411083 (A): Elective III: Industrial Robotics

Teaching Scheme Credit Scheme Examination Scheme

Lectures: 03 hours/week In-Sem: 30 Marks
Theory:03 End-Sem:70 Marks
Definition of Robot
• What is a robot?
Robot (Check word) --> Work
Robota (Slav word) --> Menial or slave labour

Got publicity from the play:

Rossum’s Universal Robots (RUR) [1921]

Karel Capek
Unit1: Fundamentals of robotics [7]

INTRODUCTION TO ROBOTICS

DEFINITION

A robot is a software controlled mechanical device that uses

-- Sensors to guide

-- one or more end Effectors

-- through Programmed motions in a workspace

-- in order to Manipulate physical objects

Robotics is the intelligent connection of Perception to action.

OFFICIAL DEFINITIONS OF ROBOT
● The official definitions of robot issued by the national robotics associations such as the British
Robot Association and

● The Japanese Industrial Robot Association are mostly of industrial robots in this sense.

● An example is that of the Robot Institute of America (RIA):

○ Robot is a Reprogrammable and Multifunctional Manipulator,

Devised for the Transport of Materials, Parts, Tools
or Specialized Systems,
with Varied and Programmed Movements,
with the Aim of Carrying out Varied Tasks.
II. Basic Components of Industrial Robot Systems

Industrial robot systems have four major components:

1. Manipulator

2. Control system, or Robot controller

(includes interfaces for communication
and input/output (I/O); power is supplied
to the controller)

3. Teach pendant

4. When an End-Effector (such as a gripper, etc.)

is added to the industrial robot,
the result is an industrial robot system
Robot Application Spaces 
(Source: Robotics Industries Association, RIA)

Key:
1. Maximum space
2. Restricted space
3. Operating space
4. Workpiece
5. End-effector
6. Manipulator
7. Safeguarded space
8.Protective device or
barrier
Hardware & Software Components of a Robot

HARDWARE
○ Mechanical Subsystem (Arm Gripper, Body and Wheel etc)
○ Electrical Subsystem (Motor , Computer etc)
○ Sensor Subsystem (Camera , Force sensor etc )

SOFTWARE
○ Modelling
○ Planning
○ Perception
○ Control
○ Simulation

The Physical structure of a robot determines its working envelope, Degree of Freedom, and the
Geometry or Spatial configuration of its movement.
The Laws of Robotics
(according to the Handbook of Robotics or more precisely, Isaac Asimov)

The laws are as follows:

(1) A robot may not injure a HUMAN BEING or, through inaction, allow a human
being to come to harm;

(2) A robot must obey the orders given it by human beings except where such
orders would conflict with the First Law;

(3) A robot must protect its own existence as long as such protection does not
conflict with the First or Second Law.
● The term ‘Robotics' was coined by Isaac Asimov in about 1940.

● Because of its origin in science fiction it is only slowly becoming a respectable

word, and it is not found even in some good recent dictionaries.

● (Roboticist' will probably take even longer.) Respectable or not, these words
describe a coherent discipline and its practitioners, and will not go away.

● The origin of the word 'ROBOT' around 1917 with Karel Capek is described in
many books on robots.
World’s Top 10 Industrial Robot Manufacturers
Reasons for Poor Utilization

• Mainly due to

UNEMPLOYMENT
[Japan with 3 50 000 robots in 1992 had <3% unemployment]

• Other reasons
– Lack of proper perspective
– Cheap labour
– Non-availability
– High import cost/High investment
More Reasons

• R&D Supports: By Govt. only

• Companies involved: Almost nil
• Advanced Research Absorption: Poor
• Questions:
Should We Use Robots? YES
Do We Need Robots? YES (Modified ways)
If yes, how? Let’s see
Robotics in Our Countries

• To Overcome `Robotics vs. Unemployment’

• Do we like to
– work in front of a furnace at 500 deg.C [Hazardous]
– weld two parts for 8H/day for several years?
[Monotonous]

• Robot = Machine [Robot ≠ Human]

Where and How?

Where ? How ?

– In hazardous environment – Indigenous design

(Chemical, Steel, Nuclear, ... plants)

– Develop as required
(Customized design)
– High precision applications

– Make awareness
– Export oriented Products
– Think it as a machine
When to Use a Robot?

Thumb Rules:

● Is task Dirty, Dull, Dangerous, Difficult?

● Will a human be jobless?

● Is a human willing to do a job?

● Is robot usage economic?

Evolution of Robotics Research
Five Myths and facts about Robotics Technology Today

By Shashin Farshchi, IEEE Spectrum, 2014

-- Robots are intended to eliminate the jobs : MYTH

-- Manufacturing & Logistics MUST adopt Robot to survive : FACT

-- Autonomous robots are still too slow : FACT

-- Robots are too expensive : MYTH

-- Robots are difficult to use : FACT

Robots and humans share a common feature

A human elbow and

shoulder are Joints
&
the bones connecting
them are Links.

Robot anatomy
Robot Anatomy
Manipulator consists of Joints & Link
○ Joints provides relative motion
○ Links are rigid members between joints
○ Various joint types : Liner & Rotary
○ Each Joint provides a Degree -of-Freedom (DoF)
○ Most robots possess five or six DoF

Robot Manipulator consist of two section

○ Body - and – Arm for Positioning of
object in the robot’s work volume
○ Wrist assembly – for orientation of object
Robot manipulator -a series of joint-link combinations
Manipulators Joint
Robot manipulator
-a series of joint-link combinations

Types of Manipulator Joints

1  Translational motion
Linear joint (type L)
Orthogonal joint (type O)

2  Rotary motion
Rotational joint (type R)
Twisting joint (type T)
Revolving joint (type V)
Comparison of Prismatic and Revolute joints

Comparison of
Prismatic and Revolute joints,
showing that for a given displacement
a Prismatic joint takes up more space.

So prismatic joints are often powered by hydraulic or pneumatic cylinders,

and
revolute joints by electric or hydraulic motors.

All the other possibilities such as pneumatic rotary actuators can also be
found
Classification

Robots are roughly

categorized into two types
according to how their links
are arranged:
Classifications

• By Applications
• By Coordinate System
• By Actuation System
• By Control Method
• By Programming Method
By Application

• Welding robot
• Assembly robot
• Heavy-duty robot

• More with video in

www.directindustry.com

Special features like

max. speed, accuracy, etc. are
incorporated keeping the application in mind.
By Coordinate System

(a) Cartesian
(b) Cylindrical
(c) Spherical
(d) Anthropomorphic
(e) Gantry ≡ (a)
(f) SCARA
(a) Cartesian Coordinate Robot: Simple control

https://global.yamaha-motor.com/business/robot/lineup/application/xyx/#point03 Kawasaki’s Cartesian coordinate robot,

Cartesian robots (Application examples) the ER100 (Discontinued in 1997)
Cylindrical coordinate robot: The robot with 50-year history
c) Spherical / Polar coordinate robot:
The original industrial robot
d) Anthropomorphic coordinate robot
● A humanoid robot is a Robot resembling the Human Body in shape.

● The design may be for functional purposes,

such as interacting with human tools and environments,
for experimental purposes,
such as the study of Bipedal Locomotion, or
for other purposes.

● In general, humanoid robots have a torso,

a head, two arms, and two legs,
e) Gantry ≡ (a)
● A Gantry robot consists of a manipulator
mounted onto an overhead system
that allows movement across a horizontal
plane.

● Gantry robots are also called Cartesian or

linear robots.
They are usually large systems that
perform pick and place applications,
but they can also be used in welding and
other applications.
Gantry Robot

● Gantry robot systems provide the advantage of large work areas and better
positioning accuracy.
● Position accuracy is the ability of the robot to place a part correctly.
● Gantry robots are easier to program, with respect to motion, because they work
with an X, Y, Z coordinate system.
● Another advantage is that they are less limited by floor space constraints.
Selective Compliance Assembly Robot Arm (SCARA):
The assembler

● This is a robot specializing in Lateral movements.

● As all the rotary shafts are vertically positioned,

the end effector attached to the arm can move
only horizontally.

● These robots work by moving the arm at High speed

to a point on flat surface
and then raising and lowering the effector,
thus making them useful for operations on Level surfaces.

● This kind of robots is widely used in many situations,

for instance, in handling semiconductor wafers
and assembling circuit boards.
○ https://www.youtube.com/watch?v=nAUSMmmQo2o&t=4s [LINK: SCARA]
○ https://www.youtube.com/watch?v=ZGD7ibyWL18 [LINK: Kawasaki Unimate]
Robot and human motion comparison

● Now, let’s take a look at the movement of

a vertical articulated type
having the same mechanical structure
as a human arm as an example.

● A vertical articulated robot is an

industrial robot with a serial link structure.

● It is generally composed of six joints (6 axes).

● PUMA 560 robot
 In this illustration, it is clear that a
robot is made up of many
different parts.

 Among those parts are four

particularly important ones:
 The actuator,
 Reduction gear,
 Encoder and transmission,

 All of which will be individually

explained.
The following figure shows a comparison between robot and human movement.

• The 1st to the 3rd axes are the

waist and the arm,

• The 4th to the 6th axes are

from
the wrist up to the fingertips.

• The first three axes carry the

wrist to a specific position, and

• The next three axes move the

wrist freely.

• This 6-axis construction allows

robots to move freely like

humans can.
● Five common arm geometries:
(a) Cartesian,
(b) Polar,
(c) Cylindrical,
(d) SCARA,
(e) Jointed or anthropomorphic.
Fundamental Configurations
Type Joints

1 (base): Motion 2 (elevation): 3 (reach): Motion

Motion

Cartesian P: travel, x P: height y P: reach z

Cylindrical -P+R+900@Z
R: rotation θ P: -do- P: -do-
Spherical -P+R+900@Z
Revolute R: -do- R: angle φ P: -do-
-P+R+900@Z
R: -do- R: angle ψ
R: -do-
Comparison (For selection)
Configuration Advantages Disadvantage

Cartesian (3 linear axes) - Easy to visualize - Reach only front and back
x: base travel - Rigid structure - Requires large floor space
y: height - Easy offline programming - Axes are hard to seal
z: reach - Easy mechanical stops - Expensive

Cylindrical (1 rotation and 2 linear axes) - Can reach all around - Cannot reach above itself
θ: base rotation - Rigid y, z-axes - Less rigid θ-axis
y: height - θ-axes easy to seal - y, z-axes hard to seal
z: reach - Won’t reach around obstacles

Spherical (2 rotating and 1 linear axes) - Can reach all around - Cannot reach above itself
θ: base rotation - Can reach above or below obstacles - Short vertical reach
φ: elevation angle - Large work volume
z: reach

Articulated (3 rotating axes) - Can reach above or below objects - Difficult to program off-line
θ: base rotation - Largest work area for - Two or more ways to reach a point
φ: elevation angle least floor space - Most complex robot
ψ: reach angle
Mounting positions for a vertically Jointed arm.
The basic three-axis wrist.
A wrist must meet some or all of the following requirements:

 The mass at the end of the arm should be minimized.

Otherwise the arm will have to be stronger than it need be, and because of excessive inertia the robot will be slow.

 The volume of the wrist mechanism should be minimized as it is liable to intrude into the work space and to collide
with obstacles.

 The wrist must allow transmission of power to the gripper.

This can be done by a mechanical linkage , which tends to be complicated, or the wrist may be bypassed by a
flexible hose or optical fibre bundles from sensors in the gripper may also have to be accommodated.

 Each joint must have a useful angular range .

There are two reasons why this can be more difficult than it appears at first sight.
First, if a gimbal-like arrangement is used the movement of the innermost element will be restricted by the gimbal
ring; secondly, any tendons, cables or hoses to the end effector have limited flexibility.

 It is sometimes desirable to allow a compliant or force-sensing device to be incorporated.

By Actuation System By Control Method

● Pneumatic (in factory floors) ● Servo/ Non-servo control servo control

– Servo ≡ closed-loop (Hydraulic & Electric)
● Hydraulic (for heavy applications) – Non-servo ≡ open-loop (Pneumatic)
● Electric (more common these days)
● Path control
– Continuous path ≡ trajectory (welding etc)
By Programming Method

• Online Programming
– Direct use of the robot
– Teach pendant

• Offline programming (saves time)

– Using a computer on a new task
– Download when ready
Applications of Robots
● In Manufacturing Unit ● Application Areas

Advantages of Robots  Arc Welding

 Robots can work in Hazardous & Dirty  Spot Welding
Environment  Spray Painting
 Pick & Place Operation
 Can increase productivity after
 Grinding
maintaining improved quality  Drilling
 Direct labour cost will be reduced  Milling
 Material cost will be reduced
 Repetitive tasks can be handled more
efficiently
Under-Water Applications

● Purposes ● Medical Application

● To explore various recourses ● Telesurgery

● To study under-water environment ● Micro-capsule multi-legged robots

● To carry out drilling, pipe-line survey, ● Prosthetic devices

inspection and repair of ships

Space application

● For carrying out on-orbit services, assembly job and interplanetary missions

● Spacecraft deployment and retrieval, survey of outside space shuttle; testing,

maintenance of space stations; transport of astronauts to various locations

● Robot-nauts

● Free-flying robots

● Planetary exploration rovers

In Agriculture

● For spraying pesticides

● For spraying fertilizers in liquid form

● Cleaning weeds

● Sowing seeds

● Inspection of plants
Summary

• Focus on Serial-type robots (not parallel or mobile, etc.)

• Different subsystem Different subsystems are explained ms are explained

• Five ways are explained to classify a robot

– Animations for coordinate based robots are shown
https://whatsthebigdata.com/2017/05/08/timeline-of-ai-and-robotics/
● Need of Automation, Laws of Robotics, History of Robots, Basic concepts -
Robot anatomy - Robot configurations - Basic robot motions –Types of robots-
Dynamic Properties, Types of drives - Applications - Material handling -
processing -Assembly and Inspection – safety considerations.