UNIT-V INDUSTRIAL ROBOTICS

1. Define – Robot
Robot is a programmable, multifunction manipulator designed to move materials, parts,
tools or special devices through variable programmed motions for the performance of
the variety of tasks.

2. Write the types of joint notations.

1. Linear joint (type 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 parallel.
2. Orthogonal joint (type O joint), this is also a translational sliding motion, but the input
and output links are perpendicular to each other during the move.
3. Rotational joint (type R joint), it provides rotational relative motion, with the axis of
rotation perpendicular to the axes of the input and output links.
4. Twisting joint (type T joint), involves rotary motion, but the axis of rotation is parallel to
the axes of the two links.
5. Revolving joint (type R joint) the axis of the input link is parallel to the axis of rotation of
the joint, and the axis of the output link is perpendicular to the axis of rotation.

3. What are the four basic robot configurations available commercially?

1. Cartesian coordinate robot
2. Cylindrical configuration
3. Polar configuration
4. Jointed arm robot
5. SCARA

4. What is meant by Work space?

The space in which the end point of the robot arm is capable of operating is called as
workspace in other words reach ability of robot arm is known as workspace.

5. Define – Work Volume

The work volume of the manipulator is defined as the envelope or 3D space within which
the robot can manipulate the end of its wrist.

6. What is an end effector?

The end effector enables the robot to accomplish a specific task. The two categories of end
effectors are (a) grippers and (b) tools

7. Define – Grippers
Grippers are end effectors used to grasp and manipulate objects during the work cycle.
Types of grippers:
1. Mechanical grippers
2. Vacuum grippers
 3. Magnetic devices
4. Adhesive devices

8. Classify the sensors in robotics

Sensors used in industrial robotics can be classified into two categories:
1. Internal sensors are components of the robot and are used to control the position and
velocities of the various joints of the robot. These sensors form a feedback control loop with the
robot controller.
2. External sensors are used to coordinate the operation of the robot with the other
equipment in the cell.

9. Name the various sensors used in industrial robotics

1. Tactile sensors
2. Proximity sensors
3. Optical sensors
4. Machine vision

10. Define – Control Resolution, Accuracy and Repeatability of Robot

Control resolution refers to the capability of the robot’s positioning system to divide the range
of the joint into closely spaced points, called addressable points, to which the joint can be moved by
the controller.

Accuracy is the robot’s ability to position the end of its wrist at a desired location in the work
volume.

Repeatability is a measure of the robot’s ability to position its end-of-wrist at a previously

taught point in the work volume.

11. What is meant by pitch, yaw and roll?

Pitch is rotation around the X-axis, Yaw is around the Y-axis, and roll is around the Z-axis.

12. Write the applications of an industrial robot.

1. Repetitive work cycle
2. Material handling
a. Material transfer
b. Machine loading and unloading
3. Processing operations
a. Spot welding
b. Arc welding
 c. Spray coating
4. Assembly and inspection

13. Define – Robot Programming

A robot programming can be defined as a path in space to be followed by the manipulator,
combined with peripheral actions that support the work cycle.

14. Write the types of robot programming methods.

1. Leadthrough programming
2. Computer-like robot programming languages
3. Off-line programming
 Unit-5 Industrial
Robotics

Industrial Robotics
Sections:
1.Robot Anatomy and Related Attributes

2.Robot Control Systems

3.End Effectors

4.Sensors in Robotics

5.Industrial Robot Applications

6.Robot Programming

7.Robot Accuracy and Repeatability

Industrial Robot Defined

A general-purpose, programmable machine possessing certain anthropomorphic
characteristics
Why industrial robots are important:
 Robots can substitute for humans in hazardous work environments

 Consistency and accuracy not attainable by humans

 Can be reprogrammed

 Most robots are controlled by computers and can therefore be interfaced to other
computer systems
 Unit-5 Industrial
Robotics

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

Robot manipulator - a series of joint-link combinations

Types of Manipulator Joints

Translational motion
 Linear joint (type L)
 Orthogonal joint (type O)
 Rotary motion
 Rotational joint (type R)
 Twisting joint (type T)
 Revolving joint (type V)
 Unit-5 Industrial
Robotics

Translational Motion Joints

Linear joint (type L)

Orthogonal joint (type O)

Rotational joint (type R)

Twisting joint (type T)
Revolving joint (type V)
 Unit-5 Industrial
Robotics

Robot Body-and-Arm Configurations

Five common body-and-arm configurations for industrial robots:
1.Polar coordinate body-and-arm assembly

2.Cylindrical body-and-arm assembly

3.Cartesian coordinate body-and-arm assembly

4.Jointed-arm body-and-arm assembly

5.Selective Compliance Assembly Robot Arm (SCARA)

Function of body-and-arm assembly is to position an end effector (e.g., gripper, tool) in space
Polar Coordinate Body-and-Arm Assembly

Cylindrical Body-and-Arm Assembly

 Unit-5 Industrial
Robotics

Cartesian Coordinate Body-and-Arm

Assembly

Jointed-Arm Robot

SCARA Robot
 Unit-5 Industrial
Robotics

Wrist Configurations

 Wrist assembly is attached to end-of-arm

 End effector is attached to wrist assembly
 Function of wrist assembly is to orient end effector
 Body-and-arm determines global position of end effector
Two or three degrees of freedom:

 Roll
 Pitch
 Yaw
 Wrist Configuration

Industrial Robot Applications

 Unit-5 Industrial
Robotics

1.Material handling applications

 Material transfer – pick-and-place, palletizing

 Machine loading and/or unloading

2.Processing operations
 Spot welding and continuous arc welding

 Spray coating

 Other – waterjet cutting, laser cutting, grinding

3.Assembly and inspection

Robot Programming
Leadthrough programming - work cycle is taught to robot by moving the manipulator through
the required motion cycle and simultaneously entering the program into controller memory
for later playback
Robot programming languages - uses textual programming language to enter commands into
robot controller
Simulation and off-line programming – program is prepared at a remote computer terminal
and downloaded to robot controller for execution without need for leadthrough methods

Leadthrough Programming
Two types:
1.Powered leadthrough
Common for point-to-point robots
Uses teach pendant to move joints to desired position and record that position into memory
2.Manual leadthrough
Convenient for continuous path control robots
Human programmer physical moves manipulator through motion cycle and records cycle into
memory

Leadthrough Programming Advantages

Advantages:
Can readily be learned by shop personnel
A logical way to teach a robot
Does not required knowledge of computer programming
Disadvantages:
Downtime - Regular production must be interrupted to program the robot
Limited programming logic capability
Not readily compatible with modern computer-based technologies
 Unit-5 Industrial
Robotics

Robot Programming Languages

Textural programming languages provide the opportunity to perform the following functions
that leadthrough programming cannot readily accomplish:
Enhanced sensor capabilities
Improved output capabilities to control external equipment
Program logic not provided by leadthrough methods
Computations and data processing similar to computer programming languages
Communications with other computer systems
Robot Accuracy and Repeatability
Three terms used to define precision in robotics, similar to numerical control precision:
1.Control resolution - capability of robot's positioning system to divide the motion range of
each joint into closely spaced points

2.Accuracy - capability to position the robot's wrist at a desired location in the work space,
given the limits of the robot's control resolution

3.Repeatability - capability to position the wrist at a previously taught point in the work space