Professional Documents
Culture Documents
What is a robot ?
– “A robot is a re-programmable, multifunctional
machine designed to manipulate materials, parts,
tools,or specialized devices, through variable
programmed motions for the performance of a
variety of tasks."
Robotics Industries Association
– The word 'robot' was coined in the early 1920’s by the Czech
playwright Karel Capek (pronounced "chap'ek") from the Czech word
for forced labor
– The term 'robotics' refers to the study and use of robots and was
coined and first used by the Russian-born American scientist and
writer Isaac Asimov (1942). Asimov also created the ‘Three Laws of
Robotics’.
– in the early 1940’s MIT developed a numerically controlled (NC)
milling machine (the first NC machine tool)
– In 1961 George Devol created his patent for parts transfer machines.
Joe Engelberger teamed with Devol to form Unimation and was the
first to market robots. As a result, Engelberger has been called the
'father of robotics.'
– The first industrial modern robot - the Unimate - developed by Devol
and Engelberger - was installed at GM (New Jersey) in 1961.
Mechatronic Systems & Robotics Research Group
School of Mechanical & Materials Engineering
University of Surrey, Guildford, Surrey. GU2 5XH.
– In 1964 Artficial Intelligence (AI) Labs open at MIT, Stanford (SRI) and
University of Edinburgh
– The mobile robot ‘Shakey’ was developed at Stanford in the late
sixties.It had a camera and touch sensors and could move about the lab
floor
– SRI develop the ‘Stanford Arm’ - an electrically powered manipulator
and then ‘WAVE’ - the first robot programming language. This was
subsequently developed into VAL for use with Unimation robots
– In 1974 ASEA introduce the all electric drive IRb6. Cincinnati Milacron
also introduce computer controlled T3 (The Tomorrow Tool) robot.
Kawasaki use Unimation machines to weld motorbike frames.
– In 1976 Viking I & II space crafts equipped with robot arms land on Mars
– Unimate PUMA’s introduced in 1978. SCARA’s (Selective Compliance
Articulated Robot Arm) introduced in 1979.
– Vision based workcell demonstrated at University of Rhode Island in
1980 (Kirsch).
Mechatronic Systems & Robotics Research Group
School of Mechanical & Materials Engineering
University of Surrey, Guildford, Surrey. GU2 5XH.
New Techniques
– walking robots
– co-operating arms or AGV’s
– biomedical engineering
– teleoperation
– Internet robotics
– micro and nanorobotics
New Applications
– teleoperated robotics (space, surgery)
– service robots (teaching, retail, fast food outlets, bank tellers,
garbage collection, security guards, cleaning vehicles etc etc…)
– UGV’s and UAV’s for hazardous environments
Mechatronic Systems & Robotics Research Group
School of Mechanical & Materials Engineering
University of Surrey, Guildford, Surrey. GU2 5XH.
– 1951 - The Day the Earth Stood Still (sci-fi drama) Michael
Rennie, Patricia Neal. Story about aliens who come to Earth with an all-
powerful robot called Gort.
– 1956 - Forbidden Planet (sci-fi drama) Leslie Nielsen. Classic
movie robot Robby.
– 1965 - Dr. Who and the Daleks (sci-fi drama) Dr. Who helps
humans on a distant planet overcome their robot masters.
– 1968 - 2001: A Space Odyssey (cult sci-fi drama) Not strictly a
robot, but an intelligent computer who kills members of his crew.
– 1973 - Sleeper (Comedy) - Woody Allen comedy with household
robots of the future.
– 1973 - Westworld (sci-fi drama) - cult story about an entertainment
park filled with androids. Yul Brynner stars as an android gunslinger who
goes berserk and starts killing the guests.
Mechatronic Systems & Robotics Research Group
School of Mechanical & Materials Engineering
University of Surrey, Guildford, Surrey. GU2 5XH.
– 1977 - Star Wars (sci-fi epic)- Harrison Ford, Carrie Fisher. R2D2 robot &
C3PO android steal the show.
– 1980 - Saturn 3 (sci-fi horror)- Kirk Douglas, Farah Fawcett, Harvey Keitel.
Story about a couple on a space outpost who are about to be replaced by a
robot - which predictably goes berserk.
– 1982 - Blade Runner (sci-fi drama) - Harrison Ford is hired to track down
and kill several androids including Rutger Hauer who steals the show.
– 1984 - The Terminator (sci-fi drama) - Arnold Schwartzenegger. A time-
travelling cyborg comes back from the future to kill the mother of its nemesis.
– 1986 - Short Circuit (sci-fi drama) Ludicrously cute military robot (Johnny
5) gets hit by lightning and comes alive.
– 1987 - Robocop (sci-fi drama) Poor story of a cyborg cop - though well
worth seeing for the ED-209 go beserk at the beginning.
– 1997 - Titanic (drama): Subsea ROV with stereo vision is overshadowed by
the tragic drowning of Leonardo de Caprio.
Mechatronic Systems & Robotics Research Group
School of Mechanical & Materials Engineering
University of Surrey, Guildford, Surrey. GU2 5XH.
Robots in sci-fi:
Mechatronic Systems & Robotics Research Group
School of Mechanical & Materials Engineering
University of Surrey, Guildford, Surrey. GU2 5XH.
Terminology
Some Definitions:
1) Robot – An electromechanical machine with more than one degrees-of-freedom
(DOF) which is programmable to perform a variety of tasks.
2) Anthropomorphic: Similar to Humans.
3) Manipulator - mechanical arm, with several DOF.
4) Degrees-of-Freedom - the number of independently controllable motions in a
mechanical device. The number of motors in a serial manipulator.
5) Mechanism - a 1-DOF machine element.
6) Fixed Automation - designed to perform a single repetitive task.
7) Flexible Automation - can be programmed to perform a variety of tasks.
8) Robot system - manipulator(s), sensors, actuators, communication, computers,
interface, hand controllers to accomplish a programmable task.
9) Actuator - motor that drives a joint; generally rotary (revolute) or linear (prismatic);
electric, hydraulic, pneumatic, piezoelectric.
10) Cartesian Coordinate frame - dextral, orthogonal, XYZ
Mechatronic Systems & Robotics Research Group
School of Mechanical & Materials Engineering
University of Surrey, Guildford, Surrey. GU2 5XH.
Terminology
11)Kinematics - the study of motion without regard to forces. Cartesian Pose: position
and orientation of a coordinate frame.
a) Forward Kinematics - given the joint variables, calculate the Cartesian pose.
b) Inverse Kinematics - given the Cartesian pose, calculate the joint variables.
12) Position (Translation) - measure of location of a body in a reference frame.
13) Orientation (Rotation) - measure of attitude of a body (e.g. Roll, Pitch, Yaw) in a
reference frame.
14) Singularity - a configuration where the manipulator momentarily loses one or more
degrees-of-freedom due to its geometry.
15) Actuator Space - vector of actuator commands, connected to joint through gear train
or other drive.
16) Joint Space - vector of joint variables; basic control parameters.
17) Cartesian Space - Position vector and orientation representation of end-effector;
natural for humans.
Mechatronic Systems & Robotics Research Group
School of Mechanical & Materials Engineering
University of Surrey, Guildford, Surrey. GU2 5XH.
Terminology
18) End-effector - tool or hand at the end of a robot.
19) Workspace - The volume in space that a robot’s end-effector can reach, both in
position and orientation.
20) Dynamics - the study of motion with regard to forces (the study of the relationship
between forces/torques and motion). Composed of kinematics and kinetics.
a) Forward Dynamics (simulation) - given the actuator forces and torques, compute
the motion.
b) Inverse Dynamics (control) - given the desired motion, calculate the actuator forces
and torques.
21) Control - causing the robot system to perform the desired task. Different levels.
a) Teleoperation - human moves master, slave manipulator follows.
b) Automation - computer controlled (using sensors).
c) Telerobotics - combination of the b) and c)
22) Haptics - From the Greek, meaning “to touch”. Haptic interfaces give human
operators the sense of touch and forces from the computer, either in virtual or real,
remote environments. Also called force reflection.
Mechatronic Systems & Robotics Research Group
School of Mechanical & Materials Engineering
University of Surrey, Guildford, Surrey. GU2 5XH.
Today 90% of all robots used are found in factories and they are referred to as industrial robots.
– controller
– arm
– drive
– end-effector
– sensors
Mechatronic Systems & Robotics Research Group
School of Mechanical & Materials Engineering
University of Surrey, Guildford, Surrey. GU2 5XH.
– The arm is the part of the robot that positions the end-
effector and sensors to do their pre-programmed
business.
– Many are built to resemble human arms, and have
shoulders, elbows, wrists, even fingers.
– Each joint is said to give the robot 1 degree of freedom. A
simple robot arm with 3 degrees of freedom could move in
3 ways: up and down, left and right, forward and
backward.
– Most working robots today have 6 degrees of freedom to
allow them to reach any possible point in space within its
work envelope (or ‘working volume’).
Mechatronic Systems & Robotics Research Group
School of Mechanical & Materials Engineering
University of Surrey, Guildford, Surrey. GU2 5XH.
– The links (the sections between the joints) are moved into
their desired position by the drive.
– Typically, a drive is powered by pneumatic or hydraulic
pressure, or, most commonly, electricity.
– hydraulic drives: powerful, deliver large forces, require
pumps
– pneumatic: cheap, practical (most factories have air lines),
safe, difficult to control.
– electric: good precision, good accuracy, stepper or DC
servo (most common),
Mechatronic Systems & Robotics Research Group
School of Mechanical & Materials Engineering
University of Surrey, Guildford, Surrey. GU2 5XH.
– R - revolute (1 DOF)
– P - prismatic (1 DOF)
– helical (2 DOF)
– universal (2 DOF)
– A cylindrical robot has two linear axes and one rotary axis.
– The robot derives its name from the operating envelope
– The Z axis is located inside the base, resulting in a compact
end-of-arm design that allows the robot to "reach" into tight
work envelopes without sacrificing speed or repeatability.
Mechatronic Systems & Robotics Research Group
School of Mechanical & Materials Engineering
University of Surrey, Guildford, Surrey. GU2 5XH.
– A spherical robot has one linear axis and two rotary axes
– Spherical robots are used in a variety of industrial tasks
such as welding and material handling.
Mechatronic Systems & Robotics Research Group
School of Mechanical & Materials Engineering
University of Surrey, Guildford, Surrey. GU2 5XH.
SCARA Robots I
• The acronym SCARA stands for Selective Compliance Assembly Robot Arm, a
particular design developed in the late 1970's in the laboratory of Professor
Hiroshi Makino of Yamanashi University, located in Kofu, Japan.
• SCARA robots are a blend of the articulated and cylindrical robots, providing
the benefits of each.
• The basic configuration of a SCARA is a four degree-of-freedom robot with
horizontal positioning accomplished much like a shoulder and elbow held
perfectly parallel to the ground. The robot consists of three R and one P joints;
• The robot arm unit can move up and down, and at an angle around the axis of
the cylinder just as in a cylindrical robot, but the arm itself is jointed like a
revolute coordinate robot to allow precise and rapid positioning.
• SCARAs are know for their fast cycle times, excellent repeatability, good
payload capacity and a large workspace, shaped somewhat like a donut.
• SCARA’s can be referred to as ‘swivel’ robots
Mechatronic Systems & Robotics Research Group
School of Mechanical & Materials Engineering
University of Surrey, Guildford, Surrey. GU2 5XH.
SCARA Robots II
• Cartesian P-P-P
• Cylindrical R-P-P
• Spherical R-R-P
• SCARA R-R-R-P
• Jointed/articulated/revolute R-R-R
Cartesian:
Pros: Position control is easy.
Rigid structure so high payloads are possible
Cons: Occupies a large volume (low robot to workspace ratio)
All 3 axes exposed to environment
Used for: pick and place, machine tool loading, electronics
Cylindrical:
Pros: Rigid structure and realtively easy position control.
High payloads are possible.
Cons: Can only operate close to base (or floor)
Used for: Pick and place, palletizing, laboratory testing
Mechatronic Systems & Robotics Research Group
School of Mechanical & Materials Engineering
University of Surrey, Guildford, Surrey. GU2 5XH.
Polar:
Pros: Versatile - large working envelope.
Cons: More difficult to control end effector position
Large space near the base that cannot be reached
Used for: applications where a small number of vertical actions is
required: loading a press, spot welding etc.
Articulated:
Pros: Extremely flexible - can reach anywhere within workspace.
Joints can be completely sealed.
Cons: Difficult to program - controller must be complex
Payload can be low depending on build
Used for: Almost anything - but good in harsh or clean room conditions.
Mechatronic Systems & Robotics Research Group
School of Mechanical & Materials Engineering
University of Surrey, Guildford, Surrey. GU2 5XH.
SCARA:
Pros: Fast (3 m/s), high repeatability (0.02mm),
Compact and can operate through 360 degrees (plan).
Cons: Medium to low payload
Limited vertical movement
Used for: Soldering, welding, drilling, electronics assembly.
Almost any ‘table-top’ application.
Mechatronic Systems & Robotics Research Group
School of Mechanical & Materials Engineering
University of Surrey, Guildford, Surrey. GU2 5XH.
Uses of robots
Week 8: Summary
1) What is a robot ?
2) The historical development of robotics
3) Industrial robot systems and components
4) Industrial robot configurations
5) Kinematic classification
6) Industrial applications, usage and world markets