Module 1 : Introduction to robotics Lecture 1 : Automation Objectives In this

course you will learn the following Automation Robot Automation There are
several examples of automation one comes across daily, simple examples being
sewing machines, packaging machines. Such machines are generally equipped
to perform in a specific way or to execute specific tasks. A sewing machine is
designed to produce specific stitch lengths and likewise a packaging machine is
designed to wrap a specific size of the product. When product sizes change
some parts of the machine are to be manually changed to accommodate the new
size. Such machines are essentially designed to package millions of products of
a specific size and are hence special purpose machines. The cost of such a
machine is distributed over large sales volumes. More recently there is a
demand for variety. A good example is shirts of a size suiting a given individual.
Likewise there is a demand for soaps of various sizes and shapes. This requires
machines that can handle various shapes and sizes and every time such a
requirement arises one has to stop the machine and readjust or reset some of the
links or components to handle the new product. This is a task that is not only
time consuming but also requires skill. Human beings, unlike machines can not
only handle tools and products of different sizes and shapes but are also capable
of executing a variety of tasks. Engineers have often sought similar capabilities
in machines and this has been possible now with the availability of inexpensive
microprocessors. Used in conjunction with special servo-motors, actuators and
sensors, the microprocessor has revolutionized automation. It is now possible to
build automation devices that can be operated under the guidance of a program.
A familiar example is a printer that can be programmed to print the alphabet. A
few key strokes would enable the user to change over to a program that enables
one to draw diagrams. This capability is extended further through the use of
sensors. For example a sensor in the printer does not permit the printing to
begin unless a paper is present. These capabilities are extended further and
when the machine is able to change its activity to suit a given situation it is
called autonomous. Robots are an important part of the automation scene is
the area of Robotics a multidisciplinary field that involves mechanical,
electronics and several other engineering disciplines. Though the ultimate aim is
to attempt emulate human activities, something which is extremely difficult to
attain, these attempts have resulted in development of robots. These are
beneficial in handling hazardous tasks and for operating in hazardous areas like
chemical or nuclear plants. Examples of such tasks include plates being x-rayed
for inspection of internal cracks and flaws, a routine but hazardous operation.

Where complex movements are involved as in welding along a 3D profile,

robots can be used for assuring quality and consistency. In assembly operation
of precision and tiny parts, like in watches, robots perform with accuracy and
repeatability. (The SCARA robot developed in Japan is one such robot
specifically suit5able for precision assembly tasks.) Painting is hazardous to
humans and also complex movements are involved (for example in painting a
car body) and in such applications robots may replace human beings. Robots
have certain inherent capabilities and limitations, just as any other machine or
human being does, and these should be borne in mind when attempting to use
them in a given application. A lathe is best used for generating cylindrical
objects and milling machines are ideal for producing prismatic parts. One would
not attempt to use a lathe for manufacture of prismatic parts or a milling
machine to produce cylinders. Thus manufacturing processes are chosen to suit
the product and conversely, products should be designed to suit the
manufacturing process. This philosophy applies to robotics also. One cannot
expect a given robot to execute any arbitrary task or handle any product.
Sometimes it may be beneficial to redesign the product to enable robots to
handle them with ease. A well-known example of designing a product to suit
robots is the SONY Walkman which has been designed for ease of assembly
by robots. Today robot finds applications in industries, medical and other fields.
For example, in eye surgery (replacement of retina), where a cylindrical portion
needs to be replaced, the operation is best done by robots. Mobile robots like
walking machines, hopping machines are examples of robots, and so also are
robotic aircraft and ships. Nuclear and power plants uses fish like robots which
move inside pipes for purpose of inspection Computers are required for higher
level control of such complex systems. Computers convert higher level
commands to lower level commands for purpose of interpreting sensor outputs
and controlling motors in these machines. In autonomous robots, operating at
remote locations, endurance of power supply (batteries) may be an issue.
Lecture 2 : Anatomy of Robots Objectives In this lecture you will learn about
Anatomy and Subsystem of robots Manipulators Robot control Anatomy of
industrial robots There are several classes of robots: robotic aircraft, robotic
ships, mobile robots and others. An important application of robots is in
industry for machine tending, welding, painting, assembly and etc. These
industrial robots can be viewed as consisting of a mechanical portion the
manipulator controlled by a microprocessor. Subsystems of industrial robots
include: Actuators Transmission systems Power supplies & power storage

system Sensors Microprocessors & controllers Algorithms & softwares (higher

level & lower level) Actuators: Actuators are basically prime movers providing
both force and motion. Pneumatic cylinders, hydraulics, permanent magnet
motors, stepper motors, linear motors are some conventional actuators. More
advanced ones are based on hi-tech polymers, shape memory alloys, piezo
patches, and pneumatic muscles. Brushless servo motors also exist for low noise
levels, and printed armature motors are used for quick response. Transmission
systems: The transmission system used in robot to transmit power and motion
consists of chains, timing belts, metal belts, cables and pulleys and linkages.
Gear boxes and harmonic drives serve to provide speed reduction. Ball screws
are used with suitable mechanisms to convert rotary motion to linear motion and
if needed back to oscillatory motion. Drive stiffness is an important
consideration in robotics and so also is backlash. Power supplies: Hydraulic and
Pneumatic power packs: These consist of a motor driving a positive
displacement pump or compressor to generate the high pressure fluid flow. In
using hydraulic systems the necessity of having an oil tank increases the weight
of the system, additionally the issue of ensuring that the oil is free of
contaminants is to be handled. In pneumatics power pack dry air is desired.
Electric motors use what ate known as PWM (pulse width modulation)
amplifiers. These are electronic devices, consisting of transistors used as
switches to rapidly switch on and off the supply in a controlled manner to
control motor speeds. Such drives have higher efficiency. Sensors and other
electronics: The sensors for feedback in robots consists of tachometers and
encoders and potentiometers to sense motor motions, simple switches, force
sensors, acceleration sensors, optical systems, special cameras and vision
systems. Electronics: There are a host of electronic circuits, motor controllers,
analog to digital converters and digital to analogue converters, frame grabbers
and so on utilized to handle sensors and vision systems and convert the inputs
from them into a form usable by the processor for control of the entire system in
conjunction with the algorithms and software developed specifically for the
purpose. Software: The software used consists of several levels. Motor control
software consists of algorithms which help the servo to move smoothly utilizing
the data from feed-back units. At the next level there is software to plan the
trajectory of the end effector and translate the same into commands to
individual motor controllers. The output of sensors is also to be interpreted and
decisions made.

At the highest level there is software which accepts commands from the user of
the robot and translates it into appropriate actions at the lower level.
Control of individual motors and actuators. Planning trajectory & individual
actuators in motion. Planning trajectories of end effectors. Acting upon sensors
input Planning tasks
Module 1 : Introduction to robotics Lecture 2 : Anatomy of Robots Objectives
In this lecture you will learn about Anatomy and Subsystem of robots
Manipulators Robot control Anatomy of industrial robots There are several
classes of robots: robotic aircraft, robotic ships, mobile robots and others. An
important application of robots is in industry for machine tending, welding,
painting, assembly and etc. These industrial robots can be viewed as
consisting of a mechanical portion the manipulator controlled by a
microprocessor. Subsystems of industrial robots include: Actuators
Transmission systems Power supplies & power storage system Sensors
Microprocessors & controllers Algorithms & soft wares (higher level & lower
level) Actuators: Actuators are basically prime movers providing both force and
motion. Pneumatic cylinders, hydraulics, permanent magnet motors, stepper
motors, linear motors are some conventional actuators. More advanced ones are
based on hi-tech polymers, shape memory alloys, piezo patches, and pneumatic
muscles. Brushless servo motors also exist for low noise levels, and printed
armature motors are used for quick response. Transmission systems: The
transmission system used in robot to transmit power and motion consists of
chains, timing belts, metal belts, cables and pulleys and linkages. Gear boxes
and harmonic drives serve to provide speed reduction. Ball screws are used with
suitable mechanisms to convert rotary motion to linear motion and if needed
back to oscillatory motion. Drive stiffness is an important consideration in
robotics and so also is backlash. Power supplies: Hydraulic and Pneumatic
power packs: These consist of a motor driving a positive displacement pump or
compressor to generate the high pressure fluid flow. In using hydraulic systems
the necessity of having an oil tank increases the weight of the system,
additionally the issue of ensuring that the oil is free of contaminants is to be
handled. In pneumatics power pack dry air is desired. Electric motors use what
ate known as PWM (pulse width modulation) amplifiers. These are electronic
devices, consisting of transistors used as switches to rapidly switch on and off
the supply in a controlled manner to control motor speeds. Such drives have
higher efficiency. Sensors and other electronics: The sensors for feedback in

robots consists of tachometers and encoders and potentiometers to sense motor

motions, simple switches, force sensors, acceleration sensors, optical systems,
special cameras and vision systems. Electronics: There are a host of electronic
circuits, motor controllers, analog to digital converters and digital to analogue
converters, frame grabbers and so on utilized to handle sensors and vision
systems and convert the inputs from them into a form usable by the processor
for control of the entire system in conjunction with the algorithms and software
developed specifically for the purpose. Software: The software used consists of
several levels. Motor control software consists of algorithms which help the
servo to move smoothly utilizing the data from feed-back units. At the next
level there is software to plan the trajectory of the end effector and translate the
same into commands to individual motor controllers. The output of sensors is
also to be interpreted and decisions made. At the highest level there is software
which accepts commands from the user of the robot and translates it into
appropriate actions at the lower level. Control of individual motors and
actuators. Planning trajectory & individual actuators in motion. Planning
trajectories of end effector. Acting upon sensors input Planning tasks
Objectives In this course you will learn the following History of development of
robots. Main body types of manipulators with examples. Typical end effectors.
Power transmission systems in robots. Tasks executed by robots/ manipulators.
Part presentation. History of robots : 1954- Devol & Engelburger establish
Unimation Incorporation. 1961- Robots are used in die casting application.
1968- AGVs (automated guided vehicles) implemented. 1970- Stanford arm
developed. 1979- SCARA robot for assembly developed in Japan . Main bodies
and wrists Fig. 3.1.1 shows a typical industrial robot with a main body and a
wrist. Figure 3.1.1 . Figure 3.1.1 shows PUMA robot (the manipulator). A total
of 6 variables are required, for specifying the position and orientation of a rigid
body in space. Therefore PUMA has 6 axis of rotation with 1 DOF (degree of
freedom) per axis. The functioning of this robot is like a human arm. Each DOF
has an actuator for motion. Types of Main bodies type One generalization is that
the main body of the robot is used to position an object (or tool) while the wrist
is used to orient it. Grippers are used to grasp objects. Figure 3.2.1 Cartesian
Robot (see figure 3.2.1). On several shop floors Gantry type of Cartesian
robots (consisting of overhead rails) are used for operations over large spaces.
Figure 3.2.2 Cylindrical main body. PPR (See figure 3.2.2). Such motions are
found typically in drilling machines. A similar main body is used in robots to
access points in a cylindrical volume. (Essentially R- q motion in a plane

which in turn translates along the Z axis.) Figure 3.2.3 -Spherical Main Body
Spherical main body (RRP - Figure 3.2.3) There is a base rotation and a portion
of the arm moves in and out (a telescopic motion). The work volume is a
portion of a hollow sphere. (Essentially R- q - f motions) Figure 3.2.4
Articulated Arm Articulated type main body robot(typical human arm) (RRR
Type )(See Figure 3.2.4) Figure 3.2.5 -SCARA Robot. SCARA robot This also
has a cylindrical work space. RRP main body. Such robots were used to
assemble the SONY walkman. The P is for raising and lowering the end
effector. Otherwise all the motion is in a horizontal plane. (See Figures 3.2.5)
Wrists WRISTS : Wrist roll, yaw, and pitch (Figure 3.3.1). There are 3 motions
and 3 actuators are required for motion. Figure 3.3.1 End Effectors
(Figure3.3.2): Welding head, riveter, spot welder. Grippers in manipulators
Grippers are used to grip, pick, place, and release the object. There may be
single gripper and / or multiple grippers. Many a time grippers are actuated by
pneumatic systems. Figure 3.3.2 EE types (Figure3.3.2): spot welding gun for
different position weld on automotive assembly line. Following figure shows
typical End Effectors used on assembly, machining line. Figure 3.3.3 Gripper
(figure 3.3.3) This pneumatic gripper (balloon shaped) is being used to pickup
hollow cylindrical objects by gripping them on the inside surface. In this gripper
the gripper faces move parallel to each other using a parallel bar mechanism.
Figure 3.3.4 Ultrasonic waves detect whether the object is present and then the
fingers close to pick the object. (Figure 3.3.4) Transmission Ball screw drive
(motor at base) Ball Screws reduce friction and preloading them reduces
backlash (Figure 3.4.1.1) Figure 3.4.1.1 Motor rotation is converted into linear
motion of a nut engaging a screw and this in turn is converted into oscillation of
output. Figure 3.4.2.1 Linkages for transmission. The actuator (mounted at the
base, drives the output through linkage mechanisms. Tasks Planning for robots
1. Point to point tasks (PTP): This requires the robot to carry an object from one
position to another. The end locations (position and orientation) are known. A
simple manipulator for such tasks is the pneumatic manipulator. 2. Continuous
Path Motion - Painting application are an example where the end effector has to
move over a desired curve in space. Paintings, being hazardous for manual
operation servo controlled electric robots (with fire proof motors) are employed.
3.Palletizing (soft drink bottles to be placed in a crate). This is a special type of
Point to Point task this occurs when bottles are placed in a crate. See Figure
3.5.1 Figure 3.5.1 4.Assembly tasks are typically those which involve insertion
of a peg

Objectives In this course you will learn the following History of development of
robots. Main body types of manipulators with examples. Typical end effectors.
Power transmission systems in robots. Tasks executed by robots/ manipulators.
Part presentation. History of robots : 1954- Devol & Engleburger establish
Unimation Incorporation. 1961- Robots are used in die casting application.
1968- AGVs (automated guided vehicles) implemented. 1970- Stanford arm
developed. 1979- SCARA robot for assembly developed in Japan . Main bodies
and wrists Fig. 3.1.1 shows a typical industrial robot with a main body and a
wrist. Figure 3.1.1 . Figure 3.1.1 shows PUMA robot (the manipulator). A total
of 6 variables are required, for specifying the position and orientation of a rigid
body in space. Therefore PUMA has 6 axis of rotation with 1 DOF (degree of
freedom) per axis. The functioning of this robot is like a human arm. Each DOF
has an actuator for motion. Types of Main bodies type One generalization is that
the main body of the robot is used to position an object (or tool) while the wrist
is used to orient it. Grippers are used to grasp objects. Figure 3.2.1 Cartesian
Robot (see figure 3.2.1). On several shop floors Gantry type of Cartesian
robots (consisting of overhead rails) are used for operations over large spaces.
Figure 3.2.2 Cylindrical main body. PPR (See figure 3.2.2). Such motions are
found typically in drilling machines. A similar main body is used in robots to
access points in a cylindrical volume. (Essentially R- q motion in a plane
which in turn translates along the Z axis.) Figure 3.2.3 -Spherical Main Body
Spherical main body (RRP - Figure 3.2.3). There is a base rotation and a portion
of the arm moves in and out (a telescopic motion). The work volume is a
portion of a hollow sphere. (Essentially R- q - f motions) Figure 3.2.4
Articulated Arm Articulated type main body robot(typical human arm) (RRR
Type )(See Figure 3.2.4) Figure 3.2.5 -SCARA Robot. SCARA robot This also
has a cylindrical work space. RRP main body. Such robots were used to
assemble the SONY walkman. The P is for raising and lowering the end
effector. Otherwise all the motion is in a horizontal plane. (See Figures 3.2.5)
Wrists WRISTS : Wrist roll, yaw, and pitch (Figure 3.3.1). There are 3 motions
and 3 actuators are required for motion. Figure 3.3.1 End Effectors
(Figure3.3.2): Welding head, riveter, spot welder. Grippers in manipulators
Grippers are used to grip, pick, place, and release the object. There may be
single gripper and / or multiple grippers. Many a time grippers are actuated by
pneumatic systems. Figure 3.3.2 EE types (Figure3.3.2): spot welding gun for
different position weld on automotive assembly line. Following figure shows
typical End Effectors used on assembly, machining line. Figure 3.3.3 Gripper

(figure 3.3.3) This pneumatic gripper (balloon shaped) is being used to pickup
hollow cylindrical objects by gripping them on the inside surface. In this gripper
the gripper faces move parallel to each other using a parallel bar mechanism.
Figure 3.3.4 Ultrasonic waves detect whether the object is present and then the
fingers close to pick the object. (Figure 3.3.4) Transmission Ball screw drive
(motor at base) Ball Screws reduce friction and preloading them reduces
backlash (Figure 3.4.1.1) Figure 3.4.1.1 Motor rotation is converted into linear
motion of a nut engaging a screw and this in turn is converted into oscillation of
output. Figure 3.4.2.1 Linkages for transmission. The actuator (mounted at the
base, drives the output through linkage mechanisms. Tasks Planning for robots
1. Point to point tasks (PTP): This requires the robot to carry an object from one
position to another. The end locations (position and orientation) are known. A
simple manipulator for such tasks is the pneumatic manipulator. 2. Continuous
Path Motion - Painting application are an example where the end effector has to
move over a desired curve in space. Painting, being hazardous for manual
operation servo controlled electric robots (with fire proof motors) are employed.
3.Palletizing (soft drink bottles to be placed in a crate). This is a special type of
Point to Point task this occurs when bottles are placed in a crate. See Figure
3.5.1 Figure 3.5.1 4.Assembly tasks are typically those which involve insertion
of a peg
Objectives In this course you will learn the following History of development of
robots. Main body types of manipulators with examples. Typical end effectors.
Power transmission systems in robots. Tasks executed by robots/ manipulators.
Part presentation. History of robots : 1954- Devol & Engleburger establish
Unimation Incorporation. 1961- Robots are used in die casting application.
1968- AGVs (automated guided vehicles) implemented. 1970- Stanford arm
developed. 1979- SCARA robot for assembly developed in Japan . Main bodies
and wrists Fig. 3.1.1 shows a typical industrial robot with a main body and a
wrist. Figure 3.1.1 . Figure 3.1.1 shows PUMA robot (the manipulator). A total
of 6 variables are required, for specifying the position and orientation of a rigid
body in space. Therefore PUMA has 6 axis of rotation with 1 DOF (degree of
freedom) per axis. The functioning of this robot is like a human arm. Each DOF
has an actuator for motion. Types of Main bodies type One generalization is that
the main body of the robot is used to position an object (or tool) while the wrist
is used to orient it. Grippers are used to grasp objects. Figure 3.2.1 Cartesian
Robot (see figure 3.2.1). On several shop floors Gantry type of Cartesian
robots (consisting of overhead rails) are used for operations over large spaces.

Figure 3.2.2 Cylindrical main body. PPR (See figure 3.2.2). Such motions are
found typically in drilling machines. A similar main body is used in robots to
access points in a cylindrical volume. (Essentially R- q motion in a plane
which in turn translates along the Z axis.) Figure 3.2.3 -Spherical Main Body
Spherical main body (RRP - Figure 3.2.3) There is a base rotation and a portion
of the arm moves in and out (a telescopic motion). The work volume is a
portion of a hollow sphere. (Essentially R- q - f motions) Figure 3.2.4
Articulated Arm Articulated type main body robot(typical human arm) (RRR
Type )(See Figure 3.2.4) Figure 3.2.5 -SCARA Robot. SCARA robot This also
has a cylindrical work space. RRP main body. Such robots were used to
assemble the SONY walkman. The P is for raising and lowering the end
effector. Otherwise all the motion is in a horizontal plane. (See Figures 3.2.5)
Wrists WRISTS : Wrist roll, yaw, and pitch (Figure 3.3.1). There are 3 motions
and 3 actuators are required for motion. Figure 3.3.1 End Effectors
(Figure3.3.2): Welding head, riveter, spot welder. Grippers in manipulators
Grippers are used to grip, pick, place, and release the object. There may be
single gripper and / or multiple grippers. Many a time grippers are actuated by
pneumatic systems. Figure 3.3.2 EE types (Figure3.3.2): spot welding gun for
different position weld on automotive assembly line. Following figure shows
typical End Effectors used on assembly, machining line. Figure 3.3.3 Gripper
(figure 3.3.3) This pneumatic gripper (balloon shaped) is being used to pickup
hollow cylindrical objects by gripping them on the inside surface. In this gripper
the gripper faces move parallel to each other using a parallel bar mechanism.
Figure 3.3.4 Ultrasonic waves detect whether the object is present and then the
fingers close to pick the object. (Figure 3.3.4) Transmission Ball screw drive
(motor at base) Ball Screws reduce friction and preloading them reduces
backlash (Figure 3.4.1.1) Figure 3.4.1.1 Motor rotation is converted into linear
motion of a nut engaging a screw and this in turn is converted into oscillation of
output. Figure 3.4.2.1 Linkages for transmission. The actuator (mounted at the
base, drives the output through linkage mechanisms. Tasks Planning for robots
1. Point to point tasks (PTP): This requires the robot to carry an object from one
position to another. The end locations (position and orientation) are known. A
simple manipulator for such tasks is the pneumatic manipulator. 2. Continuous
Path Motion - Painting application are an example where the end effector has to
move over a desired curve in space. Painting, being hazardous for manual
operation servo controlled electric robots (with fire proof motors) are employed.
3.Palletizing (soft drink bottles to be placed in a crate). This is a special type of

Point to Point task this occurs when bottles are placed in a crate. See Figure
3.5.1 Figure 3.5.1 4.Assembly tasks are typically those which involve insertion
of a peg into a hole. See Figure 3.5.2 Figure 3.5.2: Assembly of parts Stiffness
and work space are among the parameters for selecting a robot manipulator. The
question as to whether one can position and orient a rigid body in any way in
the work space is of importance. In some portion of the workspace called the
dexterous work space wherein a high degree of orientation is possible,
elsewhere the range of orientation is far less. Part Presentation Most industrial
manipulators do not posses adequate number of sensors to determine whether
the part it has to handle is in the right position and orientation. So part
presentation systems are used to present parts in correct orientation. Figure 3.6.1
Figure 3.6.2 In Fig 3.6.1 and 3.6.2 parts are inspected by a camera and if they
are wrongly oriented, rejected for example by blowing a jet of air at them as in
Fig. 3.6.1.
Introduction Manipulators are built as serial chains or parallel chains or
occasionally a combination of both.. Link and joints (revolute and prismatic),
that are mostly used in manipulators, are shown in Figure 4.1.1 3R planar
manipulator is shown in Figure 4.1.2 2RPR planer manipulator is shown in
Figure 4.1.2 Figure 4.1.1 Figure 4.1.2 In spatial manipulators (open chains)
adjacent axes are parallel or perpendicular to each other. Forward or direct
kinematics & inverse kinematics Direct kinematics: Here link parameters (link
lengths) and joint variables (typically angles) are given and one has to find out
the position and orientation of the end-effector (EE). Inverse kinematics: Given
link parameters and position and orientation of the end effector, one has to find
joint variables. Example of 2R & 3R manipulator are given in next sessions, for
the forward & inverse kinematics problem. Accuracy & Repeatability
Resolution (least-count), accuracy and repeatability are often sought by the user.
The resolution may be called as the least distance the robot end effector could
move through. This depends on the resolution of the actuator system, sensors
used to control joint motions, and varies with position of EE in the workspace.
Accuracy is the difference between the position attained and the desired target
position. When a robot is programmed to reach a point repeatedly it may be
reaching a cluster of points close to each other. Such a robot has good
repeatability. If this cluster is close to the targeted point the robot has not only
good repeatability but also good accuracy. A robot could provide good
repeatability but poor accuracy if this cluster is far from the targeted point.
Figure 4.1.3 In figure 4.1.3 the robot EE is required to reach the centre of the

circle the target point. The circle on extreme left shows the situation when the
robot has poor accuracy and poor repeatability. The circle in the middle shows
the EE has been repeatedly reaching positions which are close together though
away from the target point. The third picture shows the robot has repeatedly
reached points close to the target and this is a case of good repeatability and
accuracy.
Module 2 : Robots mechanisms Lecture 5 : Manipulators Mechanisms-I
Objectives In this lecture we will learn about Degrees of freedom Parallel
Manipulators Teaching the manipulator Degrees Of Freedom It is required to
find DOF for a manipulator which in turn decides the number of actuators
required. The task is relatively straightforward for open chains serial
manipulators. In most of these, the chain is composed of links connected
through revolute or prismatic pairs. The degrees of freedom simply turn out to
be the number of moving links in the open chain - and the number of actuators
will equal the degrees of freedom. The word axis is often used instead of
degrees of freedom. Thus a manipulator with six moving links and as many
revolute pairs is called a 6-axis manipulator. Note that the actuator used to
power the gripper (open and close fingers etc) is not counted as an axis
since the function of the actuator on the gripper is solely to open and close the
fingers. Also, the actuator for the gripper does not contribute to the positioning
and orienting capability of the end-effector. Closed chains. Figure 5.1.1 To find
the DOF of mechanism in robot, Gubler's formula for closed chains or given set
of n links is applied. 1. For the 5R mechanism shown above Figure 5.1.1, let Jrno of revolute joints; Jp no of prismatic joints Then Gublers formula states
that DOF=3(n-1)-2Jr-2Jp For above mechanism of 5R; DOF=3(5-1)-2x5=2 2.
For 4RP mechanism, n=5, Jr=4, Jp=1 therefore DOF= 3(5-1)-2x4-2x1=2 Figure
5.1.2 3. Figure 5.1.2 for 6R bar planer mechanism n=6, Jr= 6, Jp=0 Therefore
Mechanism DOF = 3(6-1)-2x6=15-12=3 Work space of closed chains will be
less than that of open chains. Parallel Chains Figure5.2.1 1) Stewart platform:
Here 2 rings top & bottom are connected together through prismatic links and
having ball & socket joint at bottom and hooks joint at top. Figure 5.2.1 beside.
Stewart platform finds application in aircraft simulator where pilots are trained
Applying Grublers criterion for closed chains, N=no of links=1 Js=no of
spherical joints=6 Jh= no of hook's joint=6 Jr= no of revolute joint=0 Jp= no of
prismatic joints=6 DOF = F=6(l-n-1) + S fi Where l= no. of links N= no of
joints fi = DOF with ith joint Therefore, F = 6(14-18-1) + 36 = 6 Teaching and
Measurement Manipulators may be used as measuring tools as shown in figure

5.3.1. With link lengths and joint angles known we can determine position &
Figure 5.3.1 orientation of end effector. This technique is used for teaching
odule 2 : Robots mechanisms Lecture 6 : Manipulators Mechanisms-III
Objectives In this course you will learn the following Concept of transmission
angles in mechanisms Coupling of actuator motions RCC accommodation of
minor errors in alignment Transmission Angle Fig 6.1.1 Fig 6.1.2 An example
of rear pivoted cylinder mechanism. Fig 6.1.1.(above left). No side thrust arises
between cylinder and piston. Transmission angle of force: important from point
of power transmission efficiency and this angle needs to be checked in
mechanisms that are used in robot actuators. Fig 6.1.2.above shows the best and
worst scenarios of transmission angle. Coupling of actuator motions Figure
6.2.1 The mechanism shown in Fig. 6.2 has coupled motion unlike the one in
6.1.1. In the device in Fig. 6.2.1 assume Cyl 1 is locked, the motion of Cyl 2
affects both . In Fig. 6.1.1 the motion of one actuator affects only one angle.
Grippers in manipulators Figure 6.3.1 For assembly easiness RCC type
elements are used between the gripper and wrist. (RCC stands for remote centre
compliance.) The RCC consists of flexible elements which take care of small
variation in position of End effector while executing an assembly as shown in
figure 6.3.1. Recap In this lecture we have learny about Concept of transmission
angles in mechanisms Coupling of actuator motions RCC accommodation of
minor errors in alignment
Introduction: Typical commercial / industrial manipulator capabilities.
Articulated SCARA Reach 2.5 meter 1.2 meter Payload 125 Kg 10-50 Kg Waist
rotation (degree) 360 120 Rotational speeds (degree) 100 to 200/sec Tip speed 2
meter/sec Repeatability 0.4 mm .03 to .05 mm Weight 1600 Kg 30-100 Kg
Drives in Manipulators The term servo derived from phrase to serve, has
meaning that the system that can be controlled. The electrical actuators that
can be controlled are DC servomotors, AC servo motors and stepper motors.
Following is an explanation of such motors. DC servo AC servo Stepper motor
DC servo conventional motors A PMDC servo stator has permanent magnets
and the rotor is wound. Brushes are used for commutation. Brushes wear and
also cause noise. Brushless motors overcome these limitations. The electronic
circuit and rotor motion is sensed thru Hall's effect sensors. In robotic
applications, the servo motor is required to produce rapid accelerations. In such
system one needs to have motors with low inertia. Low inertia is achieved by
reduced armature diameter with increase in armature length such that desired

output power is achieved. Thus except minor differences in constructional

features, DC servo motor is an ordinary DC motor. Motor Charecrerustucs
PMDC motors have Characteristics as follows (Figure 7.2.2 and Figure 7.2.3)
Figure 7.2.2 Figure 7.2.3 The power consumed by above motor has
characteristics is shown in Figure 7.2.4 Figure 7.2.4 Contd... Application: 1.
Continuous duty operation needs check for heat generation 2. Intermittent
operation / motion /duty needs calculation of RMS torque as follows A typical
Intermittent operation: (Refer Figure 7.2.5) Figure 7.2.5 1. From O to A for t1
Acceleration. 2. From A to B for t 2 uniform velocity 3. From B to C for t3
deceleration. 4. From C to D for t4 Dwell, vel=0; Accn=0 The motor: PMDC
motors rotate at high speeds and a gear-reducer is required to reduce the speed
to requisite levels. In intermittent operations the angular velocity varies from
instant to instant and choice of the gear reduction ratio G is critical. We are
aware that torque drops as motor speed increases. As a first step we choose
where = angular vel of load, = angular vel of motor and = angular accn. of load
and = angular accn of motor We use the following rule for the preliminary
selection of G 2 (Max speed of load) = G (Max allowable speed of motor ) l
SIZING THE DRIVE for INTERMITTENT MOTION A few formulae Now we
need to size the motor namely determine the torque and power. Let Im --Motor inertia II ---- Load inertia ---- Joint Motor and gear box efficiency We
know: One may compute the torque to be provided by motor to drive the load
with Inertial II as, II = II * * G= II *G* *G=G2 * II * We thus have: Net torque
= Im +G2II Effective inertia= (Im + G2II ) We shall now determine the RMS
torque as follows for the motion which is as given in figure 7.4.1. This motion
consists of accelerations, uniform velocities and decelerations. The first step is
to compute the torque requirements for each of these portions of the cycle. This
depends on the motor and gear-box inertias, the load inertial, efficiencies and so
on. Table giving the torque computation for each portion of the cycle: (see
Figure 7.4.2) O to A angular acceleration = Torque T 1 = A to B ang accn= 0
constant vel. Torque T 2 = B to C t 3 ang accn= Torque T 3 = (Friction torque is
subtracted here since friction aids deceleration) The RMS torque is thus given
by: