14MTT72 INDUSTRIAL ROBOTICS

COURSE OUTCOMES
On completion of the course the students will be able to

CO1: Interpret the features of an industrial robot

CO2: Estimate the gripping force of robot end effector
CO3: Develop the forward and inverse kinematics for serial manipulator
CO4: Analyse the velocity and static force of serial manipulators
CO5: Formulate robot dynamics and trajectory
UNIT – I 9
Introduction: History of robotics – Components of industrial robot - Degree of Freedom – Type
of Joints - Classification of robots – Work volume - Reference frames – Programming modes -
Robot specifications - Precision of movements: Accuracy, resolution, repeatability and dexterity –
Singularity – Robot languages - Robot applications.

UNIT – II 9
End Effectors: Types of end effectors - Mechanical Gripper -
Vacuum cup - Magnetic gripper - Special types of grippers-
Gripper force analysis. Frame Transformation: Descriptions:
Position, Orientation and Frames - Matrix representation: Point,
vector, frame and rigid body - Homogeneous Transformation
matrices – Representation: Translation, Rotational and Combined
transformation – simple problems.
UNIT – III 9
Robot Kinematics: Forward and inverse kinematics – Equations for position and orientation –
Denavit- Hartenberg Representation of forward kinematic equations: Two and Three link planer,
PUMA and SCARA - Inverse kinematic equation: Two and three link planer.
UNIT – IV 9
Velocity and Static Force: Introduction - Linear and angular velocities of a rigid body
- Velocity propagation – Derivation of the Jacobian for serial manipulator –
Identification of Singularities - Static force analysis of serial manipulator.

UNIT – V 9
Robot Dynamics: Acceleration of a rigid body - Inertia of a link - Equation of motion:
Legrangian formulation – Euler- Lagrange formulation - Newton Euler formulation.
Trajectory Planning: Joint space trajectory: Point to point and Continuous path
planning - Cartesian space trajectory – Simple problems.
TOTAL: 45
BOOKS:
1. Groover M.P., “Industrial Robotics, Technology, Programming and Applications”,
2nd Edition, Tata Mcgraw-Hill, New Delhi, 2012.

2. Saeed B. Niku, “Introduction To Robotics: Analysis, Control, Applications”, 2 nd

Edition, Wiley India Pvt. Limited, 2012.

3. Craig John J., “Introduction to Robotics: Mechanics and Control”, 3 rd Edition,

Pearson Education, New Delhi, 2005.
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Limitations:
 Watch out for dynamic forces and moments
when sizing a gripper.
 Gripper could drop part with loss in air
pressure (can order spring clamps to solve this
problem)
 Angular grippers are less expensive, but the
arcing motion of the jaws may require
additional tooling clearance and will grip at
varying points as part width varies. A parallel
gripper is simpler to tool to compensate for
part size variance.
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 Gripping Force
To resist slippage, the gripper must be designed to exert a
force that depends on the weight of the part, coefficient of
friction and acceleration of part

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The equation (5.1) must be changed if the weight of a work
part is more than the force applied to cause the slippage.

μ nfFg = w g where g => g factor

During rapid grasping operation, the work part will get twice
the weight. To get rid out of it, the modified equation 5.1 is
put forward by Engel Berger. The g factor in the equation 5.2
is used to calculate the acceleration and gravity.

The values of g factor for several operations are given

below:
g = 1 – acceleration supplied in the opposite direction.
g = 2 – acceleration supplied in the horizontal direction.
g = 3 – acceleration and gravity supplied in the same
direction.
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Linkage Actuation

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Gear and Rack Actuation

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CAM Actuation

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Screw Actuation

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 Suction Grippers
There are two types of suction grippers:
1. Devices operated by a vacuum – the vacuum may be provided by a
vacuum pump or by compressed air

2. Devices with a flexible suction cup – this cup presses on the work
piece. Compressed air is blown into the suction cup to release the
work piece. The advantage of the suction cup is that if there is a power
failure it will still work as the work piece will not fall down. The
disadvantage of the suction cup is that they only work on clean,
smooth surfaces.

Merits: for using a suction cup rather than a mechanical grip including:
there is no danger of crushing fragile objects, the exact shape and size
does not matter and the suction cup does not have to be precisely
positioned on the object

Downfalls: the robot system must include a form of pump for air and the
level of noise can cause annoyance in some circumstances
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 Uneven
objects

Small to Large, heavy

medium objects
objects

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 Magnetic Grippers
 Magnetic grippers obviously only work on magnetic objects and
therefore are limited in working with certain metals.

 For maximum effect, the magnet needs to have complete contact with
the surface of the metal to be gripped. Any air gaps will reduce the
strength of the magnetic force, therefore flat sheets of metal are best
suited to magnetic grippers.

 If the magnet is strong enough, a magnetic gripper can pick up an

irregular shaped object. In some cases the shape of the magnet
matches the shape of the object

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 Downfalls: of using magnetic grippers is the temperature. Permanent
magnets tend to become demagnetized when heated and so there is
the danger that prolonged contact with a hot work piece will weaken
them to the point where they can no longer be used. The effect of heat
will depend on the time the magnet spends in contact with the hot part.
Most magnetic materials are relatively unaffected by temperatures up to
around 100 degrees.

 Electromagnets can be used instead and are operated by a DC electric

current and lose nearly all of their magnetism when the power is turned
off.

 Permanent magnets are also used in situations where there is an

explosive atmosphere and sparks from electrical equipment would
cause a hazard

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 Hooks and Scoops
 Hooks and scoops are the simplest type of end effectors that can be
classes as grippers.
 A scoop or ladle is commonly used to scoop up molten metal and
transfer it to the mould
 A hook may be all that is needed to lift a part especially if precise
positioning in not required and if it is only to be dipped into a liquid.
 Hook are used to load and unload parts hanging from the overhead
conveyors. The parts to be handled by a hook must have some sort
of handle, eyebolt or ring to enable the hook to hold it.
 Scoops are used for handling the materials in liquid or power from,
the limitation of scoop is, it is difficult to control the amount of martial
being handled by the scoop. In addition, spilling of the material
during handling is another problem.

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 Expandable Bladder Type Grippers
 A bladder gripper or bladder hand is a specialized robotic end effector
that can be used to grasp, pick up, and move rod-shaped or
cylindrical objects.
 The main element of the gripper is an inflatable, donut-shaped or
cylindrical sleeve that resembles the cuff commonly used in blood
pressure measuring apparatus.
 The sleeve is positioned so it surrounds the object to be gripped, and
then the sleeve is inflated until it is tight enough to accomplish the
desired task.
 The pressure exerted by the sleeve can be measured and regulated
using force sensors.
 Bladder grippers are useful in handling fragile objects. However, they
do not operate fast, and they can function only with objects within a
rather narrow range of physical sizes.

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 Adhesive Grippers
 Adhesive Substance can be used for grasping action in adhesive
grippers.
 In adhesive grippers, the adhesive substance losses its tackiness due
to repeated usage. This reduces the reliability of the gripper. In order
to overcome this difficulty, the adhesive material is continuously fed to
the gripper in the form of ribbon by feeding mechanism.
 A major asset of the adhesive gripper is the fact that it is simple. As
long as the adhesive keep its stickiness it will continue to function
without maintenance, however, there are certain limitations, the most
significant is the fact that the adhesive cannot readily be disabled in
order to release the grasp on an object. Some other means, such as
devices that lock the gripped object into place, must be used.
 The adhesive grippers are used for handling fabrics and other
lightweight materials.

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Universal Grippers

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Soft Grippers

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 Gripping Force Analysis – Mechanical Gripper
Gripper is a simple pivot-type device used for
holding the cardboard carton as shown in figure.
The gripper is to be actuated by a piston device to
apply an actuating force Fa for the gripping force
60 lb. The corresponding lever arms for the two
forces are shown in the diagram.

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The analysis would require that the moments about
the pivot arms be summed and made equal to zero.

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 Gripping Force Analysis – Mechanical Gripper
The diagram shows the linkage mechanism and
dimensions of a gripper used to handle a workpart
for a machining operation. Suppose it has been
determined that the gripper force is to be 25 lb.
What is required is to compute the actuating force
to deliver this force of 25 lb?

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Gripping Force Analysis – Mechanical Gripper

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Gripping Force Analysis – Mechanical Gripper

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 Gripping Force Analysis – Mechanical Gripper
The gripper shown in
figure is used to hold
the work piece. An
actuating force of 50
lb is acting vertically
downwards resulting
in a gripping force
Fg. Compute the
maximum gripping
force that can be
applied.

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F sin
45
F cos 45

Fg
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 Fa = 2 x F x Sin45
F = = 35.36 lb

F sin
45
(Fg x 4 cos15) = F cos 45

(1.5 cos15) (F cos45) +

(1.5 sin15) (F sin45)
(Fg x 4 cos15) =
(1.5 cos15) (35.36 cos45) +
(1.5 sin15) (35.36 sin45)
Fg = 11.89 lb

Fg
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 Gripping Force Analysis – Suction Gripper
A vacuum cup will be used to lift flat plates of 18-8
stainless steel, Each piece of steel is 1/4”, thick and
measures 2.0 by 3.0 ft (24”x36”). The gripper will utilize
two suction cups separated by about 1.5 ft for stability.
Each suction cup is round and has a diameter of 5.0”. A
safety factor of 1.6 is to be used to allow for
acceleration of the plate and for possible contact of the
suction cup against the plate which would reduce the
effective area of the cup. Stainless steel has density of
0.28 lb/in3. The negative pressure required to lift the
stainless steel plates is to be determined.

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Weight of the plate :

Area of each suction cup

Negative pressure required by the combined area of the two

suction cups

Applying the safety factor of 1.6

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 Gripping Force Analysis – Suction Gripper

A vacuum gripper is to be designed to handle flat

plate glass, in an automobile windshield plant. Each
plate weighs 28 lb. A single suction cup will be used
and the diameter of the suction cup is 6.0”.
Determine the negative pressure required to lift each
plate. Use a safety factor of 1.5.

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