PAPER PRESENTATION ON

ROBOTICS CONTROL AND APPLICATION

PRESENTED BY :

MAYUR S. JOGI AKASH M. GAIDHANE

\ MECHANICAL MECHANICAL
IV SEM IV SEM
Smt.Radhikatai Pandav Smt.Radhikatai Pandav
College of Engg., College of Engg. ,
Nagpur. Nagpur.
mayujogi@gmail.com mr.akashgaidhane@gmail.com

SMT. RADHIKATAI PANDAV COLLEGE OF ENGINEERING,

NAGPUR.
 “ROBOTICS CONTROL AND APPLICATION”
MAYUR S. JOGI
MECHANICAL
R.T.M.N.U
SMT.RADHIKATAI PANDAV
COLLEGE OF ENGG.NAGPUR.
mayujogi@gmail.com
IV semester
9665287425
ABSTRACT
Today in this dynamic
world, operators require more comfort,
facilities & safety while processing the
operation. Because of the globalization
& fast routine life they needs to have
more effective media to complete their
every work within a short time. And
hence with these considerations, the
manufacturing Companies now are
trying to add some special technologies
and development in new machines in
order to increase efficiency & long life
performance of machines in the view of
manufactures.
INTRODUCTION
A robot is a mechanism
which performs operation as similar to
human operations. The robot performs
operations according to program
instructions or decides on basis of
artificial intelligence.
AKASH M. GAIDHANE
MECHANICAL
R.T.M.N.U
SMT.RADHIKATAI PANDAV
COLLEGE OF ENGG.NAGPUR.
mr.akashgaidhane@gmail.com
IVsemester
7620451999
It is defined as,
“A robot is a reprogrammable
multifunctional manipulation designed
to move material, parts, or specialized
devices though variable programmed
motions for the performance of variety
of tasks”.
EVOLUTION OF ROBOT
The field of robotics has
its origins in science fiction. The term
robot was derived from the English
translation of a fantasy play written in
Czechoslovakia around 1920.
In recent time, numerical
control and telecherich are two
important technologies in the
development of robotics. Numerical
control (NC) was developed for machine
tools in the 1940s and early 1950s. As its
name suggest numerical control involves
the control of action of a machine tool
by means of numbers. It is based on the
original work by using punch cards
containing position data to control the
exes of a machine tool. Subsequent, a
part programming language to
accomplish the programming of the NC
machine tool.
 BASIC COMPONENTS
OF ROBOT SYSTEM

There are four basic components of 4) POWER CONVERSION

robotic system UNIT
This unit provides power for operation
of the robot. It accept signal from the
controller and convert into mechanical
power for movement of actuators.

ROBOT ANATOMY

The manipulator of an industrial robot is

constructed of a series of joints and links
robot anatomy deals with the types and
sizes of joints and links and other
aspects of the manipulators physical
1) MANIPULATOR construction.
There series of rigid member known as
link connected by joints. The motion of
joist is actuated by actuator mechanism.
The manipulator performs the work of
movement and gripping of the object of
desired size at required location.

2) SENSORY DEVICE
Sensory devices these used for
controlling of the system. They monitor
the position of links and manipulator.
The sensor may use a machine vision Fig. Joint and links combination
system or electronic sensor to detect the
manipulator position. JOINT AND LINKS

3) CONTROLER A joint of an industrial

This control the operation of the robot is similar to joint in the human
manipulator. The controller will issue body. It provides relative motion
instruction and controls the action of the between two parts of the body,
manipulator. connected to each joint are two links.
They have, One of them is input link and the other is
1) Memory to store the data output link. Links are considered to be
2) Sequential which the rigid components of robot. The
interprets the data purpose of the joint is to provide
3) Computational unit controlled relative movement between
4) Interface to obtain the input link and the output link.
position data
THE MECHANICAL JOINTS
ARE CLASSIFIED IN FIVE
TYPES

1) LINEAR JOINT

The relative movement between the

input link and output link is a linear
sliding motion. With the axes of the two
links being parallel. This is of type ‘L’
joint.

3) ROTATIONAL JOINT

This type provides a rotational relative

motion of the joints, with the axis of
rotation perpendicular to the axes of the

2)

ORTHOGONAL JOINT input and output links. This is a type ‘R’

joint.
This is also linear sliding motion, but the
input and output links are perpendicular 4) TWISTING JOINT
to each other during the move. This is a
type ‘O’ joint. This joint also involves a rotary motion.
But the axis of rotation is parallel to the
axes of the two links. We call this a type
‘T’ joint.
5) REVOLVING JOINT
In this joint type the axis of the input
link is parallel to the axis of rotation of
the joint, and the axis of the output link
is perpendicular to the axis of rotation.
MOTIONS OF ROBOT
There are basically six motions also
called degrees of freedom of the robot
which provides a robot the ability to
perform the tasks. The six basic motions
consist of three arms and body motion
and three wrist motion, which are
summarized as below.
ARM AND BODY MOTIONS
1) Vertical transverse :- These
are up and down motion of the
arm, caused by pivoting the
entire arm about a horizontal axis
or moving the arm along a
vertical side.
1) Radial transverse :- This is
in and out movement of the arm.
3) Rotational transverse :-
This is swiveling of the robot
arm about the vertical axis.
WRIST MOTIONS
1) Wrist swivel :- It is the
rotation of the wrist.
2) Wrist bend :- It is the up or
down movement of the wrist.
3) Wrist yaw :- It is right or left
swivel of the wrist.
ROBOTIC CONTROL
SYSTEM
The generalized
block diagram of a robotic control
system is shown in the fig. The
computer are used in the control of robot
to serve as the central processing unit as
similar to brain. It reads the information
from various pilot devices, and sensors.
It accepts instructions which have been
programmed in its memory and takes
helps from other parts of the system.
 APPLICATION OF  It can increase the speed of
ROBOTICS operations so increase

There are different areas of application production.

of robotics.  It improves product quality
1) WELDING :-
This is one of the through improved consistency.
important areas of application of robots.  It can handle heavy loads.
It is used in spot and arc welding. In
spot welding, the metal parts are joined
by giving spot at different weld points.  Some of dangerous loads
2) SPRAY PAINTING :-
This is one of the (radioactive, explosive toxic) can
important operations which human being be handled.
cannot perform because lead based
compounds are present during painting.  It eliminates boring or unpleasant
During painting uniform coating must be works.
obtained on the job.
 It can save money, if the cost of
3) GRINDING :- robot is less than cost of
During the welding
employing persons.
process beads are formed at the seam.
The smooth surface can be obtained by
grinding operation.
4) MACHINING PROCESS :- REFERENCES
The variety of
machining process like drilling holes,
milling of components can be performed
by using robotics system very BOOKS :-
accurately.
 ‘Industrial Robotics’ by Mikell
5) PARTS HANDLING :- P. Groover & Mitchell Weiss.
The handling of
components and transfer of components  ‘Industrial robot on line’ S.M.
is a very important process performed by Miller.
robotic system. .

6) ASSEMBLY PROCESS :- WEBSITE :-

The human begins are
capable of performing assembly of  www.industrialrobotic.com
number of components of machine.
ADVANTAGES OF ROBOT