ROBOTA –A NEW GENERATION

Submitted by,

Rahmathunnisa M.A,
RemyaK.M
rd
3 year (cse-sem5)
Email:rhmt.1ce@gmail.com,
Kmremya1990@gmail.com

AVS Engineering College, Ammapet,

Salem-03
 ABSTRACT
Man thinks of leading a comfortable life,
for which he thinks in every aspect for
an alternative. Right from the early age
there had a lot of changes in the way of
thinking and trends of technology.
Man became the creator and created the
Robot as a substitute to him. The
technology that deals with the working
of the Robots is Robotics. A robot is a
machine that is programmed to perform
jobs involving moving or handling
operations. Robots are meant for work at
3 D’s (Dangerous, Dull, and Difficult).
This paper gives the information
about the origin and sequence of changes
in its technology. It consists of Robot
Configurations, their Driving systems.
The Control system is the main drive of
Robot processing. This paper gives
information how Automation serves the
field of Robotics. Robots serve mankind
at machine handling operations,
computing operations and in many other
fields. Even though they are helping the
mankind, due to their Artificial
intelligence create potential hazards.
INTRODUCTION: The "Robot" Law Two: A Robot must obey
entered the English language through a orders given to it by human beings,
Czechoslovak word "Robota” which except where such orders would conflict
means forced worker. Robotics is the with a higher order law.
field of knowledge and techniques that Law Three: A Robot must
can be used to create robots. protect its own existence as long as such
Definition: A Robot is a protection doesn’t conflict with a higher
reprogrammable, multifunctional order law.
manipulator designed to move materials, There had a drastic change in the
parts, tools, and specialized devices technology of the robots, their working,
through variable programmed motions processing which led to simplification of
for the performance of a variety of tasks. hazardous works.
The robot technology is an
amalgam of engineering and science History: In 16th century, myths and
including mechanical engineering, ideas about robots took shape when
electrical engineering, mathematics, Hans Bull man created an artificial
control engineering and computer human to play music. In 1800’s a textile
science. Isaac Asimov proposed three machine operated by punch cards was
laws of Robots including a zero law in invented. In 1892 in USA, Seward
1922. They are Babbitt created a motorized rotary crane
Law Zero: A Robot may not with grippers to remove steel ingots
injure humanity or through inaction, from a furnace. Raymond Goertz, a
allow humanity to come to harm. French scientist designed the first tele-
Law One: A Robot may not operator-equipped articulated arm In
injure a human being or through in 1954 George Devol designed the first
action, allow a human being to come to programmable robot in US Small mobile
harm, unless this would violate a higher robots useful for home and education use
order law. were introduced in 1983.
INDUSTRIAL ROBOT: For a machine
to qualify as a Robot, it usually needs
these parts: Controller, Arm, Drive, End-
effector, and Sensor. They are explained
as:
CONTROLLER: Every robot is
connected to a computer, which keeps
the pieces of the arm working together.
This computer is known as the
controller. The controller functions as
the brain of the robot. The controller also
allows the robot to be networked to the
other systems, so that it may work
together with the other machines,
processes or robots.
Robots today have controllers that are
run by programs-sets of instructions
written in code. Almost all robots of
today are entirely preprogrammed by
people: they can do only what they are
programmed to do at the time, and
nothing else. In the future the controllers
with artificial intelligence, or AI could
allow robots to think on their own, every
END-EFFECTOR: the end-effector is
the "hand" connected to the robot's arm.
It is often different from human hand - it
could be a tool such as a gripper, a
program themselves. This could make
robots more self-reliant and independent.
ARM- robot arms come in all shapes
and sizes. The arm is part of robot that
positioned the end effector and the
sensors to do their pre-programmed
business. Many (but not all) resemble
human arms, and have shoulders,
elbows, wrist and even fingers. This
gives the robot a lot of ways to position
itself in its environment. Each joint is
said to give the robot one DOF. So, a
simple robot arm with three DOF could
move in six ways: up and down, left and
right, forward and backward. Most
working robots today have six DOF.
DRIVE: The drive is the "engine" that
drives the links (the sections between the
joints) into their desired position.
Without a drive, is not often helpful.
Most drives are powered by air, water
pressure, or electricity.
vacuum pump, and blowtorch - just
about any thing that helps it do its job.
Some robots can change end-effectors,
and be reprogrammed for a different set
of tasks. The two categories of end-
effectors are
1. Grippers: These are end-effectors
used to grasp and manipulate objects
during the work cycle. The objects are
usually work parts that are moved from
one location to another. Depending upon
the various types of shapes, sizes and
weights grippers are designed. The types
of grippers used in industrial robot
applications are
• Mechanical grippers: this
consists of two or more fingers
that can be actuated by the robot
controller to open and close to
grasp the work part.
• Vacuum grippers: In this suction
cups are used to hold the flat
objects.
• Adhesive devices: where an
adhesive substance is used to
hold a flexible material such as a
fabric.
• Magnetized devices: devices for
holding ferrous parts.
• Simple mechanical devices such
as hooks and scoops
taste, and smell are the kinds of the
information we get from our world.
Robots can be designed and
2. Tools: Tools are used in applications
where the robot must perform some
processing operation on the work part.
Robot manipulates the tool related to
slow moving object (sub-assembly).
Examples of tools used as end-effectors
by robots to perform processing
applications are
• Spot welding gun
• Arc welding tool
• Assembly tool-automatic screw
driver
• Heating torch, Water jet cutting
tools
SENSOR- Most robots of today are
nearly deaf and blind. Sensor can
provide some limited feedback to the
robot so it can do its job. Compared to
the senses and abilities of even the
simplest living things, robots have a very
long way to go.
The sensor sends information, in the
form of electronic signals back to the
controller. Sensors also give the robot
controller information about its
surroundings and let it know the exact
position of the arm, or the state of the
world around it. Sight, sound, touch,
programmed to get specific information
that is beyond what our five sensors can
tell us. For instance, a robot sensor
might see in the dark, detect tiny
amounts of invisible radiation
measure movement that is too small or
fast for the human eye to see. Types of
sensors usually used are
• Tactile sensors: These are used
to determine whether the contact
is made between the sensor and
the object. They are basically
classified into two types.
1. Touch sensors:
sensors indicate whether the
contact has been made with the
object or not.
2. Force sensors:
sensors give the magnitude of the
force with the object. Gripper in
the End-Effector uses the Force
sensors to measure and control
the force being applied to grasp
an object.
• Proximity sensors:
when an object is close to the
sensor. This type of sensor is
used to indicate the
distance of the object; it is called
a Range sensor.
• Optical sensors: Photocells and
other photometric devices can be
provide controlled relative movement
between the input link and output link.
utilized to detect the presence or
or absence of objects and are often
used for proximate detection.
• Machine vision: It is used in
Robotics for inspection, parts
identification, guidance and other
uses.
• Other sensors: this
miscellaneous category includes
other types of sensors that might
Touch be used in robotics, including
devices for measuring
temperature, fluid pressure, fluid
flow, electrical voltage, current,
Force and various other physical
properties.
LINKS &JOINTS:
An Industrial robot is constructed of a
series of joints and links. A joint of an
Industrial robot is similar to a joint in
Indicate human body. Each joint or axis provides
robot with a Degree of Freedom (D.O.F)
of motion. Robots are often classified
actual using D.O.F. Each joint of robot is
connected with an input link and an
output link. The purpose of joint is to
All Industrial robots have mechanical perpendicular to the axis of
joints that can be classified five types: rotation.
two of which provide translational
motion and three, which provide rotary COMMON ROBOT
motion CONFIGURATIONS:
A Robot manipulator can be divided into
• Linear joint (L joint): The two sections: body-and-arm assembly
relative movement between the and a wrist assembly. They individually
input link and the output link is have their own configurations at work.
translational sliding motion, with They are
the axes of the two links being BODY-AND-ARM
parallel. CONFIGURATION: There are
• Orthogonal joint (O joint): generally three DOF associated with the
This is also a translational sliding body-and-arm assembly. Considering the
motion, but the input and output five types of the joints defined above,
links are perpendicular to each there are 5x5x5=125 different
other during the move. configurations of joints. In addition to

• Rotational joint (R joint): This these there are only five basic

type provides rotational relative configurations. They are:

motion, with the axis of rotation 1. Polar configuration: This consists of

perpendicular to the input and a sliding arm (L joint) actuated relative

output links. to the body that can be rotated about

• Twisting joint (T joint): This both a vertical axis (T joint) and a

joint involves rotary motion but horizontal axis (R joint).

the axis of rotation is parallel to 2. Cylindrical configuration: It consists

the axes of two links. of a vertical column, relative to which an

• Revolving joint (V joint): In arm assembly is moved up and down.

this joint type, the axis of the 3. Cartesian coordinate robot: This

input link is parallel to the axis of configuration includes rectilinear robot

rotation of the joint, and the axis and x-y-z robot. It consists of three

of the output link is

sliding joints, two of which are
orthogonal.
4. Jointed-arm robot. This is same as a
human arm. It consists of a vertical
column that swivels. At the top of the
column is a shoulder joint whose output
link is connected to the elbow joint(R
joint).
5. SCARA: It is Selective Compliance
Assembly Robot Arm. This permits the
robot to perform the insertion tasks in
vertical direction.
WRIST CONFIGURATIONS: Robot's
wrist is used to orient the end-effector.
Robot wrists usually have two or three
DOF. The general configuration of wrist
has three joints defined as:
1. Roll- using a T joint to accomplish
rotation about the robot's arm axis.
2. Pitch- that involves up and down
rotation, typically using an R joint.
3. Yaw- which involves right-and-left
rotation, also accomplished by means of
an R joint.
JOINT DRIVE SYSTEMS:
In industrial control systems, an actuator
is a hardware device that converts a
controller command signal into a change
in a physical parameter (position or
velocity changes). Robot joints are
actuated using any of the three possible
types of drive systems.
1. Electric drive systems: These use
electric motors and solenoids as
actuators. These actuators are wired to
an electrical circuit. The circuit powers
electrical motor and solenoids directly.
These are used on more-sophisticated
industrial robots. These are relatively
accurate compared with hydraulically
powered robots.
2. Hydraulic drive system: Hydraulic
system is manipulated by electrical
valves. The valves determine the
pressurized fluid's path through the
machine. To move a hydraulic leg the
robot controller would open the valve
leading from the fluid pump to a piston
cylinder attached to the leg. The
pressurized fluid would extend the
piston, swiveling the leg forward. These
have greater speed and strength
compared to other systems.
3. Pneumatic drive system: This is a
system driven by compressed gases.
Pneumatic robots need an air compressor
or compressed air tanks. These are
limited to smaller robots used in simple
material transfer applications.
ROBOT CONTROL SYSTEMS:
The actuations of individual joints must playback the work cycle during the
be controlled in a coordinated fashion to execution of the program. In point-to-
perform a desired motion cycle. point (PTP) control, the individual
Microprocessor-based controllers are positions of the robot arm are recorded
commonly used control system hardware into memory, thus positions are not
in Robotics. limited to mechanical stops for each
joint as is limited sequence robots.
Different types of control are required Instead each position in the robot
for different applications. Robot program consists of a set of values
controllers can be classified into four representing locations in the range of
types: each joint. For each position defined in
1. Limited sequence control: This is the program, the joints are thus directed
the most elementary control system. It to actuate to their respective specified
can be used for simple motion cycles, locations. Feedback control is used
such as pick-and-place operations. during the motion cycle to confirm that
Setting limits or mechanical stops for the individual joints achieving the
each joint and sequencing the actuation specified location in the program.
of the joints to accomplish the cycle 3. Playback with continuous path
usually implement it. Many control: The continuous path robots
Pneumatically driven Robots are limited have the same playback capacity as the
sequence robots. PTP. A Playback continuous path
2. Playback with point-to-point control has advantages over PTP. This
control: Playback robots represent a has greater storage capacity than PTP
more-sophisticated form of control than thus it has smooth continuous motion. In
limited sequence robots. Playback PTP, only the final locations of the
control means that the controller has a individual motion elements are
memory to record the sequence of controlled, so the path taken by the arm
motions in a given work cycle as well as to reach the final location is not
the locations and other parameters controlled. In a continuous path motion,
(speed, velocity) associated with each the motion of the arm and the wrist is
motion and then to the subsequently
controlled during the motion. This can casting operation. The typical
also perform the operations of PTP. environment in die-casting is not
4. Intelligence control: industrial robots pleasant for humans due to heat and
are becoming increasingly intelligent. fumes emitted, so a robot was used
An intelligent is one that exhibits instead. Work environment is one of the
behavior that makes it seem intelligent. characteristics considered when
Some of the characteristics that make a selecting a robot application. The
robot appear intelligent include the general characteristics of an industrial
capacity to work that tend to promote the
• Interact with its environment substitution of robots for human labour
• Make decisions when things go are
wrong during work cycle 1. Hazardous work environment for

• Communicate with humans humans: when the work environment is

• Make computations during the unsafe, unhealthful, hazardous,

motion cycle uncomfortable, or otherwise unpleasant

for humans. In addition to die casting
• Respond to the advanced sensor
other situations that are hazardous or
inputs such as machine vision.
unpleasant for humans are forging, spray
In addition, robots with intelligent
painting, continuous arc welding and
control possess the playback capability
spot welding. These use industrial robots
for either PTP or continuous path
for their processes.
control. These features require
2. Repetitive work cycle: A second
1. A relatively high level of computer
characteristic that tends to promote the
control.
use of robotics is a repetitive work
2. An advanced programming language
cycle .a robot has a greater consistency
to input the decision-making logic and
and repeatability than a human worker
other "intelligence" into memory.
3. Difficult handling for humans: if the
task involves the handling parts or tools
INDUSTRIAL ROBOT
that are heavy or otherwise difficult to
APPLICATIONS:
manipulate, it is likely that an industrial
One of the earliest installations of an
robot is available that can perform the
industrial robot was around1961 in die
operation. Parts or tools that are too made all the works right from
heavy for humans to handle small clerical works to space
works easier, which resulted in
conveniently are well within the load lack of employment.
carrying capacity of a large robot.
CONCLUSION: Robots have
4. Multi shift operation: In manual
the potential to change our
operations requiring second and third
economy, our health, our
shifts, substitutions of a robot will
standard of living, our
provide a much faster financial payback
Knowledge and the world in
than a single shift operation. Instead of
which we live. As the technology
replacing one worker, the robot replaces
progresses, we are finding new
two or three workers.
ways to use robots. Each new
Robots are being used in a wide field of
innovation brings new hopes and
applications in industry. Most of the
possibilities but also potential
current application of industrial robots is
dangers and risks are possible.
in manufacturing. The applications can
One thing to certain, the myth of
usually be classified in material
robotics have always involved
handling, processing operations and
dressing up human beings with
assembly and inspection.
all their wants, needs, conflicts,
aspirations, and in mechanical
PROBLEMS WITH
ROBOTICS: guise. This technology is a boon
Robotics and Artificial if we are always awake,
Intelligence really one in same
confidently controlling the robots
poses many potential hazards.
Due to advent of silicon based from over coming us.
over lives they could replace or
enslave us. Due to superior
strength, speed and lack of
morals inherent with AI.. They
are self-replicate which makes
them nearly impossible to stop.
With their built-in intelligence,
they could make duplicate up on
duplicate in a short amount of References:
time, which may impose 1. Automation, Production
superiority over us. They have
Systems, and Computer-
 Integrated Manufacturing by
Mikell P. Groover
2 A Journal: Robotic Association
of America
3. www.ieee.org
4. www.metsoautomation.com