ROBOTICS

INTRODUCTION TO ROBOTICS

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ROBOTICS
Robotics is the engineering science and technology of robots, and their design, manufacture, application, and structural disposition. Robotics requires a working knowledge of electronics, mechanics, and software. A person working in this field is known as a roboticist.

HISTORY TIMELINE OF ROBOTICS

1921 Czechoslovakian playwright Karel Capek introduces the word robot in the play R.U.R. Rossums Universal Robots. The word comes from the Czech robota, which means tedious labor. 1942 - Isaac Asimov publishes Runaround, in which he defines the Three Laws of Robotics.

1954 George Devol designs the first programmable robot and coins the term Universal Automation, planting the seed for the name of his future company Unimation. 1959 Marvin Minsky and John McCarthy establish the Artificial Intelligence Laboratory in MIT. 1960 Unimation is purchased by Condec Corporation and development of Unimate Robot Systems begins. 1960 American Machine and Foundry, later known as AMF Corporation, markets the first cylindrical robot, called the Versatran, designed by Harry Johnson and Veljko Milenkovic.

1962 General Motors purchases the first individual robot from Unimation and installs it on a production line. This manipulator is the first of many Unimates to be deployed. 1965 Carnegle Mellon University establishes the Robotics Institute. 1965 Homogeneous transformations applied to robot kinematics this remains the foundation of robotics theory today. 1968 Kawasaki licenses hydraulic robot design from Unimation and starts production in Japan. 1973 Cincinnati Milacron releases the T3, the first commercially available minicomputer.

1978 Unimation develops the PUMA (Programmable Universal Machine for Assembly). The PUMA can still be found in many research labs today. 1982 Fanuc of Japan and General Motors from joint venture in GM Fanuc to market robots in North America 1986 With Uninamation license terminated, Kawasaki develops and produces its own line of electric robots. 1988 Staubli Group purchases Unimation from Westinghouse.

1995 Intuitive Surgical formed by Fred Moll, Rob Younge, and John Freud to design and market surgical robot systems. Founding technology based on the work at SRI, IBM and MIT. 2000 Honda showcases Asimo, the next generation of its series of humanoid robots. 2000 Sony unveils humanoid robots, dubbed Sony Dream Robots (SDR), at Robodex. 2001 Sony releases second generation of its Alto robot dog 2001 Built by MD Robotics of Canada, the Space Station Remote Manipulator System (SSRMS) is successfully launched into orbit and begins operations to complete assembly of International Space Station

Robotics Terminology
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

Robotics Terminology
DOF degrees-of-freedom: the number of independent motions a device can make. (Also called mobility)

five degrees of freedom

arms

Robot arms come in all shapes and sizes. Positions the end-effector and sensors to do their pre-programmed business. Many (but not all) resemble human arms, and have shoulders, elbows, wrists, even

fingers. This gives the robot a lot of ways to position itself in its environment.
Each

joint is said to give the robot 1 degree of freedom.

1st Degree of Freedom

Left and right rotation of the base of the arm.

2nd Degree of Freedom

Forward and backward movement of the base of the arm

3rd Degree of Freedom

Forward and backward movement of the elbow joint.

4th Degree of Freedom

Up and down movement of the wrist.

5th Degree of Freedom

Left and right movement of the wrist.

6th Degree of Freedom

Rotation of the wrist

Robotics Terminology
End-effector: The tool, gripper, or other device mounted at the end of a manipulator, for accomplishing useful tasks.

Robotics Terminology
Workspace: The volume in space that a robots end-effector can reach, both in position and orientation.

A cylindrical robots half workspace

Robotics Terminology
Link: A rigid piece of material connecting joints in a robot. Joint: The device which allows relative motion between two links in a robot.

A robot joint

Robotics Terminology
Kinematics: The study of motion without regard to forces. Dynamics: The study of motion with regard to forces. Actuator: Provides force for robot motion. Sensor: Reads variables in robot motion for use in control.

Laws of Robotics

Asimov's Laws of Robotics: 1. A robot may not injure a human being, or, through inaction, allow a human being to come to harm. 2. A robot must obey the orders given it by human beings except where such orders would conflict with the First Law. 3. A robot must protect its own existence as long as such protection does not conflict with the First or Second Law.

Robotics and automation

1.Fixed automation 2.Programmable automation 3.Flexible automation

Robot Anatomy

Robot Anatomy
Manipulator consists of joints and links

Joints provide relative motion

Links are rigid members between joints Various joint types: linear and rotary Each joint provides a degree-of-

Joint3

Link3 End of Arm

freedom Link1 Most robots possess five or six degreesof-freedom Robot manipulator consists of two sections: Joint1 Body-and-arm for positioning of objects in the robot's work volume Link0 Wrist assembly for orientation of objects

Link2

Joint2

Base

Component of robot

The Robotic Joints

A robot joint is a mechanism that permits relative movement between parts of a robot arm. The joints of a robot are designed to enable the robot to move its end-effector along a path from one position to another as desired.

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Manipulator Joints
Translational motion
Linear joint (type L)

Rotary motion
Rotational joint (type R) Twisting joint (type T) Revolving joint (type V)

The Robotic Joints

CLASSIFICATION: CLASSIFIED INTO SIX CATEGORIES ARM GEOMETRY: RECTANGULAR;CYLINDIRICAL;SPHERICAL; JOINTEDARM(VERTICAL);JOINED-ARM(HORIZONTAL). DEGREES OF FREEDOM: ROBOT ARM; ROBOT WRIST. POWER SOURCES: ELECTRICAL;PNEUMATIC;HYDRAULIC;ANY COMBINATION. TYPE OF MOTION: STRAIGHT-LINE INTERPOLATION; CIRCULAR INTERPOLATION. PATH CONTROL: LIMITED SEQUENCE; POINT-TO-POINT; CONTINOUS PATH; CONTROLLED PATH. INTELLLIGENCE LEVEL: LOW-TECHNOLOGY(NONSERVO); HIGH-TECHONOLOGY(SERVO).

Based on Physical Configuration

Cartesian Cylindrical Polar Jointed arm

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Polar Configuration
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.

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

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

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.

SCARA (Selective Compliance Articulated Robot Arm) Robots

A robot with at least 2 parallel rotary joints. Similar to jointed-arm robot except that vertical axes are used for shoulder and elbow joints

Commonly used for: pick and place work assembly operations

Wrist Configurations
Wrist assembly is attached to end-of-arm End effector is attached to wrist assembly Function of wrist assembly is to orient end effector Body-and-arm determines global position of end effector Two or three degrees of freedom: Roll Pitch Yaw

Mind Map

Work Volume of Robots

Work volume is the term that refers to the space within which the robot can manipulate its wrist end

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Robot reach, also known as the work envelope or work volume, is the space of all points in the surrounding space that can be reached by the robot arm. Reach is one of the most important characteristics to be considered in selecting a suitable robot because the application space should not fall out of the selected robot's reach.

Depends on
Physical configuration The size of body,arm,wrist The limit of joint movement

Robot Reach:
For a Cartesian configuration the reach is a rectangular-type space. For a cylindrical configuration the reach is a hollow cylindrical space. For a polar configuration the reach is part of a hollow spherical shape. Robot reach for a jointed-arm configuration does not have a specific shape.

Configurations And Work Volumes

Polar

Cylindrical

Cartesian

Jointed Arm

Power Sources for Robots

An important element of a robot is the drive system. The drive system supplies the power, which enable the robot to move. The dynamic performance of a robot mainly depends on the type of power source.

Drive Systems
Hydraulic drive Pneumatic drive Electric drive

Joint Drive Systems

Electric
Uses electric motors to actuate individual joints Preferred drive system in today's robots

Hydraulic
Uses hydraulic pistons and rotary vane actuators Noted for their high power and lift capacity

Pneumatic
Typically limited to smaller robots and simple material transfer applications

There are basically three types of power sources for robots:

1. Hydraulic drive Provide fast movements Preferred for moving heavy parts Preferred to be used in explosive environments Occupy large space area There is a danger of oil leak to the shop floor

2. Electric drive Slower movement compare to the hydraulic robots Good for small and medium size robots Better positioning accuracy and repeatability stepper motor drive: open loop control DC motor drive: closed loop control Cleaner environment The most used type of drive in industry

3. Pneumatic drive Preferred for smaller robots Less expensive than electric or hydraulic robots Suitable for relatively less degrees of freedom design Suitable for simple pick and place application Relatively cheaper

Speed of motion
Speed range about 1.7m/s Determine by how quickly accomplish cycle Speed depends on accuracy of wrist position, weight of the object, distance to be moved.

Speed of motion

It shows robot capable of traveling long distance in less time than sequence of short distance. Reason acceleration and deceleration problem

Load carrying capacity

Size, configuration ,construction and drive system determine the load carrying capacity. Load capacity specified in arm weakest position. For example human lifting capacity with arm. Modern robot rated load capacity 2000lb MAKER 110 capacity of 5lb

Control system
1.Limited sequence robot 2.Play back robot with point to point control 3.Play back with continuous path control 4.Intelligent robot

Precision of movement
1.Spatial resolution Smallest increment movement into which robot can divide its work volume Control resolution Mechanical inaccuracy 2.Accuracy 3.Repeatability

END EFFECTORS
End effectors These enable the robot to perform specific tasks and are attached to the wrist of robot. There are two types1) Grippers Are the end effectors used to grasp and manipulate objects during work cycle. The objects are usually work parts that are moved from one place to another.

Grippers

END EFFECTORS
There are different types of grippers according to the shapes, sizes and weights of parts to be held. For exmechanical grippers, vacuum grippers, magnetized grippers, dual, sensory multiple fingered grippers are used according to the application.

END EFFECTORS
2) Tools Are used in applications where the robot must perform some processing operation on the work part. Therefore the robot manipulates the tool relative to stationery or slowly moving objects: Spot welding gun, arc welding tool, spray painting gun, assembly tool, water jet cutting tool, heating torch.

END EFFECTORS
In each case, the robot not only controls the relative position of tool with respect to work piece but also controls the operation of tool. In some applications, multiple tools are also used by the robots during the work cycle. For ex- Several sizes of drilling bits applied to the work part.

Tools

Mechanical Gripper

Mechanical Gripper
Actuation. 1.Linkage actuation 2.Gear and rack actuation 3.Cam actuation 4.Screw actuation

Linkage actuation &Gear and rack actuation

Cam and Screw actuation

Vacuum Gripper

Magnetic Gripper

Mind map(Drives)

Mind map(Gripper)