For greater things are yet to come..

ROBOTICS

Historical Overview of Robot

Development
1801
Joseph Jacquerd invents a textile
machine that is operated by
punch cards
1892
In the US Seward Babbit designed
motorized crane with gripper to
remove ingots from a furnace

Historical Overview of Robot

Development

1921
First reference to the word robot appears in
a play opening in London entitled Rossums
Universal Robots. The play was written by
Czechoslovakian Karel Capek introduces the
word robot from the Czeck robota meaning serf
or subservient labor
1939
Isaac Asimovs science fiction writing introduces
robots designed for humanity and work safely.
He formulates the Three Laws of Robotics

Historical Overview of Robot

Development

1921
First reference to the word robot appears in a
play opening in London entitled Rossums
Universal Robots. The play was written by
Czechoslovakian Karel Capek introduces the
word robot from the Czeck robota meaning serf
or subservient labor
1939
Isaac Asimovs science fiction writing introduces
robots designed for humanity and work safely.
He formulates the Three Laws of Robotics

Historical Overview of Robot

Development
1939
Isaac Asimovs science fiction writing
introduces robots designed for
humanity and work safely. He
formulates the Three Laws of
Robotics
1946
George David patents a general
purpose playback device for
controlling machines.

Historical Overview of Robot

Development
1948
Norbert Wiener, a professor of
Massachusetts Institute of
Technology(MIT) publishes Cybernetics, a
book that describes the concept of
communications and control in electronic,
mechanical and biological systems.
1951
A tele-operator equipped articulated arm
is designed by Raymond Goertz for the
Atomic Energy Commisison.

Historical Overview of Robot

Development
1954
The first programmable robot is
designed by George Devol who
coined the term universal
automation. Devol is joined by
Joseph Engelberger in 1956 and
shorten the name to Unimation
and form the first successful
robot manufacturing company.

What is a Robot?
A reprogrammable,
multifunctional manipulator
designed to move parts,
materials, tools or special
devices through variable
programmed motions for the
performance of a variety of
different tasks.
These multi-purpose machines
are generally designed to carry
out repetitive function and be
adapted to other functions.

Three Laws of Robotics,

Asimov
A Robot may not injure a human
being,or through inaction,allow a
human being to come to harm
A robot must obey orders given it by
human beings except where such orders
would conflict with the first law.
A robot must protect its own existence
as long as such protection does not
conflict with the first and second law.

Why Robots?
Work Environments that is dangerous to
humans
Unpleasant working conditions:
Heat
Noise
Poisonous gases
Risk of injury by machines
Monotonous, boring work
Extreme physical exertion

Why Robots?
are obedient,
untiring,
precision welders.

Components of a robot
Communicator
A unit transmitting information and
receiving instructions from a remote
operator

Components of a robot
Control Computer/Controller
(Brain)
The central computer that integrates
the activity of several
microprocessors
brain of the robot

Components of a robot
End Effectors (Hands)
Device at the end of the manipulator
arm
that performs the actual work.
Gripper, hooks, scoops

Components of a robot
Manipulator (Arm)
Mechanism consisting of several
segment or arms which provides the
necessary motion to move the tool or
part into proper position.

Components of a robot
Power Supply
Generally some energy storage
device such as battery for a mobile
unit otherwise hook up to the power
grid.

Components of a robot
Sensor (Eye)
Usually a transducer of some kind
whose inputs are physical
phenomena and whose outputs
consists of electronic signals.

Components of a robot
Actuator
Serves as the muscle of the system,
produces the motion with power
supplied electrically, pneumatically
or hydraulics.

Robots Drive
Systems/Actuators
Pneumatic Drive
Reserved for smaller robots which
are limited to simple, fast cycle and
pick and place operation.
Have two to four degrees of freedom
Quick response
Lower initial and operating cost than
a hydraulic system
Accurate positioning and velocity
control are impossible (requires
mechanical stops)
Weak force capability

Robots Drive
Systems/Actuators
Hydraulic Drive
Used in larger robots
Generally heavy and require large floor space
and heavy floor loadings
Great force capability
Great holding strength when stopped (will not
sag)
Intrinsic safe in flammable environments such as
paintings
Accurate servo type positioning and velocity
control can be achieved
Messy-tends to leak oil even in the periods when
the robot is not in motion
High initial and operating costs

Robots Drive
Systems/Actuators

Electric Drive
Good for robots in light duty, precision
applications but does not offer the
speed and strength of a hydraulic drive.
Used in electronic assembly where
precision is required
Clean-no oil leaks
Lower initial and operating cost
compared as compared to hydraulic and
pneumatic drive
Less force capability as compared to
hydraulic system

jOINTS
Prismatic

Revolute

Revolute

Axes of Motion

Degrees of Freedom
Refers to
different axes
(joints )of motion
of robotic arm
The movement
about one axis is
hardware
independent of
movement about
any other axis.

Degrees of Freedom
Total number of locations
P = 2^n
where: P number of possible
locations
n degrees of freedom

Degrees of Freedom
Waist motion or Arm sweep
Motion of the entire arm about the fixed
base

Shoulder or Vertical Motion

Movement above the waist

Degrees of Freedom
Elbow extension
Wrist Motion
Pitch up and down
Yaw side to side
Roll - \rotation of the wrist about the axis
of the forearm

Robots Wrist Rotation

Pitch Axis
Describes the wrists rotational
movement up and down

Robots Wrist Rotation

Yaw Axis
Describes the wrist angular
movement from the left side to the
right side.

Robots Wrist Rotation

Roll Axis
Describes the rotation around the
end of the wrist.

Robots Axes Control

Non-Servo Control
Movement of the robots axes is
stopped by a hard mechanical stop
placed in the travel path
Non-self correcting and not-self
regulating

Robots Axes Control

Servo Control
The servo control allows the
mechanics of the robot to
communicate with the electronics of
the controller
Equipped with the feedback sensors
so that the controllers knows the
exact position of the end effector at
all times
Self correcting and self regulating

CLASSIFICATION OF
ROBOTS
1st Generation Robots
These machines are unable to gather any
information about their surroundings.
They can perform only pre-programmed motions,
and the information they can pass back about the
operating environment
Fixed sequence robots

1.5st Generation Robots

Sensors and close-loop servo system
May know when something is wrong but
ask human for intervention

CLASSIFICATION OF
ROBOTS
2nd Generation Robots
Future robots
detailed communication with their
surroundings
Make decisions and able to make
corrections

Mars Exploration Rover

CLASSIFICATION OF
ROBOTS
2.5nd Generation Robots
Perceptual motor functions
Decide what to do next to accomplish
the task

3rd Generation
Smart robot
Decide the best way to accomplish the
task

CLASSIFICATION OF
ROBOTS
According to Control
Fixed/Variable Sequence
Pick and place robots
Point to point movement

CLASSIFICATION OF
ROBOTS
According to Control
Playback Robot
Robots that memorizes and records the
path and sequence of motions and can
repeat them continuously without the
guidance from the operator.

CLASSIFICATION OF
ROBOTS
According to Control
Numerically Controlled Robot
Programmed and operated much like a
numerically controlled machine.
Numerically Controlled Robot
Servo-controlled by digital data

CLASSIFICATION OF
ROBOTS
According to Control
Intelligent (Sensory) Robot
Equipped with a variety of sensors with
visual and tactile capabilities.
Controlled by powerful computers

Robots Manipulator Arm Geometry

Work
Envelope
refers to the
space with
which the
robot can use
its wrist.

Robots Manipulator Arm Geometry

Cartesian Coordinates
uses three perpendicular slides to
construct the X,Y and the Z axes
Rectangular work space or work
envelope.

Robots Manipulator Arm

Geometry
Cylindrical Coordinates
Cylindrical configurations uses a
vertical column and a slide that
moves up and down the column
The work space is approximately a
cylinder

Robots Manipulator Arm

Geometry
Polar Coordinates
Uses a telescoping arm that can be
lowered or raised about a horizontal
pivot which is mounted on a rotating
base.

Robots Manipulator Arm

Geometry
Articulate Coordinates
This configuration consists of two straight
components mounted on a vertical
pedestal.
A rotary joint connects one of the straight
components to the pedestal while another
joins the straight components.
A wrist is attached to the end of the
straight component and provides several
additional joints.

CLASSIFICATION OF
ROBOTS
According to Movement
Rectilinear / Cartesian
Works with Cartesian manipulator arm
geometry
Movement is three directions only
up/down, left/right, front/back.

Cartesian Robots
are characterized by a
small work envelope,
but have a high degree
of mechanical rigidity
and are capable of great
accuracy in locating the
end effector.
are suitable for closely
calibrated tasks, and
machining.

CLASSIFICATION OF
ROBOTS
According to Movement
Cylindrical Robot
Robot whose work envelope is
cylindrical
Robots arm swings around its base in
circular or polar motion. (up and down,
front end)

Cylindrical Robots
mechanical
rigidity is
slightly lower

CLASSIFICATION OF
ROBOTS
According to Movement
Spherical Robot
Robot whose work envelope is spherical in
shape and obviously is has spherical
manipulator arm geometry.
With polar articulation for waist and shoulder
and rectilinear motion for reach.
The base moves in circular motion (up to 210
degrees) while its main arm moves up and
down and in and out (extension and retraction)

Spherical Robots
have a larger work
envelope and a lower
degree of mechanical
rigidity than
cylindrical models.
Their control is more
complicated than in
cylindrical robots,
because of the rotary
motion of the first
two joints

CLASSIFICATION OF
ROBOTS
According to Movement
Spherical Robot

CLASSIFICATION OF
ROBOTS
According to Movement
Fully Articulated Robot

CLASSIFICATION OF
ROBOTS
According to Movement
Fully Articulated Robot
Robot with polar articulation for all
degrees of movement
One example is the SCARA (Selective
Compliance Assembly Robotic Arm)
which has six axes therefore increases
its degrees of freedom.
Used in welding, painting, laser cutting
and water jet cutting.

Articulated Robots
Horizontal
Articulated
Robots

Vertical
Articulated
Robots

CLASSIFICATION OF
ROBOTS
According To Program Used
Positive Stop
Produces only 2 position motion
Limited sequence or Bang bang
motion

CLASSIFICATION OF
ROBOTS
According To Program Used
Point to Point
Ability to move a robot axis to any
position within its range

CLASSIFICATION OF
ROBOTS
According To Program Used
Continuous Path
Like point to point
Destination points are very closed
together.

CLASSIFICATION OF
ROBOTS
According to power supply used
Mitsubishi
Electrical

Pneumatic
Brodecia

Hydraulic

SELECTION OF ROBOTS

Work Volume
Speed and acceleration
Repeatability
Resolution
Accuracy
Economics
Safety

MODERN USES OF
ROBOTS
Exploration
Full of danger or deep ocean

Industry
Repetitive Work

Medicine
Operation (making medicines)

Military and Police

Bomb disposal, spying, entering enemy bases

Entertainment

SCARA ROBOT
Selective Compliant Articulated
Robot Arm Assembly
4-axis robot with rotating elements that
move in a single plane.
Similar to a shoulder-elbow-wrist
combination movement with the
addition of an up-down component

SCARA ROBOT
Selective Compliant Assembly Robot
Arm
Applications
Assembly
Packaging
Sorting
Screw driving

Types of Automation
hard
automation

flexible
automation

Future of Robots
A constant rise in employee wage
levels.
A remarkable rate of technological
advance in the field of computers,
leading both to reductions in robot
prices and significant improvements
in their performance