ME2107 CAM

Ch-2 ROBOTICS ENGG

Classification and types of robot
• The word “robot” was coined by science
fiction author and Nobel Prize winner “Karel
Capek” in the year 1920.
• Word robotics was first used in the year
May 1941 by “Isaac Asimov” in a science
fiction story “Liar”.
• It came from Czech & Slovak word “robota”
meaning “self labor” or “hard work”.
Industrial robot:The Robotics Industries Association
(RIA) defines robot in the following way:

“An industrial robot is a programmable, multi-

functional manipulator designed to move materials,
parts, tools, or special devices through variable
programmed motions for the performance of a
variety of tasks”
• Robots are used in the following Areas
1. Industries
2. Medicine
3. Military
4. Space Missions
5. Home
Robot Foot Ball Match
Pick and Place Robot
Surgical Robot
Military Robot
Space Robot
Three Laws of Robotics:
• A robot may not injure a human being, or,
through inaction, allow a human being to come
to harm.
• A robot must obey the orders given it by human
beings except where such orders would conflict
with the First Law.
• A robot must protect its own existence as long as
such protection does not conflict with the First
or Second Law.
 Robotics History
1946
George Devol patents a playback device for controlling
machines.
1961
Heinrich Ernst develops the MH-1, a computer
operated mechanical hand at MIT.
1961
Unimate, the company of Joseph Engleberger and
George Devoe, built the first industrial robot, the
PUMA (Programmable Universal Manipulator Arm).
1966
The Stanford Research Institute creates Shakey the first
mobile robot to know and react to its own actions.
 Robotics History
Unimate PUMA SRI Shakey
 Robotics History
1969
Victor Scheinman creates the Stanford Arm. The arm's
design becomes a standard and is still influencing the
design of robot arms today.
 Robotics History
1976
Shigeo Hirose designs the Soft Gripper at the Tokyo
Institute of Technology. It is designed to wrap around an
object in snake like fashion.
1981
Takeo Kanade builds the direct drive arm. It is the first to
have motors installed directly into the joints of the arm. This
change makes it faster and much more accurate than
previous robotic arms.
1989
A walking robot named Genghis is unveiled by the Mobile
Robots Group at MIT.
 Robotics History
1993
Dante an 8-legged walking robot developed at Carnegie
Mellon University descends into Mt. Erebrus, Antarctica. Its
mission is to collect data from a harsh environment similar
to what we might find on another planet.

1994
Dante II, a more robust version of Dante I, descends into
the crater of Alaskan volcano Mt. Spurr. The mission is
considered a success.
 Robotics History
1996
Honda debuts the P3.
 Robotics History
1997
The Pathfinder Mission lands on Mars

1999
SONY releases the AIBO robotic pet.
• ASIMO (HONDA)

• QRIO (SONY)

• EMIEW (HITACHI)
• .
• ASIMO Stands for “Advance Step In
Innovative Mobility”
• The first humanoid was manufactured by
Honda
• Honda’s ASIMO was “born” five years ago.
• It is physically anthropomorphic.
• ASIMO is almost always characterized as a
service robot.
ASIMO ROBOT
• Height  4ft 3inch (130cm)
• Weight 119 pounds (54 kg)
• Walking speed 1.7mph (2.7 km/h)
• Grasping force 0.5 kg/hand (5 fingers hand)
• Actuators servomotor+harmonic speed
reducer+drive unit
• Control unit walk/operating control
unit, wireless transmission
• Sensors:Foot 6-axis foot area sensors
• Power Rechargeable 51.8V
lithium ion battery
• Operating time 1 hour
Robot serving coffee
 BASIC COMPONENTS
• The basic components of an
industrial robot are the
– Manipulator
– The end effector (which is the part
of the manipulator).
– The power supply
– And the controller.
Components of robot
Basic components of Robot
 ROBOT CLASSIFICATION
Classification Based on Physical
Configuration:

– 1. Cartesian configuration
– 2. Cylindrical configuration
– 3. Polar configuration
– 4. Joint-arm configuration
Classification of the Robots
 The Robotic Joints
The basic movements required for a desired
motion of most industrial robots are:
• 1. rotational movement: This enables the robot
to place its arm in any direction on a horizontal
plane.
• 2. Radial movement: This enables the robot to
move its end-effector radially to reach distant
points.
• 3. Vertical movement: This enables the robot to
take its end-effector to different heights.
Types of Joints
Types on Notati Description
joint on
Prismatic L Sliding or
Joint translational motion
of connecting links

Rotational R Axis of rotation

perpendicular to
link
Twisting T Axis of rotation is
parallel to axes of
both links
Revolving V Input link is parallel
to axis of rotation &
o/p link is
perpendicular to
the axis of rotation
 ROBOT CLASSIFICATION
Cartesian Configuration:
• Robots with Cartesian configurations
consists of links connected by linear joints
(L). Gantry robots are Cartesian robots
(LLL).
 Cartesian Robots
A robot with 3 prismatic joints
– the axes consistent with a
Cartesian coordinate system.

Commonly used for:

•pick and place work
•assembly operations
•handling machine tools
•arc welding
 Cartesian Robots
Advantages:
• ability to do straight line insertions into furnaces.
• easy computation and programming.
• most rigid structure for given length.

Disadvantages:
• requires large operating volume.
• exposed guiding surfaces require covering in corrosive
or dusty environments.
• can only reach front of itself
• axes hard to seal
 ROBOT CLASSIFICATION
Cylindrical Configuration:
• Robots with cylindrical configuration have
one rotary ( R) joint at the base and linear
(L) joints succeeded to connect the links.
 Cylindrical Robots
A robot with 2 prismatic joints
and a rotary joint – the axes
consistent with a cylindrical
coordinate system.

Commonly used for:

•handling at die-casting
machines
•assembly operations
•handling machine tools
•spot welding
 Cylindrical Robots
Advantages:
• can reach all around itself
• rotational axis easy to seal
• relatively easy programming
• rigid enough to handle heavy loads through large working
space
• good access into cavities and machine openings

Disadvantages:
• can't reach above itself
• linear axes is hard to seal
• won’t reach around obstacles
• exposed drives are difficult to cover from dust and liquids
 ROBOT CLASSIFICATION
Polar Configuration:
• Polar robots have a
work space of
spherical shape.
Generally, the arm is
connected to the
base with a twisting
(T) joint and rotatory
(R) and linear (L)
joints follow.
 ROBOT CLASSIFICATION
• The designation of the arm for this
configuration can be TRL or TRR.
• Robots with the designation TRL are also
called spherical robots. Those with the
designation TRR are also called
articulated robots. An articulated robot
more closely resembles the human arm.
 Spherical/Polar Robots
A robot with 1 prismatic joint and 2
rotary joints – the axes consistent with
a polar coordinate system.

Commonly used for:

•handling at die casting or fettling
machines
•handling machine tools
•arc/spot welding
 Spherical/Polar Robots
Advantages:
• large working envelope.
• two rotary drives are easily sealed against liquids/dust.

Disadvantages:
• complex coordinates more difficult to visualize, control,
and program.
• exposed linear drive.
• low accuracy.
 ROBOT CLASSIFICATION
Joint-arm Configuration:
• The jointed-arm is a combination of
cylindrical and articulated configurations.
The arm of the robot is connected to the
base with a twisting joint. The links in the
arm are connected by rotatory joints. Many
commercially available robots have this
configuration.
 Articulated Robots
A robot with at least 3 rotary
joints.

Commonly used for:

•assembly operations
•welding
•weld sealing
•spray painting
•handling at die casting or
fettling machines
 Articulated Robots
Advantages:
• all rotary joints allows for maximum flexibility
• any point in total volume can be reached.
• all joints can be sealed from the environment.

Disadvantages:
• extremely difficult to visualize, control, and program.
• restricted volume coverage.
• low accuracy
 SCARA (Selective Compliance
Articulated Robot Arm) Robots
A robot with at least 2 parallel
rotary joints.

Commonly used for:

•pick and place work
•assembly operations
 SCARA (Selective Compliance
Articulated Robot Arm) Robots
Advantages:
• high speed.
• height axis is rigid
• large work area for floor space
• moderately easy to program.

Disadvantages:
• limited applications.
• 2 ways to reach point
• difficult to program off-line
• highly complex arm
 Comparison of robots based on its Anatomy
Characteristics Polar Cylindrical Rectilinear or Jointed Arm
Cartesian Configuration

Anatomy
description

Work Volume

Joint Notation

Example

Advantages

Disadvantages

Applications
 Robotics Terminology
Speed
•The amount of distance per unit time at which the robot
can move, usually specified in inches per second or
meters per second.
•The speed is usually specified at a specific load or
assuming that the robot is carrying a fixed weight.
•Actual speed may vary depending upon the weight carried
by the robot.

Load Bearing Capacity

•The maximum weight-carrying capacity of the robot.
•Robots that carry large weights, but must still be precise
are expensive.
 Robotics Terminology
Accuracy
•The ability of a robot to go to the specified position
without making a mistake.
•It is impossible to position a machine exactly.
•Accuracy is therefore defined as the ability of the robot to
position itself to the desired location with the minimal
error (usually 25 mm).

Repeatability
•The ability of a robot to repeatedly position itself when
asked to perform a task multiple times.
•Accuracy is an absolute concept, repeatability is relative.
•A robot that is repeatable may not be very accurate, visa
versa.
 Robotics Terminology

• Control resolution
– It refers to ability of the robot’s controller and
positioning system to divide the range of the joint into
closely spaced points that can be identified by the
controller. These are called addressable points
because they represent locations to which the robot
can be commanded to move.
– It depends on 2 factors
• Limitations of electro-mechanical components that
made up each joint link combination
• Controllers bit storage capacity
 Accuracy and Repeatability
• Control Resolution (CR) is the distance between
addressable points within the joint range.
– Number of addressable points = (joint range/2n)
– CR=R/(2n-1)
where n is the number of bit assigned to the
joint’s range of motion
• Spatial Resolution (SR) combines the control
resolution with the mechanical errors (deflection of
links, gear backlash, etc)
SR = CR + 6 σ
Where σ-(std dev of mechanical errors)
Accuracy = SR/2
Repeatability = + 3 σ
 Control Systems
• The control system is similar to those of CNC machine tools.

• In PTP, path itself is not controlled, only the final position is

controlled. All joints are driven at the same speed but not
necessarily simultaneously.
• In Continuous Path all joints move simultaneously, but at
different speeds to produce an accurate path

• The interpolation algorithms are more complex than CNC

(many axis) Coordinate transformation from end point
position to joint motion is required for control of all non-
Cartesian robots.
 ROBOT CLASSIFICATION
Classification Based on Control Systems:
– 1. Point-to-point (PTP) control robot
– 2. Continuous-path (CP) control robot
– 3. Controlled-path robot
Point to Point Control Robot (PTP):
• The PTP robot is capable of moving from one
point to another point.
• The locations are recorded in the control
memory. PTP robots do not control the path to
get from one point to the next point.
• Common applications include:
– component insertion
– spot welding
– hole drilling
– machine loading and unloading
– assembly operations
 Continuous-Path Control Robot (CP):
• The CP robot is capable of performing movements along
the controlled path. With CP from one control, the robot
can stop at any specified point along the controlled path.
• All the points along the path must be stored explicitly in
the robot's control memory. Applications Straight-line
motion is the simplest example for this type of robot.
Some continuous-path controlled robots also have the
capability to follow a smooth curve path that has been
defined by the programmer. In such cases the
programmer manually moves the robot arm through the
desired path and the controller unit stores a large
number of individual point locations along the path in
memory (teach-in).
Continuous-Path Control Robot (CP):

Typical applications include:

– spray painting
– finishing
– gluing
– arc welding operations
 Controlled-Path Robot:

• In controlled-path robots, the control equipment can

generate paths of different geometry such as straight
lines, circles, and interpolated curves with a high degree
of accuracy. Good accuracy can be obtained at any point
along the specified path.

• Only the start and finish points and the path definition
function must be stored in the robot's control memory. It
is important to mention that all controlled-path robots
have a servo capability to correct their path.