UNIT-IC ROROT AS ASYSTEM

Identification of Robots
PA ROEDT CANBE DF ANY SIZE AND SHAPE
Size and shape of a robot The purpose, task and the nature of the workspace of a
ends on its purpose,
robot play important factors in determining the size and
24 onment and the challenges shape ofa robot. It's true that robots exhibit a remarkable
eeds to overcome
diversity in both size and shape, ranging from compact,
erstanding a robotic arm intricate devices to massive, complex systems, which
ts various components are tailored to specific functions and applications. Some
erstanding various robots come in the shape of humans with articulated
ponents and subsystems of legs and sophisticated sensors, whereas some come with
Omanoid the shape of an insect or asnake. Some robots may just
derstanding the components have the structure of ahuman hand, whereas sonme may
in a mobile robot look like an aeroplane. The shapes, sizes and structure
ack of a robot are linked to its intended purpose and the
challenges it aims to overcome. This allows flexibility in
desighing robots of various shapes and sizes which can be utilised in a myriads of industries,
Rro manufacturing and healthcare to exploration and agriculture.

Let us understand this with the help of three different types of robots, along with their
Couponents, which have different shapes and sizes.

RGUSTRALROEDTIC ARM
ndusid robotic arms are the fundanmental components of modern manufacturing and
auto mation. These robotic arms are versatile and can perform a wide range of tasks, assembly
Qud welding to material handling and inspection. Various components of an industrial robotic
Musre:
 Am structure: The arm structure of an industrial
tobot typically consists of multiple interconnected 6th a

segments or links. The number of links can vary 5th

depending on the robot's design, but a common 4th a ste

configuration includes six links, making it a 6-axis 3rd a te
robot. Each link is connected by joints that allow the
2nd
arm to nove in multiple degrees of freedom (DOF).
The joints are usually rotary or linear and provide 1st s
the necessary motion for the robot to reach different
positions and orientations.
2. End Effector: The end effector, also
known as the
robot's hand, is the part of the arm that interacts directly
with theworkplace or perform specific tasks. It can take
various forms, depending on the application. Common op
end effectors include grippers, welding tools,
Cups, cutters, etc.
vacuum ar

3. Actuators: Actuators are the motors or mechanisms

responsible for moving the robot's joints and controlling arb
its motion. Electric, pneumatic, or hydraulic actuators
are commonly used, with electric actuators being the
most commonly used due to its precisioD and control. Classic DC Geared DC Pneurna
Each joint has its own actuator, which provides the motor motor Hydra
oin
required torque and movement.
4. Control system: The control system is the brain of
Industrial Stepper
the industrial robotic arm, managing its movements Servo motor

and interactions with the environment. It consists of

the hardware and software components. The hardware
incdudes a controller, which can be a dedicated computer
or embedded system, as well as input/output interface.
The software comprises control algorithms that
determine how the robot should move to accomplish
factors like kinematics, dynamics and safety.
5. Sensors: Sensors play an important role in the operation of an industrial robotic arm Tuey
provide feedback on the robot's position, orientation, and interaction with the environueut.
Common sensors include encoders for joint position feedback force or torque sensor for Cpr
detecting contact forces,(vision systems for object recognition) and fproximity sensors for
detecting objects in the workspace.) nd
6. Salety features: Safety is paramount in the industrial settings. Robots are equpped pec
with various safety features to protect both humans and the equipment. Safety mechariswus
include emergency stop buttons, protective barriers, light curtains and collision detechow a n

systems. Etec

7. Programming: Industrial robotic arrms are programmed to perform specific taàKS

nter
Programming can be done in various ways. Operators can guide the robot through a
nd

86
 sequence of motions. Software tools are used to create and simulate robot
before they are transferred to therobot. Robot-specific programs ofline
programming languages (e.g., C+t, Python)can be used, programming languages or standard
system. The robotscan also be reprogrammed, dependingdepending
on the
on the robot'scontrol
id aie Integration:Integrating robotic arms into existing production linesassigned task.
often requíre custom
fixtures, conveyors and automation software. Integrators and
ist ensuring aseamless integration process, engineers are responsible for

MANDID
Tue uilding blocks of ahumanoid robot are the
Nake up its physical structure, mechanical fundamental conmponents and subsystems that
systems,
Tueae building blocks are essential for creating a sensory capabilities, and control systerns.
functional and versatile humanoid robot. The
eycomponents ofa humanoid robot are mentioned below:
1.rame and body structure: The frame
provides the overall structure of the robot and
houses its components, Materials like
carbon fiber, or plastics are commonlyaluminum,0
used to
construct the frame. The frame's design includes
head, torso, arms, legs, and other body parts to
mimic human-like appearances and
2.3oints and Degrees of freedom:functionality.
Joints allows
the movements in the robotic limbs and body. The
umber and types of joints determines the robot's
range of flexibility and motion, i.e, the degrees of
freedom. Degrees of freedom (DOF) refer to the
Dumber of independent movements a robot can
perform. Humanoids typically have multiple DOF
Per joint.
3.Aetuators; Actuators, often electric motors,
Grovide the capability to move the robot's joints
nd limbs. High torque and high precision motors
Bark ind64
e commonly used to achieve accurate and Cinbal (otation

cantrolled motion. Actuators can also be used to

press emotions by means of facial expressions in
imanoid robots.
4.ad effectors and hands: End effectors are
becialised attachments at the end of a robot's
ns or limbs. Hands or grippers are designed to Hoizs Feterente arm
aanipulate objects, grasp items, and perform tasks Gyfo Pich girrkal
ectively. Gyroscopes
5.easorS: Sensors provide data on the robot's environments, enabling perception and
eraction. Common sensors incude cameras, touch sensors, accelerometers, gyroscopes
microphones.
67
 6. Control systen: The control system manages the
sensors, actuators andconsequently the movements. It robots
of hardware(e.g., consists
microcontroller,
for real-time control and processors, etc.) and software
decision making.
I. Power supply: Apower supply
provides energy to the robot's components.
batteries or rechargeable power sources are often used for portability. Lithium-ou
8.
Comnnication:
data, and interact withCommunication systems allow the robot to
humans and other devices. This may include receive
wireless
commands, seud
wired connections or network
interface. communicati
9. Safety featurgS Safety features, such as
compliances in joints, ensure safe operationemergency stop buttons, collision detection qud
around humans.
10. Customisation for
application: Depending on the intended application, additicual
building blocks and modifications may be needed. For example, medical
specialised sensors and tools. robots may requ

UNCANNY VALLEY
Uncanny Valley is a concept in robotics and human robot
that creates a 'valley' in the interaction. It is a discomfort or eerines$
emotional response graph when humans interact with or confront a
humanoid robot or animated character that closely
When the robot's appearance is almost but resembles a human but is not realistic enough.
unease or reVulsion.
not exactly like humans, it triggerS a response of

MOBILE ROBOT
The building blocks are responsible for creating a functional and
of autonomous movement and navigation. The key versatile mobile robot capatje
building blocks are given below:
1. Chassis or frame: The chassis provides the
physical
structure and foundation for mounting all the robot's
components. It supports the robot's mobility and houses
its sensors, actuators and the control systems.
2. Wheels or racks: Wheels or tracks are the
primary means of mobility for the robot. The choice
between wheels and tracks depends on the terrain and
application, Wheelsare suited for smooth surface, while
tracks provide better traction on uneven terrain.
3 Actuhtors: Motors are often used as actuators. It
helps in achieving various forms of locomotion, such
as differential drive or omnidirectional movements.
4SensoTS: Common sensors include cameras, LIDAR,
ultrasonic sensors, infrared sensors, encoders_ and
Byroscopes.

68
 5.Conrol system ltprocesses the sensor data, makesdecision and thus, control theoverall
action of the robot,
6Comanieation: Communication systems allow therobot to receive commands,transmit
data and interact with other devicesor remote operators,This may
Cunnections, involve wireless or wired
7. Localisation: Localisation techniques, such as SLAM
(Simultaneous Localisation and Mapping), hely the
obot
determine its position and orientation within its
environment.
8 Safety leatures: Safety
features include emergency
atop butons, collision detection systems etc, which
ensures sate operation of robot in its
4.Softwvare Iraunework: A software surroundings.
framework
provides a plattorm or programming and controlling
the robot's behaviour. Itmay include
simulation environments and librariesdevelopment tools,
for various tasks.
10.ustomisation lor applieation: Robots used for
Sogistics, search and rescue, agriculture or
Bay use additional sensors, tools or surveillance
payloads.

evarious building block of robot

includes controller, actuators, manipulators,
anit, and sensors. information processing
De size of the robot depends on the purpose, task
nended to overcome the challenges it aims to and nature of workspace. The size and shape are
overcome,
The arm of the industrial robots is made of links and
the robot. The end effector in these robots can bejoints, that allows multiple Degrees of Freedom
grippers, welcling tools, cutters, etc.
actuators used in robotic arms are pneumatic, hydraulic
host coimmonly used. actuators, where elecuric motors are
a robotiC arm, the control system
manages the
The control system is programmed using various movements and interaction with the environment.
programming languages. It also receives the feedback
nt by the sensors (encoders, torque sensors, gyros,
etc) and takes decisions accordingly.
The humanoid is atype of robot that resembles a
human body. It consists of frames that provide the
erall structure of the robot. The joint and links help
e robot. Actuators are used for the in providing the required degrees of freedom to
movement the joints. The end effectors are usually
of
grippers
a humanoid, sensors such as
cameras, accelerometers, gyros and microphones are used.
esors provide feedback to the control system These
Nkh in turn sends output signals to perform the(consisting
task.
of microcontroller or
microprocessor)
amobile robot, the chassis of the frames provide the physical
the robor's components. The wheels, legs, structure and foundation for mounting
wings and tracks provides mobility to the robot.
he control system receives feedback signal
from the
Stons of the robot. The actuators (typically motors)sensors, inand make decisions to control the overall
help achieving locomotionof the robot.
 sOLVED QUESTIONS WITH ANSWERS
1. What is a roboticarm?
Ans. Arobotic arm is a mechanical device designed to mimic the function and range of motin of
a humanarnm. It is used for various applications like manufacturing, assembly and surgery
2. How are robotic arms controlled?
Ans. Robotic arms are controlled through programming or remote operation. Programming involwed
specifying a sequence of movements. While remote operation allows a human operatoro
control the arm in real-timne.
3. What are the advantages of using robotic arnms in industries?
Ans. Robotic arms in manufacturing can improve efficiency, precision and consistency of tasks. They
can work continuously, reducing the need for breaks, and handle repetitive tasks with Wau
accuracy.
4. Can robotic arms be programmed for different tasks?
Ans. Yes. Robotic arms are versatile and can be programmed. This flexibility makes them adapkalove
to changing production needs in manufacturing environments.
5. What is the purpose of humanoid robots?
Ans. Hunmanoid robots are designed to perform tasks in an environment built for humans. wy
can assist in various fields, such as healthcare, education and research.
6. What are the challenges in designing humanoid robot?
Ans. Challenges include achieving stable walking, replicating human dexterity, and developivg
artificial intelligence for human-like interactionand decision-making.
7. Can humanoid robots express emotions?
Ans. Some humanoid robots are equipped with features to stimulate emotions through (aciol
expressions and gestures, enhancing their ability to improve interaction with humans.
8, Canmobile robots communicate with each other?
Ans. Yes. Mobile robots can communicate with each other through wireless technologies like Wi=f
or dedicated communication protocols for coordination and collaboration.
9. How do mobile robots navigate?
Ans. Mobile robots navigate using various methods, including sensors, GPS, and algorithm for pata
planning and obstacles.
10. How are mobile robots powered?
Ans. Mobile robots are typically powered by batteries, which can be rechargeable or replaccaloe
depending on theapplication and design requirement.

EXERCISE
A. Multiple Choice Ouestions (Choose the correct option):
I. What is robotic arm?
a. Atype of computer
b. A mechanical device mimicking human motions
C. Atype of spacecraft
d. A type of medical instrument
70
 What are the main components of a robotic arm?
a. CPU, Keyboard and monitor
b. Wheels, gears and motors
c. Joints, links, actuators, sensors, and a controller
e of
and s
d. Cameras, microphones, and speaker
What is a collaborative robotic arm?
aming a. A robot that dislikes working with others
an ope b. A robot designed to work alongside humans safely
c. A robot that only collaborates with other robots
d. A robot that collaborates with aliens
of ta
sks w What distinguishes a humanoid robot from other types of robots?
A. Its ability to fly. b. Its ability to swim.
C. Its human-like appearance and motion. d. Its ability to
communicate with animals.
em What is the purpose of humanoid robots in customer
service?
a. To provide information and assistance in public
spaces
D. To entertain customers with jokes.
C. To replace humans entirely
&To sell products independently.
What is SLAM in context of mobile robots?
a. Slicing, Lifting and Moving b. Smart Learning and Management
e. Smart Lifting Methods d. Simultaneous Localisation and Mapping
aroA Which of these is not a type of mobile robot?
a. Wheeled robot b. Legged robot C. Robotic Arm d. Drones

es li are the type of robots which uses caterpillar tracks instead of wheels.
(Sample Paper 2024)
2 Legged Robots b. Tracked Robots c. Caterpillar Robots d. None of these
thn Sophia is a humanoid robot who is the first (Sample Paper 2024)
A Robot alien b. Robot writer c. Robot artist d. Robot citizen

whether the lollowing statements are true or false:

. The end-effector is a part of the robotic arm that provides feedback on the environment.
2-Beprogramming is possible in robotic arms, as they are designed for various tasks.
3.Sensors in a robotic arm are crucial for providing feedback on position, force and other
ariables.
4,tumanoid robots cannot be used in dangerous environments.
G. Actuators help humanoid robots express emotions through facial expressions.
6Softwares and programming are not required for humanoid robots.
7ontrol system mechanism helps mobile robots to know its location.
8Chassis is a kind of actuator used in mobile robots.

71
 hsesti nd
1.
Assertion: Heasonincan ased restioms (Chose the correct option):
Robots
Reason: The be of anv
shape and size.
shape and size of robots
and specific task. are designed to operate in a
oh the assertion and particular envir wwmaut
assertion. reason are irue. and the
b. Both the reason is the correct
assertion
the assertion. and reason are true.
but the reason is
explanation fte
C. The
assertion is not the valid
2.
d. The
assertion is
true, but the
false, but the reason is false.
explanaRou o
Assertion: The reason
Reason: 1The control svstem is the brain of
is true.
Both the control system manages thetasks ofthe industrial robotic arnn.
assertion. assertion and reason are true, and the robotic arm by
the reason is the sensing the envircaAAE
b. Both the
assertion and reason are true, but the
the assertion.
correct explanation of ao
cThe reason is not the valid
A The assertion is true, but the reason is explanahou o
assertion false, but the reason is false.
3. Assertion: End
is
of a humanoid. efectors are specialised
true.
Reason: End eftectors are used
attachments at the end of a robot's arms or
uwbs
for
a. Both the
manipulating the environment and locomotion.
assertion. assertion and reason are true, and the reason is the
b. Both the correct explanation e
assertion
the assertion. and reason are true, but the reason is not
the valid
C. The
assertion true, but the reason is false.
is explanh 9n o
d. The
assertion is false, but the reason is true.
DShort Answer Type Questions
I. What is the
function of
Name the sensors used inprogramming
2. in an industrial robotic
a robotic arnn. arm?
3. What is the purpose of What is it purpose?
actuators in a robotic arnm?
4. Robotic arms can be
5. How do humanoids reprogrammed
for diferent purposes.
express emotions? Explain.
6. How do humanoid robots differ from
other kind of robots?
7. How do chassis contribute to the
structure of a mobile robot?
8. What communication systens are used in a
humanoid?
ong nee Type uestiens
1. Robots are made in different sizes and shapes.
Explain.
2. Namne and describe the electronic and electrical components used in ahunmanoid.
3. How does control systen helps in the movenment of arm in an industrial arm? Ww iS
programming necessary?
72
Compelahey-based question:
In a robotcompetition, a robot
are provided by the organiser. Theneeds to climb up a
minimum time as possible function of the staircase. The
1. Which of the robot is to cimbdithe
mensions of the staircase
2. State the
three
robots will you prefer: a staircase in as
,What kindadvantages you prefer. humanoid, a wheeled robot or a
of the robot
of sensors legged robot?
and actuators
would you like to
incorporate in the robot?