Introduction to Robotics

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 Outline
• Introduction
– What is a Robot?

– Why use Robots?

– Robot Applications

– Architecture of robotic systems

– Types of Joints

– Types of robots based on geometry

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 What is a robot?
• Robot:
• A robot (industrial robot) is a reprogrammable,
multifunctional manipulator designed to move
materials, parts, tools, or specialized devices,
through variable programmed motions for the
performance of a variety of tasks.
-Robot Institute of
America

• Origin of the word “robot”

– Czech word “robota”– labor, “robotnik” – workman
– 1923 play by Karel Capek – Rossum’s Universal Robots

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 What is a robot?
• By general agreement, a robot is:
A programmable machine that imitates the actions or
appearance of an intelligent creature–usually a human.

• To qualify as a robot, a machine must be able to:

1) Sensing and perception: get information from its surroundings
2) Carry out different tasks: Locomotion or manipulation, do
something physical–such as move or manipulate objects
3) Re-programmable: can do different things
4) Function autonomously and/or interact with human beings

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Fundamental Elements of Robotics
 Why Use Robots?
• Application in 4D environments
– Dangerous
– Dirty
– Dull
– Difficult
• 4A tasks
– Automation
– Augmentation
– Assistance
– Autonomous

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 Types of Robots
• Fixed Manipulators

• Mobile Manipulators

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 Types of Robots
• Locomotion

Aerial Robots Wheeled mobile robots

Legged robots

Humanoid Underwater robots

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Field Robots

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Service robots

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 Robot Applications
• Space Robotics:

Mars Exploration Rovers: Spirit and

NASA/DARPA Robonaut project: a humanoid Opportunity --- twin robot geologists,
robot that can function as an astronaut
landed on Mars: Jan 3, and Jan 24,
equivalent for spacewalks. Human operators
2004, and still alive
on earth can control the robot’s movements
from distance. Website:
http://marsrovers.jpl.nasa.gov/overview
/
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 Robot Applications
• Entertainment Robots

Sony-Qrio

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 Robot Applications
• Entertainment Industry

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 Robot Applications
• Military Applications

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 Robot Applications
• Robots for Assistive Technology

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Architecture of Robotic Systems
• Mechanical Structure
– Kinematics model
– Dynamics model
• Actuators: Electrical, Hydraulic, Pneumatic, Artificial Muscle
• Computation and controllers
• Sensors
• Communications
• User interface
• Power conversion unit

Environmental Motion Mechanical

sensors planner Controller
Structure

Sensor
Configuration
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 Main Components of Industrial
Robots

– Arm or Manipulator
– End effectors
– Drive Mechanism
– Controller
– Custom features: e.g. sensors and transducers
 Arm or Manipulator

• The main anthropomorphic element of a robot.

• In most cases the degrees of freedom depends on

the arm

• The work volume or reach mostly depends on the

functionality of the Arm
 End Effectors
Device attached to the robot’s wrist to perform a specific task

Grippers
– Mechanical Grippers
– Suction cups or vacuum cups
– Magnetized grippers
– Hooks
– Scoops (to carry fluids)
 End Effectors
Device attached to the robot’s wrist to perform a specific task

Tools
– Spot Welding gun
– Arc Welding tools
– Spray painting gun
– Drilling Spindle
– Grinders, Wire brushes
– Heating torches
 Sensors in robotics

Types of sensors :
– Tactile sensors (touch sensors, force sensors,
tactile array sensors)
– Proximity and range sensors (optical sensors,
acoustical sensors, electromagnetic sensors)
– Miscellaneous sensors (transducers and sensors
which sense variables such temperature, pressure,
fluid flow, thermocouples, voice sensors)
– Machine vision systems
 Sensors in robotics

Desirable features of sensors:

Accuracy
Operation range
Speed of response
Calibration
Reliability
Cost and ease of operation
 Type of Drive System
• Hydraulic
– High strength and high speed
– Large robots, Takes floor space
– Mechanical Simplicity
– Used usually for heavy payloads

• Electric Motor (Servo/Stepper)

– High accuracy and repeatability – Low cost
– Less floor space – Easy maintenance

• Pneumatic
– Smaller units, quick assembly
– High cycle rate – Easy maintenance
 Programming Robots

•Manual
Cams, stops etc
•Walkthrough (Lead-through)
Manually move the arm, record to memory

• Manual teaching
Teach pendant

• Off-line programming
Similar to NC part programming
VAL, RAPT
 Work Volume
Work volume refers to the
space within which the
robot can manipulate its
wrist end.

Determined by
– Physical configurations
– Size
– Number of axes
– The robot mounted position (overhead gantry, wall-
mounted, floor mounted, on tracks)
 Spatial Resolution
Smallest increment of motion at the wrist end that can be controlled by the
robot

Depends on the position control system, feedback measurement, and

mechanical accuracy
 Accuracy
Capability to position the wrist at a target point in the work volume

• One half of the distance between two adjacent resolution points

• Affected by mechanical Inaccuracies
• Manufacturers don’t provide the accuracy (hard to control)
 Repeatability
Ability to position back to a point that was previously taught

• Repeatability errors form a random variable.

• Mechanical inaccuracies in arm, wrist components
• Larger robots have less precise repeatability values
 Repeatability & Accuracy
 Repeatability: positional deviation from the average of displacement. (max
speed and max payload)

 Accuracy: ability to position, at a desired target point within the work volume.
(max speed and max payload)

1. Warm robot to steady state conditions

2. Send identical commands to bring the

robot to 3 different positions in
sequence.

3. Measure the reached position using 2

cameras and an optical target carried
by the robot, or other instruments.
 Speed of Movement
Speed with which the robot can manipulate the end effector

•Acceleration/deceleration times are crucial for cycle time.

•Determined by
– Weight of the object
– Distance moved
– Precision with which object must be positioned
 Performance Specifications of Industrial Robots

• Size of the working envelope •Motion control

• Precision of movement – path control
– Spatial resolution – velocity control
– Accuracy •Types of drive motors
– Repeatability – hydraulic
•Lifting capability – electric
– pneumatic
•Number of robot axes
•Speed of movement
– maximum speed
– acceleration/deceleration time
 Robot Manipulator

The manipulator of an industrial robot consists of a series of joints and links

A robotic joint provides relative motion between two links of the robot

Each joint, or axis, provides one degree of freedom (DoF) motion.

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 Types of Joints
• Linear (Prismatic, d)
• Rotary (Revolute, ϴ)

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 Types of Joints
• a) Linear joint (type L joint)

• The relative movement between the input link and the output link is a
translational sliding motion
• Axes of the input and output links are parallel.

• b) Orthogonal joint (type O joint)

• This joint also provides translational sliding motion

• But the input and output links are perpendicular to each other

• c) Rotational joint (type R joint)

• This type provides rotational relative motion

• Axis of rotation is perpendicular to input and output links.
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 Types of Joints
• d) Twisting joint (type T joint)

• Axis of rotation parallel to axis of links

• e)  Revolving joint (type V-joint)

• Axis of rotation parallel to input but perpendicular to output.

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Robot Joints

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Robot Configuration based on
Geometry

1. Cartesian

2. Spherical

3. Cylindrical

4. Articulated

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Robot Configuration

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Cartesian
• Also called rectangular, or gantry
Robot
• It has the ability to move its gripper
to any position within the cube or
rectangle defined as its work
envelope
• (3L) Three linear movements

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Cartesian Advantages
1. Overhead mounting leaves floor space for other use

2. Linear movement hence simpler control systems

4. Since the load carrying capacity does not differ at different

points, this kind of robot can carry heavier loads.

Cartesian Disadvantages

1. Movement is limited to only one direction at a time

2. Access to the work envelope by overhead crane or other

material-handling equipment may be impaired
 Cartesian Applications

• Materials handling

• Parts handling related to machine

loading/unloading supply bins

• Assembly of small systems

– Example: Electronic printed circuit board
assembly
Cartesian/Gantry Robot
Cartesian/Gantry Robot
 II. Cylindrical Geometry
• Work volume: Cylinder

• (2L1R) Two linear movements, one rotational movement

Cylindrical Robot
 Cylindrical Advantages
1. Larger work envelope compared to Cartesian configuration.

2. Vertical structure of the machine conserves floor space

3. Rigid structure, allows large payloads

Cylindrical Disadvantage
Overall mechanical rigidity is reduced because robots with a rotary axis
must overcome the inertia of the object when rotating.

Cylindrical Applications
• Assembly
• Die casting
• Coating applications
 III. Spherical Geometry
• Also called polar configuration

• Spherical shaped work envelope

• (2R1L) Two rotations, one linear

extension
Spherical Advantages

1. Fully capable of 360 degree rotations.

2. Long horizontal reach

Spherical Disadvantages

The semi-spherical operating volume leaves a considerable

space near to the base that cannot be reached.
Spherical Applications

• Mounted on machinery to load/unload parts

• The loading and unloading of a punch press is a typical

application
Spherical Robot
 IV. Articulated Geometry
• (3R) Three rotational movements

• Two variants: vertically or horizontally articulated

(SCARA-selective compliant articulated robotic
arm)

• Vertically- additional rotary axis or linear axis for

the forearm link - Also called Jointed-Arm,
Revolute, or Anthropomorphic

• Horizontally- two angular positioning movements

and one linear movement
IV. Articulated Geometry
Articulated Advantages

1. Occupies a minimum of floor space

2. A good size-to-reach ratio, achieves more reach

3. High positioning mobility of the end-of-arm tooling allows the arm to

reach into enclosures and around obstructions

Articulated Disadvantages
1. Has the need for more sophisticated control requirements

2. Higher associated costs

• Despite these disadvantages, articulated robots dominate the

automated world today. They are known for their speed and
agility.
Vertically Articulated Robot
Vertically Articulated Robot
Vertically Articulated Robot
Vertically Articulated Robot
Horizontally Articulated Robot
Horizontally Articulated Robot
Thank you!

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