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ME G511 Mechanisms and Robotics 3 2 5

Evaluation Nature of Duration Weightage Date & Time


Components Component

Test-I Closed Book 50 minutes 20%

Test - 2 Open book* 50 minutes 20 %

Lab assessment Exercises and Continuous 10 %


manual
Project Software simulation To be
and hardware Continuous 15% submitted in
May I week
Comprehensive Closed Book 3 hours. 35 %
Exam
TB ..Mittal R. K. & Nagrath I. J., “Robotics and Control”, TMH, 2003
Course Outline
 Fundamentals of Robot Technology
 Analysis & modeling of mechanisms
 Robot Motion Analysis
 Kinematics Manipulators
 Robot End effectors
 Differential Motion and Statics
 Dynamics of Mechanisms
 Robot Control
 Sensors
 Robot Programming
 Machine vision
Definition
 The word Robot was first coined by Czech novelist
Karel Capek in 1920
 Robota means hard labour
 The first industrial robot: UNIMATE - 1954: The first
programmable robot is designed by George Devol,
who named it -Universal Automation.
 A robot is a reprogrammable, multifunctional
manipulator designed to move material, parts, tools or
specialized devices through variable programmed
motions for the performance of a variety of tasks:
Robot Institute of America, 1979
 Robot is a system that contains sensors, control
systems, manipulators, power supplies and software all
working together to perform a task. Designing,
building, programming and testing a robots is a
combination of mechanical engineering, electrical
engineering, and computer science.
Characteristics
Sensing First of all your robot would have to be able to sense its surroundings the
way that you sense your surroundings.
sensors: light sensors (eyes), touch and pressure sensors (hands), Protein
Chemical (nose),Sonar (ears) and lipid
membrane (tongue)
Movement A robot needs to be able to move around its environment. Whether
rolling on wheels, walking on legs or propelling by thrusters a robot needs to be
able to move.
Energy A robot needs to be able to power itself. A robot might be solar
powered, electrically powered, battery powered.
Intelligence A robot needs some kind of "smartness." This is where programming
enters the picture. The robot will have to have some way to receive the
program so that it knows what it is to do.
Laws of Robotics (Asimov)

A robot may not injure a human being or, through inaction,


allow a human being to come to harm.
Arobot 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 or Second Laws.
Key components
Sensors

 Human senses: sight, sound, touch, taste, and smell


provide us vital information to function and survive
 Robot sensors: measure robot configuration/condition
and its environment and send such information to Piezo Electric Accelerometer
and flexi force sensor
robot controller as electronic signals (e.g., arm position,
presence of toxic gas)
 Robots often need information that is beyond 5 human
senses (e.g., ability to: see in the dark, detect tiny
amounts of invisible radiation, measure movement that
is too small or fast for the human eye to see)
Force Sensor: e.g., parts Vision Sensor: e.g., to pick Proximity sensors are used to
fitting and insertion, bins, avoid collision with obstacles and
force feedback in perform inspection, etc explore open areas
robotic
surgery
Actuators

Common robotic actuators utilize combinations of


different electro-mechanical devices
 Synchronous motor
 Stepper motor
 AC Servo motor
 Brushless DC servo motor
 Brushed DC servo motor
 Hydraulic and pneumatic cylinders
 Hydraulic and pneumatic motors
Controllers

 Provide necessary intelligence to control the


manipulator/mobile robot
 Process the sensory information and compute
the control commands for the actuators to carry
out specified tasks
 Position control and force control
 TAL uses Trio PLC controller
Industries
 Agriculture
 Construction
 Entertainment
 Health care: hospitals, patient-care, surgery
 Law enforcement: surveillance, patrol, etc.
 Manufacturing
 Military: surveillance and attack
 Mining, excavation, and exploration
 Transportation: air, ground, rail, space, etc.
 Warehouses
Types of Robots


Manipulators
Legged Robots
Wheeled Robots
Unmanned vehicles
Advancement in Robotics

 First Generation: Repeating tasks-


pick and place- non servo – in
matured stage
 Second Generation: Addition of
sensors and feedback control – still
not matured
 Third Generation: Human like
intelligence and self learning- still
under development
 Fourth Generation: Robots can
produce their clones by them selves –
far from reality
Applications

Mars Rover

Micro surgery
Robotic Manipulator Anatomy

Rigid bodies (links) are connected by


Articulations (joints) to form arm which
Ensures mobility and reachability. The
Wrist provides orientation and the
end effector performs the task. Most
of the manipulators are mounted
either on a fixed base or a mobile
platform called Automated Guided
Vehicle (AGV)
Links

Binary link- a rigid link which can be connected between

2 other links is called a binary link. Each link (1,2) has 2 holes
(A,B,C,D) which can be connected to other links. The links
can be connected by a joint and by inserting a pin inside
the joint an open kinematic joint can be made. The pin joint
permits revolution of the link hence it is called revolute joint
Types of Joints
 Most of the industrial robots use revolute or prismatic
joints
 In revolute joints, the links are joined by a pin and
they can rotate about the pin axis.
 In prismatic joints sliding motion with respect each
other between the pair of links happen. A screw-nut
or rack pinion can be used to achieve the sliding
motion
 In rotary joint (cylindrical), one link rotates with
respect other link at 90 deg.
 Twist joints are produced between 2 links which are
aligned along the straight line and one link is rotated
with respect to the other.
 In planar joints one surface slide over the other and
in spherical joints, the links can rotate in all the three
dimensions.
Degrees of freedom (DOF)
 The number of movements an object can make in 3
dimensional space is called degrees of freedom
 A rigid body free in space has 3 translations and 3 rotations-
totally 6 degrees of freedom- a manipulator which can give
these 6 DOF is called a spatial manipulator
 Translations (T)- linear motion along three axes X, Y and Z
 Rotations (R)- angular motion about the three axes

 A free object on 2D space (plane), there will be 3 DOF 2


translations and a rotation
 In the open kinematic chain shown in Figure, the link 1 can
rotate about joint 1 and link 2 can rotate w.r.t. J2. Hence
there are 2 DOF.
 For open chains the number of joints/ links decide the
number DOF
 The variable defining the motion of a link is called Joint-link
variable. For n DOF, n variables are required to define the
position of each link as well the end effector point (D)
Arm configurations
 Cartesian configurations – 3 prismatic joints (PPP)
 Cylindrical configuration – 2 prismatic and 1 revolute joints
 Polar configuration- 2 revolute and 1 prismatic joints
 Articulated configuration- 3 revolute joints (RRR)

Cantilever configuration

Cartesian configuration is formed perpendicular slides providing


only linear motions in all directions
The end effector or end point moves in a cuboidal workspace
The volume of workspace is called work volume and the surface
of the workspace is called work envelope.
The 2 different types of cartesian configurations are cantilever
type and Gantry type as shown in figures.
Cylindrical configuration

The first joint here is a revolute by which the column can be


rotated.
The block can slide along the column whereas another
horizontal link slides. This has a RPP configuration. The
workspace is a hollow cylinder. Several other configurations
like PRP can also be possible. Not all configurations will be
useful.
Spherical/ polar configuration
 RRP –a prismatic joint allows the movement of end effector
link in and out. The link can also be rotated about the
horizontal axis and both the links are attached to a column
which can be rotated vertically.
 The RRP configuration forms a hemispherical shell
workspace. The increase in radial stroke may result in
decreased positioning accuracy. This type of configuration
is used for machining and spray painting
 Other polar combinations RPR and PRR may not result in
spherical workspace
Articulated jointed arm configuration
 RRR configuration simulates a human arm closely. Like
the fore arm and upper arm connected by elbow and
shoulder joints
 It can result in a spherical workspace
 Most popularly used in industries.
 Positioning accuracy depends on end point location
SCARA configuration
selective compliance assembly robotic arm

 Articulated and cylindrical configurations are


combined
 Revolute motion is confined to horizontal plane and
the prismatic joint helps to form a cylindrical work
space
 The stresses developed due to centrifugal force on
rotation will be less when the major rotation is vertical
when compared to horizontal rotation.
 High stiffness to vertical direction and high compliance
in horizontal direction. Suitable for assembly
applications.
Wrist configuration

 Second part of the manipulator - Normally this


will be attached to the end point to give
desired orientation
 At least 3 rotations about 3 different axes
 Roll – rotation in a plane perpendicular to end
point
 Pitch- rotation along vertical plane passing
through the arm
 Yaw – rotation along horizontal plane passing
through the arm
End effector

 Attached externally of end point – DOF in end


effector do not contribute the manipulatability
 Types: Grippers and Tools
 Grippers are used to hold the work piece during work
cycle – mechanical, magnetic or pneumatic
 Used for material handling, loading or unloading
 Tools- some times cutting tool, welding torch or
spray will be attached at the end to perform
machining, welding and painting
Human arm characteristics

 Industrial robotic arms are inspired by human arm- still


it is a challenge to replicate
 The zero reference is taken as a stretched right arm-
horizontally straight with the palm facing down
 The limits for the three motions are given
 Roll motion to the hand results in twist of fore arm and
upper arm
 Pitch are yaw are provided by wrist joint
 The second comprises elbow and shoulder. Shoulder
has a ball and socket joint with 2DOF and elbow has
1 DOF.
 The shoulder provides hemispherical sweep to the
elbow and the elbow provides -5 to 165deg rotation
(170 deg.) to fore arm.
 Each finger has 4 DOF
Manipulator modelling
 Analysis of manipulator requires the position of links,
joints and end effector
 To describe the position and orientation of a body in
space, a frame has to be attached to the body
 The position of the body is described with reference to
the base frame
 Frames are also attached to links, joints and end
effector
 Often position of a frame has to be described with
reference to known frame. This requires mapping or
transformation
Forward and Inverse Kinematics of
a 2 link planar manipulator
 Length of links are L1 and L2. Theta 1 and Theta 2 are
the joint rotations and X,Y is the location of the end
effector position
 When the joint angles are known the position of end
effector P can be determines – forward kinematics
 When P is known the joint angles can be determined –
inverse kinematics. But normally the inverse kinematics
will have multiple solutions.
 The set of reachable points by
the links define the workspace
Jacobian matrix
 If the joint velocities are known, end Relationship between linear and angular
effector velocity can be determined velocities of a planar 2DOF manipulator
and if the end effector velocity is
known, joint velocities can be
estimated. For this jacobian matrix for
the manipulator in terms of kinematic
parameters is required
 If force and moment at the end effector
is known joint torque can be estimated
and vice versa for dynamics analysis
 For both kinematics and dynamics
analyses, jacobian is required
Trajectory generation

 To reach a position, the manipulator has to accelerate


from starting point, reach a desired velocity, then
decelerate to rest at the end point
 For achieving this trajectory with respect to time for the
end effector has to be generated. To achieve these
trajectory, required torques need to be applied on the
joints.
 These torques are calculated using equations of
motion which describes the dynamics of the
manipulator
 The trajectory of the end effector from A to B to C is
shown
Robot control system
 Tasks: The end effector has to move along the desired trajectory and apply required force
 The controller has to perform both position control and force control by controlling the speed
and torque applied to the joint actuators
 Sensors are used to measure the position and force.
 Sensors may be internal or external.

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