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Unit-I lecture-3

This document provides an introduction to robotics, covering definitions, components, classifications, and advancements in the field. It discusses various types of robots based on application and coordinate systems, including Cartesian, cylindrical, spherical, and articulated robots. The content is structured as a lecture series aimed at B.Tech students specializing in robotics.

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Garima Kodkani
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7 views26 pages

Unit-I lecture-3

This document provides an introduction to robotics, covering definitions, components, classifications, and advancements in the field. It discusses various types of robots based on application and coordinate systems, including Cartesian, cylindrical, spherical, and articulated robots. The content is structured as a lecture series aimed at B.Tech students specializing in robotics.

Uploaded by

Garima Kodkani
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPTX, PDF, TXT or read online on Scribd
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TY-B.

Tech Robotics
Unit-I Introduction to Robotics

Classification of Robot

Lecture-3

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Unit I : Introduction to Robotics

1. Definition of robotics
2. Robot usage Covered in
3. Law of Robotics Lecture 1 and 2

4. Components of Robot system


5. Classification of Robots
6. Robot Architecture
7. Progressive advancements in Robots
8. Present trends and future trends in Robotics

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Last Lecture we seen Robot Subsystem:
Manipulator

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Last Lecture we seen Robot Subsystem:
Manipulator

Manipulator Equivalent to
Axis of Robot Human Hand

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Axis Equivalent to Human

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Robotic Arm Work
Space

The workspace of a robot arm is the set of all


positions that it can reach. This depends on a number
of factors including the dimensions of the arm .
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The robot's “reach” is a measure of how far the robotic arm can reach when
it's completely outstretched.

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Revolute Joint

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Prismatic Joint

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Classification of Robots

Coordinate Control Programming


Application Actuation
System Method Method

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Classification of Robots
Serial and Parallel Robot

The human arm is parallel manipulator is a mechanical


categorized as a serial link system that uses several computer-
since its joints—the shoulder, controlled serial chains to support a single
arm and wrist—are aligned platform, or end-effector
in series.
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Parallel Robot

Stewart platform Flight Simulator

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1.Robot Classification by Application
Robots are designed for specific
tasks(Application)
Example:
1. Assembly Robot - Design for Assembly
work.
2. Welding Robot – Design for seam welding of
metallic Pipes.
3. Heavy duty Robot – Design for heavy load
Manipulator

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2.Robot Classification by Coordinate System
 Classify by the arm configuration and geometric work
envelop (without considering wrist and hand)
 It tell the volume of reachable coordinate of a point of an end-
effector, rather than its orientation.
 There are four fundamental types, i.e.
i. Cartesian
ii. Cylindrical
iii. Spherical or Polar
iv. Articulated or Revolute

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2.Robot Classification by Coordinate System
i. Cartesian [PPP]
Arm of a robot moves in a rectilinear mode, that is, in x, y,
and z coordinates of the rectangular right-handed Cartesian
Coordinate system.
These type of robot are called Cartesian Robot.
The moment are referred as travel x, height y, and reach z of the arm.
Its workspace has the shape of rectangular box or prism.

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2.Robot Classification by Coordinate System

i. Cartesian [PPP]
A Cartesian robot needs a large volume space in which to operate.
 Used for operations over large spaces.
It has rigid structure and provides better accuracy of End-effector.
Maintenance is difficult

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2.Robot Classification by Coordinate System
ii. Cylindrical (PPR)
 This type of robot possesses one revolute and two prismatic joints .
 The first prismatic joint of the Cartesian type is replaces by revolute.
 Cylindrical Coordinates are angle θ, height y, and radius z.
 θ- base rotation, y-elevation, and z-reach
 End-effector moves in limited volume

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2.Robot Classification by Coordinate System
iii. Spherical or Polar [RRP]
 This robot consist of two revolute and one prismatic joint
 The arm position is conveniently described by the mean of spherical
cordinate θ, ϕ and z.
 The arm movement represent the base rotation, elevation angles, and reach
respectively.

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2.Robot Classification by Coordinate System
iv. Articulated or Revolute [RRR]

This art consist of links connected by revolute


joints only
It has sphere like workspace whose internal
surface is difficult to determine

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SCARA Robot
SCARA- Selective Compliance Assembly Robot Arm

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SCARA Drilling Robot

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