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Robotics

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Tanishq Dhawan
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10 views

Robotics

Uploaded by

Tanishq Dhawan
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Dr.

Mahesh M
Assistant Professor
Department of Mechanical Engineering
NIE Mysuru
• A robot is a mechanical or virtual intelligent agent that can
perform tasks automatically or with guidance, typically by remote
control.
• In practice a robot is usually an electro-mechanical machine that
is guided by computer and electronic programming.
• According to Robotics industrial association (RIA), “An industrial
robot is a reprogrammable, multifunctional manipulator designed
to move materials, parts, tools or special devices through a
variable programmed motions for the performance of variety of
tasks”.
 An industrial robot consists of a mechanical manipulator and a
controller to move it and perform other related functions.

• The mechanical manipulator


consists of joints and links to
position and orient the end of
the manipulator relative to its
base.
• The controller operates the
joints in a coordinated fashion to
execute a programmed work
cycle.
Sir. Isaac Asimov has framed three laws of Robotics. In fact he is
credited for coining the word Robotics. The three laws are
 I Law: - A robot may not injure a human being or, through
inaction, allow a human to be harmed.
 II Law: - A robot must obey orders given by humans except when
that conflicts with the First Law.
 III Law: - A robot must protect its own existence unless that
conflicts with First or Second Law.
 Manipulator: manipulator is an arm-like mechanism which is
designed to manipulate or move materials, parts or tools without
direct human contact.
 Joint: A joint is the one that integrates two or more links to
provide controlled relative movement between input link and the
output link.
 Link: The link is a rigid member that connects the joints. Link can
be an input link and an output link. The movement of the input link
causes various motions of the output link.
 Manipulator: manipulator is an arm-like mechanism which is
designed to manipulate or move materials, parts or tools without
direct human contact.
 Joint: A joint is the one that integrates two or more links to
provide controlled relative movement between input link and the
output link.
 Link: The link is a rigid member that connects the joints. Link can
be an input link and an output link. The movement of the input link
causes various motions of the output link.
1. Degrees of freedom (d.o.f): The degrees of freedom describe a
robot's freedom of motion in the three-dimensional space.

2. End effectors: End effectors or end-of-arm tool is the device at


the end of the robotic arm which is shaped like a hand or as a
special tool depending upon the application.

3. Base: The support for the robot arm is called as the base.
 Depending on relative motion between the two adjacent
links, joints can be classified as:
1. Prismatic joints
▪ Linear joints (L)
▪ Orthogonal joints (O)

2. Rotational joints (R)


3. Twist joints (T)
4. Revolute joints (V)
 1. According to Geometric configuration
▪ Cartesian
▪ Cylindrical
▪ Polar
▪ Jointed arm horizontal
▪ Jointed arm vertical
▪ Pendulum arm
▪ Multiple-joint arm
 2. According to degrees of freedom:
▪ 3 Degrees of freedom
▪ 4 Degrees of freedom
▪ 6 Degrees of freedom
 3. According to Drive Method:
▪ Electric drive
▪ Hydraulic drive
▪ Pneumatic drive
 4. According to Control system:
▪ Open Loop System
▪ Closed Loop System
 5. According to Programming Method
▪ On-line programming
▪ Off-line Programming
 6. According to Intelligence level
▪ Operating Robot
▪ Sequence Control Robot (Fixed & Variable)
▪ Play back Robot (PTP & CP)
▪ Intelligent Robot
 7. According to Mobility:
▪ Stationary robot
▪ Mobile robot
 8. According to path control system
▪ Point to Point
▪ Point-to-Point coordinated path/Continuous path
• It specifies the possible movements provided by different
robots. Four basic configurations are identified with most
of the commercially available industrial robots.
1. Cartesian configuration
2. Cylindrical configuration
3. Polar configuration
4. Jointed-arm configuration
▪ It is also called as a rectilinear
robot or a XYZ Robot.
▪ It consists of Three Sliding
joints along the X, Y and Z
direction in three dimensional
spaces.
▪ There are two orthogonal
Joints.
▪ It consists of a slide in the
horizontal position and a column
in the vertical position.
▪ The arm assembly moves up or
down relative to the column
using as L-joint.
▪ The column is rotated about its
axis using the T-joint.
▪ The radial movement of the arm
is achieved using the O-joint
▪ It consists of a sliding arm (L-joint) that is actuated relative to the
body and a rotational base along with a pivot, which can rotate
about a horizontal axis (R joint) and the vertical axis (T Joint)
▪ This type of Configuration resembles the human arm where the
column swivels about a base (the column and the base forms a T-
joint).
▪ The column top connects to the shoulder through a shoulder
joint (which is the R-joint) and the shoulder connecting to the
elbow through an elbow joint (which is also an R-joint).
▪ This robot conforms to cylindrical coordinates, but the radius and
rotation is obtained by a two planar links with revolute joints.
 It refers to the space within which the robot can
manipulate its wrist end.

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