INSTITUTE - UIE

DEPARTMENT- ACADEMIC UNIT-1

Bachelor of Engineering

Emerging & Disruptive

Technologies Workshop
(IoT, AR-VR, Robotics)
24ECP-103
DISCOVER . LEARN . EMPOWER
 Course Outcomes
CO Title Level
Number

CO1 Establish connectivity of IoT modules with cloud for sensor Remember
data collection and management.
CO2 Design an appcessory with Bluetooth/Wi-Fi connectivity using Understand
standard mobile application development tools.
CO3 Create robot prototypes enabled with sensors and actuators Apply
for restricted movement in different environments.
CO4 Develop augmented reality add-ons for smart-device Analyze and
applications to add interactivity, animate objects and build evaluate
logic into effects.
CO5 Demonstrate acquired skillset/technical knowledge of their Create
selected project topic.
AGENDA

• Understanding robotics development platform environment to

model, program and simulate robots.
Essential Characteristics of
robots
➢Sensing: The robot should be able to sense its
surroundings and that is only possible with the help of sensors.
Types of sensors:
light sensors (eye) , touch sensors(hands) , hearing sensors(ears)
or chemical sensors(nose)
➢
Movement: A robot needs to be able to move around
its environment whether by rolling on wheels , walking , snaking
or skating.
➢
Energy: A robot needs to be able to power
itself which depends upon its power resources e.g.
batteries , power generators or fuel.
➢Intelligence: A robot needs to be intelligent and
smart which is only possible by the programmer person.
TYPES OF
ROBOTS
▪ Mobile Robots: They are able to move
around in their environment and not fixed to one
physical location.
▪ Industrial Robots: They are used in industrial
manufacturing environment e.g. welding , material
handling , painting and others.
▪ Domestic Or Household Robots: Robots used
at home such as robotic vacuum cleaner , robotic pool
cleaner and sweeper.
▪ Medical Robots: Robots used in medicine and
medical institutions e.g. surgery robots
▪ Service Robots: Robots that don’t fall into
other types by usage
e.g. robots used for research.
▪ Military Robots: they are used in military e.g.
bomb disposal robot , different transportation robots
Pictures Of Robots

INDUSTRIAL
ROBOTS:
Pictures Of
Robots
➢ Military
Robots:
Entertaining
Robots
Uses and Advantages of
Robots
✓ Used in vehicles and car factories
✓ Mounting circuits on electronic devise e.g. mobile phones
✓ Working where there might be danger e.g. nuclear leaks
and bomb disposal
✓ Surgeons are performing robotic surgeries to avoid
jiggles and movement in microscopically aided
surgery or brain surgery
✓ Mail delivery to various mail stations throughout the
building in large corporations
✓ Toy robots are a good source of entertaining for the kids
e.g. dancing and talking robots
✓ Robots do not get bored or tired and they can work
24/7 without salary and food
Disadvantages Of
Robots
❑ It needs a high supply of power
❑ People can lose jobs in factories
❑ It needs maintenance to keep it running
❑It cost a lot of money to make or buy a robot
as they are very expensive
❑A robot can not respond in time of danger as
human can
Robotic
s
● Not a pure Computer Engineering subject

● Combination e.g. Mechanical, Electrical and

Computers
● Mechatronics = Mechanical + Electronics.
Industrial Robots

● “a 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”.
What is a Robot?

● The Study of Robots

● A machine that looks and acts like a
human being.
● An efficient but insensitive person
● An automatic apparatus.
● Something guided by automatic controls.
● E.g. remote control
● a computer whose main function is to
produce motion.
Characteristic of a
Robot
● Repeatability
● Manual control
● Automatic
control
● Speed of
operation
Component
s
● Manipulato
r
● Controller
● Power
supply
● Vehicle
General
Components
● Manipulator
● Configurations
● Cartesian
Coordinates
● Cylindrical
Coordinates
● SCARA
● Polar Coordinates
● Jointed Arm
● Wrist
● Gripper
General
Components
● Power
supply
● Pneumati
c
● Electrical
● Hydraulic
General
Components
● Controller
● Servo Systems
● Open Loop
● Closed Loop
● Operating
Methods
● Pick and Place
● Point-to-point
● Continuous path
● Vehicle
● Stationary
● Mobile
 What are the
parts of a
robot?
•Manipulator
•Pedestal
•Controller
•End
Effectors
•Power Source
Manipulato
r
(Mimics the human arm)
• Base
• Appendage
-Shoulder

-Arm

-Grippers
Here robot is considered as industrial robot called as
robotic manipulator or robotic arm.

This arm is roughly similar to

human arm.

It is modeled as chain of rigid

links interconnected by flexible
joints.

Links corresponds to :chest, upper

arm, fore arm
Joints: shoulder, elbow, and wrist.
At end of arm is an end effector
( tool, gripper or hand).
Pedesta
l

• Supports the
manipulator
.
• Acts as a
counterbalance
.
Controller
(The brain)
• Issues instructions
to the robot.
• Controls peripheral
devices.
• Interfaces with
robot.
• Interfaces
with humans.
End
Effectors
(The hand)
• Spray paint
attachment
s
• Welding
attachments
• Vacuum
heads
Power Source
(The food)
• Electric
• Pneumatic
• Hydraulic
The number of degrees of freedom defines the robot’s configuration.
For example, many simple applications require movement along three axes: X, Y, and
Z. See Figure 2-10. These tasks require three joints, or three degrees of
freedom
Thus a minimum of six axes are
required to achieve any desirable
position and orientation in the robot’s
work volume or work envelop or
workspace.

The locus of the points in the three dimensional space that can
be reached by the wrist by the various combinations of the
movements of the robot joints from base up to wrist, is called the
gross work envelop of the robot.

The robot motions are accomplished by means of powered joints.

The rigid members connected at the joints of the robot are called
links.
In the link-joint-link chain, the link closest to the base is referred to
as the input link .
The output link is the one which moves with respect to the
input link.

There are basically two types of

joints commonly used in industrial
robots, which are:
(i) prismatic or linear joints,(p)
which have sliding or linear
(translational) motion along an
axis.
(ii)Revolute ,(R) : which exhibits the rotary motion
about an axis.

the links are aligned perpendicular to one another at this kind of

joint. The rotation involves revolution of one link about another.
Based on the physical configuration or the comb i n a t io n of
the revolute or prismatic joints for the three major axes, a
particular geometry of the work envelop is achieved.
The table shows the some of the most common robot work envelops
based on the major axes:
P:Prismatic -- R:Revolution

robot Axis 1 Axis 2 Axis Total

3 revolut
e
cartesian P P P 0
Cylindric R P P 1
al
Spherical R R P 2
SCARA R R P 2
Articula R R R 3
Cartesian Gantry Robot Arm

3
Robot Classification:
Degrees of
Freedom
 Degrees of
Freedom
Each plane in which a robot can maneuver.
● ROTATE BASE OF ARM
● PIVOT BASE OF ARM
● BEND ELBOW
● WRIST UP AND DOWN
● WRIST LEFT AND RIGHT
● ROTATE WRIST

3
Robot
Classification:
The six degrees of
a rigid body are
often described
using nautical
terms:
Moving up and
down (heaving);
Moving left and
right (swaying); 3
©Emil Decker,
Robot
Classification:
• Moving forward and backward (surging);
• Tilting forward and backward (pitching);
• Turning left and right (yawing);
•Tilting side to side

(rolling 3
 Robot Components
➢ 1. Manipulator or Rover: Main body of robot
(Links, Joints, other structural element of the robot)
➢ 2. End Effecter: The part that is connected to the last joint
hand) of a manipulator.
➢ 3. Actuators: Muscles of the manipulators (servomotor,
stepper motor, pneumatic and hydraulic cylinder).
➢ 4. Sensors: To collect information about the internal state of
the robot or To communicate with the outside environment.
Robot Components…
➢ 5. Controller: Similar to cerebellum. It controls and
coordinates the motion of the actuators.
➢ 6. Processor: The brain of the robot. It calculates the
motions and the velocity of the robot’s joints, etc.
➢ 7. Software: Operating system, robotic software and the
collection of routines.
But in addition to classification, there are several additional
characteristics :
(i) Number of axes
(ii)Load carrying capacity (kg)
(iii)Maximum speed (mm/sec)
(iv)Reach and stroke (mm)
(v)Tool orientation (deg)
(vi)Precision, accuracy and
Repeatability of movement
(mm)
(viii) Operating environment
Load Carrying Capacity:

The load carrying capacity is mainly determined by

various factors
: robot’s size, configuration, type of drive system and the
type of application for which it is designed.

A very wide range: from few grams to several thousand

of kilograms.

The maximum load carrying capacity should be

specified for the
condition that it is in its weakest position.

It is the position when the robots arm is at maximum

horizontal extension.
The specification provided by manipulator
manufacturers is actually the gross weight capacity
that can be put at the robotic wrist.

Thus to use this specification the user must know

weight of the end effector.

E.g., if the gross load carrying capacity of a robot is

10.0 kg and it’s end effector weigh 3.0 kg, then the
net load carrying capacity of the robot would be
only 7.0 kg.
1.Wrist roll: it involves the rotation of the wrist
mechanism about the arm axis. Wrist roll is also
referred to as wrist swivel.

2.Wrist pitch: if the wrist roll is in its center position, the

wrist pitch is the up or down rotation of the wrist. also
called wrist bend.

3.Wrist yaw: if the wrist roll is in center position of its

range, wrist yaw is the right or the left rotation of the
wrist.

The wrist yaw and pitch definitions are specified

w.r.t.the central position of the wrist roll,
the rotation of the wrist about the arm axis will
change the orientation of the pitch and yaw
movements.
 F3,m3

Roll
F2,m2
wris
t Pitc
h
F1,m1
Yaw
 Cartesian
Robot
The first type of
robot is called the
cartesian robot. This
type of robot uses
the X, Y, Z three
dimensional
coordinate system to
control movement
The major
advantages :
1.Ability to do straight line insertions into furnaces.
2.Easy computation and programming.
3.Most rigid structure for given length.

Disadvantages :
1. Requires large operating volume.
2.Exposed guiding surfaces require covering in corrosive or dusty
environments
3.Can only manipulate the objects in front of it.
4.Axes of robot are hard to seal

4
Gantry
Robots
Gantry robots
are cartesian
robots that
have been
super-sized!
This structure
minimizes
deflection
along each
Cylindrical
Robots
Cylindrical
robots have a
main axis that is
in the center of
the operating
envelope. It can
reach into tight
areas without
sacrificing speed
 Cylindrical Robot
Arm

A.N.KHUDAIWALA
(L.M.E) G.P.PORBANDAR 5
Spherical
Robots
Spherical or
polar robots are
similar to a
cylindrical robot,
but form a
spherical range
of motion using
a polar
coordinate ©Emil Decker,
SCARA
Robots
SCARA robots, or
Selective
Compliance
Assembly Robot
Arm, are quite
popular. It is a
combination of
the articulated
arm and the
©Emil Decker,
SCARA Robot Arm
Adept's SCARA
robots
A.N.KHUDAIWALA
(L.M.E) G.P.PORBANDAR 5
Articulated Arm
Robot
Articulated arm
robots have at
least three
rotary joints.
They are
frequently called
an
anthropomorphic
arm because they
©Emil Decker,
Parallel
Robots
Parallel Robots
consist of a fixed
base to a platform
by means of a
number of legs.
This type of robot
is used to create
realistic flight
simulators or rides
©Emil Decker,
Manipulator
s
● Robot
Configuration:

Cartesian: Cylindrical: Spherical:

PPP RPP RRP

Hand coordinate:

SCARA: RRP n: normal vector; s: sliding

vector;
Articulated: (Selective Compliance
RRR Assembly A.N.KHURDobAoIWt a: approach vector, normal to
AArLmA) (L.M.E) G.P.PORBANDAR tool mounting
the 5
plate
 Classification based on motion c o n t r o l m
ethods:
It is based on method used to control the movement of
end effector There are two types of motions:
1.Point to point motion:
•Tool moves to sequence of discrete points in a
workspace.
•The path between points is not explicitly controlled
by user.
•It is useful for operation which is discrete in nature.
e.g. Spotmotion:
Continuous welding , pick and place , loading and
unloading
•End effector follows a prescribed path in three
dimensional space.
•The speed of motion may vary along the path.
A.N.KHUDAIWALA (L.M.E)
e.g. arc welding , spray pGa.Pi.nPOtiRnBgANDAR 5
End-of-Arm-
Tooling
●This general class of devices is also called
end-of- arm tooling (EOAT).
●Robot end-of-arm tooling is not limited to
various kinds of gripping devices.
●Grippers not available by default in
general- purpose robots
●In some situations, a robot must
change its gripper during its task. If
so, the robot's wrist must be fitted
with a quick-disconnect device.
The First Gripper
Designed
●The first gripper
which was
designed
resembles more to
the human hand.
●Later it was
realized to design
grippers along to
the requirement.
Robotic Hands versus
Human Hands
● Robot end
●effectors
heavy objects, corrosive substances, hot
objects, or sharp and dangerous objects.
● not good at handling complex shapes and
fragile items.
● do not have good tactile sensing
capability,
How Grippers
work?
● Seven different methods to grip
a part:
● grasp it
● hook it
● scoop it
● inflate around it
● attract it magnetically
● attract it by a vacuum
● stick to it
 Types of
● Vacuum cups
Robotic Grippers
● Electromagnets
● Clamps or mechanical
grippers
● Scoops, ladles, or cups
● Hooks
● Hands with three or more
fingers
● Adhesives or strips of sticky
tape
Types of Robotic
Grippers
Types of Robotic
Grippers
a. Inflatable bladder
b. Two-finger clamp
c. Vaccum cups
d. Three-fingers
clamp
e. Magnet head
f. Tubing pickup
device
REQUIREMENTS FOR AN
EFFECTIVE
GRIPPER
1.Parts or items must be grasped and held without
damage
2.Parts must be positioned firmly or rigidly
while being operated on.
3.Hands or grippers must accommodate parts of
differing sizes or even of varying sizes
4.Self-aligning jaws are required to ensure that
the load stays centered in the jaws
5.Grippers or end effectors must not damage the
part being handled.
6.Jaws or grippers must make contact at a
minimum of two points to ensure that the part
doesn’t rotate while being positioned.
R●emote Center
Compliance
Useful for (RCC)
accurate
positioning of
objects.
● Robots contains a
built-in multiaxis
floating joint to
adjust for the
misalignments.
Power for
Grippers
● Independent power supply
required
● Four types of power are used for
grippers:
● pneumatic
● electrical
● hydraulic
● springs
 The brain of a
•
robot
• Servo
Systems
– Open
Loop
– Closed
Loop
OPERATING METHODS OF ROBOT
CONTROL
UNIT
● Pick-and-Place Control
units
● Point-to-Point Control
Units
● Continuous-path Control
Units
PICK & PLACE
CONTROL UNIT
● Generally small and pneumatic-powered,
with no position information feedback.

● Open-loop servo-controlled robots.

● Sometimes referred to as low-technology

control units.
PICK & PLACE
CONTROL UNIT
● Typical sequence of
operations
• Move robot to starting
position.
• Grasp a part.

• Remove the part from a

machine.
• Move to second position

• Deposit part.

• Prepare to start another

POINT TO POINT
CONTROL UNIT
● Can reach any point within its work
envelope

● Can have as many points in its work

sequence

● Medium-technology control units.

● Can be programmed by a person moving the

robot through the sequence of points that
the robot will be required to repeat in
performing the task.
POINT TO POINT
CONTROL UNIT
● The path between the
points

● Not predictable

● Uses Stepper Motor

CONTINOUS PATH
CONTROL UNIT
● Can reach any point within its work envelope
● Can have as many points in its sequence as a
particular task may require
● Most expensive of all control units.

● High-technology control unit

● Large memory capacity required

The Vehicle and the
Robot's Base
● Many industrial
robots have fixed-
position bases and
thus do not have a
vehicle.
● Even with a fixed-
base robot, stable
mounting is
essential.
● Fixed-base robots
could be used: a)
overhead mounting, b
a gantry mount, c) a
wall mount, or
Mobile
Robots
● Wheel
configuration

● Center of Gravity

● Should be Low
WHAT IS A
SENSOR ?
● A sensor is a converter that
measures a physical quantity and
converts it into a
signal that can be read by an
observer. Eg.
NEED OF A
SENSOR
● NEED OF SENSORS FOR
ROBOTS
1) LOCALIZATION
2)OBSTACLE
DETECTION
3)INTERNAL
INFORMATION
Sensor
s
● Sensors changes a robot from dumb to
intelligent.

● The ability to adapt to particular

surroundings is one definition of
intelligence.
TYPES OF
SENSORS
1. EXTEROCEPTORS ( EXTERNAL
SENSORS)
2. PRORIOCEPTORS( INTERNAL
SENSORS)
 CLASSIFICATION OF
EXTERIOCEPTORS
1)CONTACT SENSORS- Sensors that
determine shape,size ,weight etc by
touching.
a) Touch sensors
electrical flow

forc voltage
e measureme
nt
b) force/stress sensors-To measure robotic
system forces .( PIEZO ELECTRIC
SENSOR)
2) NON CONTACT SENSORS
a)proximity sensors- they sense and indicate
presence and sometimes position also
without physical contact.
Types
1)Optical proximity sensors
2)Photoelectric proximity
sensor
 3) Acoutic proximity
sensor
4) Capacitive proximity
sensors
It works on the principle of change in
capacitance with environment.
RANGE
SENSORS
● IT PROVIDES PRECISE MEASUREMENT
OF THE DISTANCE FROM A SENSOR TO
AN OBJECT.
CATEGORIES
● Active
●send signal into environment and
measure interaction of signal with
environment
e.g. radar, sonar
●Passive
record signals already present in
environment
e.g. video cameras
● Sterioscopic vision system
● Ultrasonic ranging systems
(active)
MACHINE VISION
SENSORS
● ICC
D
. TUBE TYPE
CAMERAS
Velocity
sensors
DC TACHOMETER
PROPRIOCEPTO
RS
Encoder- a device, circuit, software
program, algorithm or person that
convert information from one format or
code to another
 What Can Robots
Do?
Industrial
Robots
•Material handling
••Machine
Material transfer
loading and/
or unloading
•Spot welding Material Handling
Manipulator
•Continuous arc welding
•Spray coating
•Assembly
•Inspection Assembly Manipulator

Spot Welding Manipulator 9

1.12.1 Loading/unloading parts to/from the machines

(i) Unloading parts from die-casting machines

(ii)Loading a raw hot billet into a die, holding it during forging and
unloading it from the forging die
(iii) Loading sheet blanks into automatic presses
(iv)Unloading molded parts formed in injection molding machines
(v)Loading raw blanks into NC machine tools and unloading the finished
parts from the machines
 Single machine robotic cell applications include:
(i)The incoming conveyor delivers the parts to the fixed position
(ii)The robot picks up a part from the conveyor and moves to the
machine
(iii) The robot loads the part onto the machine
(iv) The part is processed on the machine
(v) The robot unloads the part from the machine
(vi)The robot puts the part on the outgoing conveyor
(vii)The robot moves from the output conveyor to the input
conveyor
Multi-machine robotic cell application: Two or three CNC
machines
are served by a robot. The cell layout is normally circular.
Assembly Operations:
Electronic component assemblies and machine assemblies are
two areas of application.

Inspection:
Industrial robots are used for inspection applications, in which
the robot end effector is special inspection probe.
Palletizing and
Depalletizing:

Many products are packaged in

boxes of regular shape and
stacked on standard
pallets for shipping.

Robots are commonly used to

palletize and depalletize
boxes because they can be
programmed to move through the
array of box positions layer after
layer.
Drilling
Hole
drilling is a precision
machining process.

Drilling robots use special

drilling end effectors
which locate and dock onto the
work piece or a fixture.
Spot Spot weldin g i s t he m os
Welding
t common
welding application found in
the manufacturing field.
Fastening
Robots are commonly used
for applying threaded
fasteners in the
automobile industry for
fastening wheels,

in the electronics
industry for screwing
components to
circuit boards and
circuit boards into
chassis.
Paint and
Compound
Spraying
Robots provide a
consistency in paint quality
and widely used in
automobile industry for
medium batch production.

Painting booths are

hazardous because the
paint material is often toxic,
and flammable.
Arc Welding
Ship building, aerospace,
construction industries are
among the many areas of
application
 Viva Voice Questions
• What do you understand by the term, the robotics?
• What are the Laws of the robotics?
• List the name of the areas where the robotics can be
applied?
• What do you understand by "humanoid robot"?
 Summary
The robotics industry is expected to grow significantly over the coming years. Estimates suggest that
the sector could be worth as much as $260 billion by 2030. Much of this growth will come from
professional services robots that perform useful tasks for humans, such as cleaning, delivering, and
transporting.
Industrial Robots and Service
Robots Defined
Please read:

• http://www.robotics.org/content-detail.cfm/Industrial-Robotic
s-Featured-Articles/Service-Robots-and-their-Rapid-Rise-in-Mu
ltiple-Markets/content_id/2608

112
Watch videos:

• KUKA, spot welding:

http://www.youtube.com/watch?v=1-J_EzKm_70
• KUKA dance:
http://www.youtube.com/watch?v=OW4cYdsUpAw&feature=r
elated

• Industrial robotics:
http://www.youtube.com/watch?v=KBLEPlznHWY&feature=rel
ated
• Arc welding robot:
http://www.youtube.com/watch?v=5HphVrleXlQ&feature=rela
ted

113
ASIMO:
• http://www.youtube.com/watch?v=5HphVrleXlQ&feature=related
• http://www.youtube.com/watch?v=M4rgaLW163k&feature=relat
ed
CyberDog:
http://www.youtube.com/watch?v=B0qYob_vSgo&feature=relate
d
Robot-Araigne:
http://www.youtube.com/watch?feature=endscreen&v=Mfjn79oi
M0Q&NR=1

Hexapod Robot:
http://www.youtube.com/watch?v=-uKIDyFMTyQ&feature=related

114
• Hexapod Project:
http://www.youtube.com/watch?v=65L_FO8cBgA&feature=related
• MTRAN Modular Robot:
http://www.youtube.com/watch?v=4oSavAHf0dg&feature=related

Also watch:
http://www.youtube.com/watch?v=nkqesLSXe4Q&feature=related
http://www.youtube.com/watch?v=ilbT2QcPGv0&feature=relmfu

115
References:
-
https://docs.google.com/presentation/d/1C78tFM1BdyaHXGN-880ukO
u__4ex408vWa2ebW9u8e0/present?pli=1&ueb=true#slide=id.p46

-
http://www.cs.auckland.ac.nz/courses/compsci367s2c/lectures/Ian/cs3
67-08.pdf

- www.ieor.berkeley.edu/.../Robotics-and-Automation-Overview-S10-...

- www.ro.feri.uni-mb.si/lab_kin_sim/robotika-izredni/lect1.ppt

- gk12.poly.edu/...PowerPointFiles/IntroductiontoRobotics_A.ppt

116
THANK YOU

For queries
Email: [email protected]