2019 36 Classification as per Application Industria l: Industrial robots are generally fixed manipulators which perform in various working environments. They perform various general-purpose tasks like Welding, Painting, machining, etc.  In fact, the first robots were the industrial robots which were used for simple repetitive tasks . Non-Industrial or Special Purpose: These are robots which assist humans in their chores Medical: There has been an increasing use of robots in the medical field for surgery, rehabilitation and training. Medical robots are not meant to replace the surgeons but serve as a surgical assistant to the surgeon. Space: With the advent of robotic technologies, exploration of various celestial bodies has been a reality.  Tasks like space manipulation, surface mobility and scientific experiments are performed by space robots. CLASSIFICATION OF -ROBOTICS

32. 15-04-2019 37 Defence Robots: These include bomb disposal robots, transportation robots and reconnaissance drones. Equipped with infrared sensors, these robots react more rapidly than humans in emergency and hazardous situations. Security: These robots are used for surveillance and guarding large civilian facilities such as Power generating plants, oil refineries, etc which are under threat from terrorists. An example is DRDO’s NETRA (An Unmanned Aerial Vehicle) Domestic: These robots are used to perform daily tasks at home, such as robotic vacuum cleaner, cleaning robots. Entertainment: These robots are used in various entertainment places like amusement parks, joy rides, sports, etc. Examples include KUKA Robocoaster (amusement ride robot), Honda’s Asimo , Sony’s Aibo , etc. CLASSIFICATION OF -ROBOTICS

33. 2004 38 ROBOT CLASSIFICATION Classification Based on Physical Configuration: 1. Cartesian configuration 2. Cylindrical configuration 3. Polar configuration 4. Joint-arm configuration

34. 15-04-2019 39 Classification as per kinematic structure Articulated   - This robot design features rotary joints and can range from simple two joint structures to 10 or more joints. The arm is connected to the base with a twisting joint. The links in the arm are connected by rotary joints. Each joint is called an axis and provides an additional degree of freedom, or range of motion. Industrial robots commonly have four or six axes. Cartesian  - These are also called rectilinear or gantry robots. Cartesian robots have three linear joints that use the Cartesian coordinate system (X, Y, and Z). They also may have an attached wrist to allow for rotational movement. The three prismatic joints deliver a linear motion along the axis. Cylindrical  - The robot has at least one rotary joint at the base and at least one prismatic joint to connect the links. The rotary joint uses a rotational motion along the joint axis, while the prismatic joint moves in a linear motion. Cylindrical robots operate within a cylindrical-shaped work envelope. CLASSIFICATION OF -ROBOTICS

35. 15-04-2019 40 Classification as per kinematic structure Polar - Also called spherical robots, in this configuration the arm is connected to the base with a twisting joint and a combination of two rotary joints and one linear joint.  The axes form a polar coordinate system and create a spherical-shaped work envelope. SCARA   - Commonly used in assembly applications, this selectively compliant arm for robotic assembly is primarily cylindrical in design. It features two parallel joints that provide compliance in one selected plane. Delta -  These spider-like robots are built from jointed parallelograms connected to a common base. The parallelograms move a single EOAT in a dome-shaped work area. Heavily used in the food, pharmaceutical, and electronic industries, this robot configuration is capable of delicate, precise movement. CLASSIFICATION OF -ROBOTICS

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37. 2004 42 ROBOT CLASSIFICATION Classification Based on Control Systems: 1. Point-to-point (PTP) control robot 2. Continuous-path (CP) control robot 3. Controlled-path robot

38. 2004 43 Point to Point Control Robot (PTP): The PTP robot is capable of moving from one point to another point. The locations are recorded in the control memory. PTP robots do not control the path to get from one point to the next point. Common applications include: component insertion spot welding hole drilling machine loading and unloading assembly operations

39. 2004 44 Continuous-Path Control Robot (CP): The CP robot is capable of performing movements along the controlled path. With CP from one control, the robot can stop at any specified point along the controlled path. All the points along the path must be stored explicitly in the robot's control memory. Applications Straight-line motion is the simplest example for this type of robot. Some continuous-path controlled robots also have the capability to follow a smooth curve path that has been defined by the programmer. In such cases the programmer manually moves the robot arm through the desired path and the controller unit stores a large number of individual point locations along the path in memory ( teach-in ).

40. 2004 45 Continuous-Path Control Robot (CP): Typical applications include: spray painting finishing gluing arc welding operations

41. 2004 46 Controlled-Path Robot: In controlled-path robots, the control equipment can generate paths of different geometry such as straight lines, circles, and interpolated curves with a high degree of accuracy. Good accuracy can be obtained at any point along the specified path. Only the start and finish points and the path definition function must be stored in the robot's control memory. It is important to mention that all controlled-path robots have a servo capability to correct their path.

42. LECTURE-3 V arious generations of robots 15-04-2019 47

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44. What is Robotics? Robotics is the branch of technology that deals with the design, construction, operation, and application of robots, as well as computer systems for their control, sensory feedback, and information processing. The design of a given robotic system will often contain principles of mechanical and electronic engineering and computer science. The word robotics was first used in 1941 by the writer Isaac Asimov.

45. 15-04-2019 50 Engineers and scientists have analyzed the evolution of robots, marking progress according to robot generations . First Generation Robots Second generation robots Third generation robots Fourth genrataion robots GENERATION OF ROBOTS

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47. 15-04-2019 53 A first-generation robot is a simple mechanical arm. These machines have the ability to make precise motions at high speed, many times, for a long time . Such robots find widespread industrial use today. First-generation robots can work in groups, such as in an automated integrated manufacturing system (AIMS), if their actions are synchronized. The operation of these machines must be constantly supervised, because if they get out of alignment and are allowed to keep working, the result can be a series of bad production units FIRST GENERATION

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52. 15-04-2019 58 A second-generation robot has rudimentary machine intelligence. Such a robot is equipped with sensors that tell it things about the outside world. These devices include pressure sensors, proximity sensors, tactile sensors, radar, sonar, ladar , and vision systems. A controller processes the data from these sensors and adjusts the operation of the robot accordingly. SECOND GENERATION

53. 15-04-2019 59 These devices came into common use around 1980. Second-generation robots can stay synchronized with each other, without having to be overseen constantly by a human operator. Of course, periodic checking is needed with any machine, because things can always go wrong; the more complex the system, the more ways it can malfunction SECOND GENERATION

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56. 15-04-2019 62 The concept of a third-generation robot encompasses two major avenues of evolving smart robot technology: the autonomous robot and the insect robot. An autonomous robot can work on its own. It contains a controller, and it can do things largely without supervision, either by an outside computer or by a human being. A good example of this type of third generation robot is the personal robot about which some people dream. THIRD GENERATION

57. 15-04-2019 63 There are some situations in which autonomous robots do not perform efficiently. In these cases, a fleet of simple insect robots, all under the control of one central computer, can be used. These machines work like ants in an anthill, or like bees in a hive . While the individual machines lack artificial intelligence (AI), the group as a whole is intelligent. THIRD GENERATION

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60. 15-04-2019 66 Fourth generation and beyond Any robot of a sort yet to be seriously put into operation is a fourth generation robot. Examples of these might be robots that reproduce and evolve, or that incorporate biological as well as mechanical components. Past that, we might say that a fifth-generation robot is something no one has yet designed or conceived. FOURTH GENERATION

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63. LECTURE-4 Degrees of freedom 15-04-2019 69

64. 15-04-2019 70 Degrees of freedom, in a mechanics context, are specific, defined modes in which a mechanical device or system can move. The number of degrees of freedom is equal to the total number of independent displacements or aspects of motion. No of degrees of freedom=No of joints A machine may operate in two or three dimensions but have more than three degrees of freedom. The term is widely used to define the motion capabilities of robots. DEGREE OF FREEDOM

65. 15-04-2019 71 Each joint or axis on the robot introduces a degree of freedom. Each DOF can be a slider, rotary, or other type of actuator . The number of DOF that a manipulator possesses thus is the number of independent ways in which a robot arm can move. Industrial robots typically have 5 or 6 degrees of freedom. DEGREE OF FREEDOM

66. Degrees of Freedom Degrees of freedom (DOF) is a term used to describe a robot’s freedom of motion in three dimensional space —specifically, the ability to move forward and backward, up and down, and to the left and to the right. For each degree of freedom, a joint is required. A robot requires minimum six degrees of freedom to be completely versatile. Its movements are clumsier than those of a human hand, which has 22 degrees of freedom Fundamental of Robotic Manipulator 72

67. The number of degrees of freedom defines the robot’s configuration. For example, many simple applications require movement along three axes: X, Y, and Z. See Figure 2-10. These tasks require three joints, or three degrees of freedom Fundamental of Robotic Manipulator 73

68. 15-04-2019 74 MANIPULATOR DEGREE OF FREEDOM

69. 15-04-2019 75 SIX DEGREE OF FREEDOM ROBOT

70. 2004 76 DOF degree s- o f- freedo m: the number of independent motions a device can make. (Also called mobilit y) five degree s of freedom ROBOTICS TERMİNOLOGY

71. 2004 77 Manipulator : Electromechanical device capable of interacting with its environment. Anthropomorphic : Like human beings. ROBONAUT (ROBOtic astroNAUT), an anthropomorphic robot with two arms, two hands, a head, a torso, and a stabilizing leg. ROBOTICS TERMİNOLOGY

72. 2004 78 End - effector : The tool, gripper, or other device mounted at the end of a manipulator, for accomplishing useful tasks. Robotics Terminology

73. 2004 79 Workspace : The volume in space that a robot’s end-effector can reach, both in position and orientation. A cylindrical robots’ half workspace Robotics Terminology

74. 2004 80 Position : The translational (straight-line) location of something. Orientation : The rotational (angle) location of something. A robot’s orientation is measured by roll , pitc h, and yaw angles. Link : A rigid piece of material connecting joints in a robot. Joint : The device which allows relative motion between two links in a robot. A robot joint Robotics Terminology

75. 2004 81 Kinematics : The study of motion without regard to forces. Dynamics : The study of motion with regard to forces. Actuator : Provides force for robot motion. Sensor : Reads variables in robot motion for use in control. Robotics Terminology

76. 2004 82 Speed The amount of distance per unit time at which the robot can move, usually specified in inches per second or meters per second. The speed is usually specified at a specific load or assuming that the robot is carrying a fixed weight. Actual speed may vary depending upon the weight carried by the robot. Load Bearing Capacity The maximum weight-carrying capacity of the robot. Robots that carry large weights, but must still be precise are expensive. Robotics Terminology

77. 2004 83 Accuracy The ability of a robot to go to the specified position without making a mistake. It is impossible to position a machine exactly. Accuracy is therefore defined as the ability of the robot to position itself to the desired location with the minimal error (usually 25 m m ). Repeatability The ability of a robot to repeatedly position itself when asked to perform a task multiple times. Accuracy is an absolute concept, repeatability is relative. A robot that is repeatable may not be very accurate, visa versa. Robotics Terminology

78. 2004 84 Robotics Terminology

79. LECTURE-5 Structure or Block diagram or Basic components of robot Robotic Joints 15-04-2019 85

80. BLOCK DIAGRAM OF ROBOT

81. 2004 87 BLOCK DIAGRAM OF ROBOT

82. 2004 88 THE ROBOTIC JOINTS The Robot Joints is the important element in a robot which helps the links to travel in different kind of movements. A joint in an industrial robot is similar to that in a human body. It provides with a relative motion between two parts. Most have industrial joints have mechanical joints which can be classified into five types .

83. 2004 89 THE ROBOTIC JOINTS A robot joint is a mechanism that permits relative movement between parts of a robot arm. The joints of a robot are designed to enable the robot to move its end-effector along a path from one position to another as desired. They include two types that provide linear motion and three types that provide rotary motion

84. 2004 90 Classification of Robotic Joints These degrees of freedom, independently or in combination with others, define the complete motion of the end-effector. These motions are accomplished by movements of individual joints of the robot arm. The joint movements are basically the same as relative motion of adjoining links. Depending on the nature of this relative motion, the joints are classified as P rismatic/Translational motion Revolute / Rotational motion

85. 2004 91 PRISMATIC JOINT In a prismatic joint , also known as a sliding or linear joint (L), the links are generally parallel to one

86. 2004 92 Revolute joints Revolute joints permit only angular motion between links. Their variations include: Rotational joint (R) Twisting joint (T) Revolving joint (V)

87. 2004 93 TYPES OF ROBOTIC JOINTS

88. 2004 94 TYPES OF ROBOTIC JOINTS

89. 2004 95 TYPES OF ROBOTIC JOINTS There are five types of joints in robots. They are Linear Joint (Type L) Orthogonal Joint (Type O) Rotational Joint (Type R) Twisting Joint (Type T) Revolving Joint (Type V)

90. 2004 96 TYPES OF ROBOTIC JOINTS

91. 2004 97 1. LINEAR JOINTS (Type L) Linear joint (type L joint) Linear joint can be indicated by the letter L – Joint. The relative movement between the input link and the output link is a translational sliding motion, with the axes of the two links being parallel.

92. 2004 98 1. LINEAR JOINTS (Type L) This type of joints can perform both translational and sliding movements. These motions will be attained by several ways such as telescoping mechanism and piston. The two links should be in parallel axes for achieving the linear movement.

93. 2004 99 2 . ORTHOGONAL JOINTS (Type O) Orthogonal joint can be indicated by the letter O – Joint. This is also a translational sliding motion, but the input and output links are perpendicular to each other during the move. The only difference is that the output and input links will be moving at the right angles.

94. 2004 100 3.ROTATIONAL JOINT (Type R) A rotational joint (R type) is identified by its motion, rotation about an axis perpendicular to the adjoining links. Here, the lengths of adjoining links do not change but the relative position of the links with respect to one another changes as the rotation takes place.

95. 2004 101 4. TWISTING JOINT (Type T) A twisting joint (T type) is also a rotational joint, where the rotation takes place about an axis that is parallel to both adjoining links.

96. 2004 102 5. REVOLVING JOINT (Type V) This joint also provide rotational motion. Here , the output link axis is perpendicular to the rotational axis, and the input link is parallel to the rotational axes. As like twisting joint, the output link spins about the input link

97. LECTURE-6 Robot Anatomy Robotic configuration 15-04-2019 103

98. Robot Anatomy  Manipulator consists of joints and links     Joints provide relative motion Links are rigid members between joints Various joint types: linear and rotary Each joint provides a “degree-of- freedom” Most robots possess five or six degrees-of-freedom  Robot manipulator consists of two sections: Body-and-arm – for positioning of objects in the robot's work volume Wrist assembly – for orientation of objects B a se Lin k0 Joint1 Li n k2 L i n k3 J oint 3 End of Arm L i n k1 J oint 2

99. 2004 105 ROBOT MANIPULATORS Industrial Manipulators or robotics manipulators are machines which are used to manipulate or control material without making direct contact. Originally it was used to manipulate radioactive or bio-hazardous object which can be difficult for a person to handle. But now they are being used in many industries to do task like lifting heavy objects, welding continuously with good precision etc. Other than industries they are also being used in hospitals as surgical instruments. And now a day’s doctors extensively use robotics manipulators in their operations. 

100. 2004 106 ROBOT MANIPULATORS An industrial robot is comprised of a robot manipulator, power supply, and controllers. Robotic manipulators can be divided into two sections, each with a different function:  Robot Arm Body The arm and body of a robot are used to move and position parts or tools within a work envelope. They are formed from three joints connected by large links.

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102. 2004 108 ROBOT MANIPULATOR CONFIGURATION Classification Based on Physical Configuration: 1. Cartesian configuration 2. Cylindrical configuration 3. Polar configuration 4. Joint-arm configuration 5. SCARA configuration

103. ROBOT CONFIGUARTIONS 2004 109

104. 2004 110 ROBOT CONFIGUARTIONS

105. 111 ROBOT CONFIGUARTIONS 1. CARTESIAN CONFIGURATION (LLL) Robots with Cartesian configurations consists of links connected by linear joints (L). Gantry robots are Cartesian robots (LLL) or (PPP). In this industrial robot, its 3 principle axis have prismatic joints or they move linear thorough each other. Cartesian robots are best suited for dispensing adhesive like in automotive industries. The primary advantage of Cartesians is that they are capable of moving in multiple linear directions. And also they are able to do straight-line insertions and are easy to program. The disadvantages of Cartesian robot are that it takes too much space as most of the space in this robot is unused.

106. CARTESIAN GANTRY ROBOT ARM robots with Cartesian configuration consist of links connected by linear joints ( L ). Thus the resulting configuration is ( LLL ). The three joints corresponds to the notation for the moving the wrist up and down, in and out, and back and forth. Thus the work envelop/ work volume generated by this robot is a rectangular box. example: the gantry robot Uses 3 perpendicular slides to construct x , y , z axes. Hence called xyz/rectilinear robot. e.g. IBM RS-I robot Fundamental of Robotic Manipulator 112

107. Cartesian Gantry Robot Arm (LLL) APPLICATIONS: for pick and place work for heavy loads assembly operations handling machine tools arc welding operations Fundamental of Robotic Manipulator 113

108. 2004 114 CARTESIAN ROBOTS A robot with 3 prismatic joints – the axes consistent with a Cartesian coordinate system. APPLICATIONS pick and place work assembly operations handling machine tools arc welding

109. 2004 115 CARTESIAN ROBOTS Advantages: ability to do straight line insertions into furnaces. easy computation and programming. most rigid structure for given length. Disadvantages: requires large operating volume. exposed guiding surfaces require covering in corrosive or dusty environments. c an only reach front of itself axes hard to seal

110. 116 ROBOT CONFIGUARTIONS 2. CYLINDRICAL CONFIGURATION (TLL) Robots with cylindrical configuration have one rotary ( R) joint at the base and linear (L) joints succeeded to connect the links. It is basically a robot arm that moves around a cylinder shaped pole. A cylindrical robotic system has three axes of motion – the circular motion axis and the two linear axes in the horizontal and vertical movement of the arm. So it has 1 revolute joint, 1 cylindrical and 1 prismatic joint. Today Cylindrical Robot are less used and are replaced by more flexible and fast robots but it has a very important place in history as it was used for grappling and holding tasks much before six axis robots were developed. Its advantage is that it can move much faster than Cartesian robot if two points have same radius. Its disadvantage is that it requires effort to transform from Cartesian coordinate system to cylindrical coordinate system.

111. CYLINDRICAL CONFIGURATION Notation : TLO or TLL   Consists of a vertical column, relative to which an arm assembly is moved up or down The arm can be moved in or out relative to the column

112. 2004 118 CYLINDRICAL ROBOTS A robot with 2 prismatic joints and a rotary joint – the axes consistent with a cylindrical coordinate system. APPLICATIONS: handling at die-casting machines assembly operations handling machine tools spot welding

113. 2004 119 Advantages: can reach all around itself rotational axis easy to seal relatively easy programming rigid enough to handle heavy loads through large working space good access into cavities and machine openings Disadvantages: can't reach above itself linear axes is hard to seal won’t reach around obstacles exposed drives are difficult to cover from dust and liquids CYLINDRICAL ROBOTS

114. 120 ROBOT CONFIGUARTIONS 3. POLAR CONFIGURATION (TRL ) I t is also sometimes called as Spherical robots. Polar robots have a work space of spherical shape . Generally, the arm is connected to the base with a twisting (T) joint and rotatory (R) and linear (L) joints follow. These are stationary robot arms with spherical or near-spherical work envelopes that can be positioned in a polar coordinate system. They are more sophisticated than Cartesian and SCARA robots but its control solution are much less complicated. It has 2 revolute joints and 1 prismatic joint to make near spherical workspace. Its main uses are in handling operations in production line and pick and place robot.

115. Polar Coordinate Body-and-Arm Assembly  Notation TRL:  Consists of a sliding arm (L joint) actuated relative to the body, which can rotate about both a vertical axis (T joint) and horizontal axis (R joint)

116. 2004 122 POLAR CONFIGURATION (TRL) The designation of the arm for this configuration can be TRL or TRR. Robots with the designation TRL are also called spherical robots . Those with the designation TRR are also called articulated robots . An articulated robot more closely resembles the human arm.

117. 2004 123 SPHERICAL/POLAR ROBOTS A robot with 1 prismatic joint and 2 rotary joints – the axes consistent with a polar coordinate system. APPLICATIONS: handling at die casting or fettling machines handling machine tools arc/spot welding

118. 2004 124 ROBOT CONFIGUARTIONS 4 . JOINTED ARM CONFIGURATION ( TRR) The jointed-arm is a combination of cylindrical and articulated configurations. The arm of the robot is connected to the base with a twisting joint. The links in the arm are connected by rotatory joints. Many commercially available robots have this configuration.

119. JOINTED-ARM ROBOT  Notation TRR:

120. 2004 126 JOINTED-ARM ROBOT

121. 2004 127 ROBOT CONFIGUARTIONS 5 . SCARA CONFIGURATION (VRO) The SCARA acronym stands for Selective Compliance Assembly Robot Arm or Selective Compliance Articulated Robot Arm. SCARA robots have motions similar to that of a human arm. These machines comprise both a 'shoulder' and 'elbow' joint along with a 'wrist' axis and vertical motion. SCARA robots have 2 revolute joints and 1 prismatic joint. SCARA robots have limited movements but it is also its advantage as it can move faster than other 6 axis robots. It is also very rigid and durable. Its disadvantages are that it has limited movements and it is not very flexible They are mostly used in purpose application which require fast, repeatable and articulate point to point movements such as palletizing, DE palletizing, machine loading/unloading and assembly . .

122. SCARA ROBOT    Notation VRO SCARA stands for Selectively Compliant Assembly Robot Arm Similar to jointed-arm robot except that vertical axes are used for shoulder and elbow joints to be compliant in horizontal direction for vertical insertion tasks

123. 2004 129 SCARA ( S elective C ompliance A rticulated R obot A rm ) Robots A robot with at least 2 parallel rotary joints. APPLICATIONS: pick and place work assembly operations

124. 2004 130 Advantages: high speed. height axis is rigid large work area for floor space moderately easy to program. Disadvantages: limited applications . 2 ways to reach point difficult to program off-line highly complex arm SCARA ( S elective C ompliance A rticulated R obot A rm ) Robots

125. 2004 131 ARTICULATED CONFIGURATION (RRR) A robot with at least 3 rotary joints. APPLICATIONS: Assembly operations Welding Weld sealing Spray painting Handling at die casting or fettling machines ROBOT CONFIGUARTIONS

126. 2004 132 Advantages: all rotary joints allows for maximum flexibility any point in total volume can be reached. all joints can be sealed from the environment. Disadvantages: extremely difficult to visualize, control, and program. restricted volume coverage. low accuracy ARTICULATED ROBOTS

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128. To establish the orientation of the object, we can define 3 degrees of freedom for the robot's wrist. The following is one possible configuration for a 3 d.o.f. wrist assembly: Rol l . T h is d . o .f . c a n be a c comp l ished by a T - type joint to rotate the object about the arm axis. Pitch. This involves the up-and-down rotation of the object, typically done by means of a type R joint. Y a w . This invol v es righ t-t o - left rot a tion of the o b je c t, al s o acco m plis h e d typi c al l y us i ng an R- type joint. 134

129. Joint Notation Scheme   Uses the joint symbols (L, O, R, T, V) to designate joint types used to construct robot manipulator Separates body-and-arm assembly from wrist assembly using a colon (:)  Example: TLR : TR  Common body-and-arm configurations …

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132. LECTURE-7 Asimov’s laws of robotics Selection of robot 15-04-2019 138

133. The Laws of Robots Th re e laws were introduced by the writer Isaac Asimov in 1942 which are: Robot may not injure a human being or through inaction, allow a human being to come to harm Robot must obey orders given by human beings unless they conflict with the first law Robot must protect its own existence unless it conflicts with the first or second law

134. 2004 140 In a survey published in 1986, it is stated that there are 676 robot models available in the market. Once the application is selected, which is the prime objective, a suitable robot should be chosen from the many commercial robots available in the market. ROBOT SELECTION

135. 2004 141 The characteristics of robots generally considered in a selection process include: Size of class Degrees of freedom Velocity Drive type Control mode Repeatability Lift capacity Right-left traverse Up-down traverse In-out traverse Yaw Pitch Roll Weight of the robot ROBOT SELECTION

136. 2004 142 1. Size of class : The size of the robot is given by the maximum dimension (x) of the robot work envelope. Micro (x < 1 m) Small (1 m < x < 2 m) Medium (2 < x < 5 m) Large (x > 5 m) 2. Degrees of freedom . The cost of the robot increases with the number of degrees of freedom. Six degrees of freedom is suitable for most works. ROBOT SELECTION

137. 2004 143 3. Velocity : Velocity consideration is effected by the robot’s arm structure. Rectangular Cylindrical Spherical Articulated 4. Drive type : Hydraulic Electric Pneumatic ROBOT SELECTION

138. 2004 144 5. Control mode : Point-to-point control(PTP) Continuous path control(CP) Controlled path control 6. Lift capacity : 0-5 kg 5-20 kg 20-40 kg and so forth ROBOT SELECTION

139. LECTURE-8 Dynamic Stabilization of robots 15-04-2019 145

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150. 2004 156 ADVANTAGES

151. 2004 157 DISADVANTAGES

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