The document discusses the key components and characteristics of industrial robots. It describes the typical parts that comprise a robot including the manipulator, controller, end effectors, power source and sensors. The document outlines several common robot configurations such as cartesian, cylindrical, spherical and SCARA robots which are defined by their degree of freedom and joint placement. Industrial robots are widely used in manufacturing for applications like welding, assembly and material handling.
Robotics is the study and application of robot technology. The term "robot" was first coined in 1920 and comes from the Czech word for forced labor. There are several types of robots including industrial robots used in manufacturing, mobile robots that can move autonomously, educational robots used in classrooms, and domestic robots for household tasks. The main components of a robot include its manipulator or rover body, end effectors for interacting with the environment, actuators that provide movement, sensors for awareness of surroundings, a controller for coordination, and software for operation. Robots are used for a variety of purposes like dangerous, repetitive, or impossible tasks that can assist or replace humans.
The document discusses different types of end effectors used in robotics, specifically focusing on grippers. It describes two main types of end effectors - grippers and tools. Grippers are used for holding parts and objects, and come in several varieties, including mechanical grippers, hooks/scoops, magnetic grippers, vacuum grippers, expandable bladder grippers, and adhesive grippers. Each type is suited to different applications and has unique advantages and limitations. The document provides details on the design and use of each gripper type.
This document discusses the design and applications of industrial robot manipulators. It describes how a robotic arm is composed of rigid links connected by joints, and defines important robot terms like degrees of freedom, joint types, link parameters, and work volume. It also categorizes common robot system configurations and explains robot kinematics, dynamics, motion types, and trajectory planning.
This document provides an introduction to robotics. It defines robots as man-made mechanical devices that can move autonomously and whose behavior is programmed. The term "robot" originated from the Czech word for forced labor. Robotics involves designing and building robots. Robots are useful because they can work in dangerous environments, perform tasks faster and more consistently than humans, and assist the handicapped. The document describes several types of robots including industrial, domestic, medical, service, military, and entertainment robots. It discusses the advantages and disadvantages of robots and concludes that robots should only be used to develop countries and not for unnecessary purposes.
Definition and origin of robotics – different types of robotics – various generations of robots – degrees of freedom – Asimov's laws of robotics – dynamic stabilization of robots.
A short PowerPoint presentation on robotic arm, its features and its development. Contains a video explanation, please download to watch it....Thanks for watching.
The advent of Mobile Robotics changed the definition of robotics and brought in some very interesting technologies paving the way for cutting edge sciences like AI, Behaviour Based Systems, etc
Robotics is the study and application of robot technology. The term "robot" was first coined in 1920 and comes from the Czech word for forced labor. There are several types of robots including industrial robots used in manufacturing, mobile robots that can move autonomously, educational robots used in classrooms, and domestic robots for household tasks. The main components of a robot include its manipulator or rover body, end effectors for interacting with the environment, actuators that provide movement, sensors for awareness of surroundings, a controller for coordination, and software for operation. Robots are used for a variety of purposes like dangerous, repetitive, or impossible tasks that can assist or replace humans.
The document discusses different types of end effectors used in robotics, specifically focusing on grippers. It describes two main types of end effectors - grippers and tools. Grippers are used for holding parts and objects, and come in several varieties, including mechanical grippers, hooks/scoops, magnetic grippers, vacuum grippers, expandable bladder grippers, and adhesive grippers. Each type is suited to different applications and has unique advantages and limitations. The document provides details on the design and use of each gripper type.
This document discusses the design and applications of industrial robot manipulators. It describes how a robotic arm is composed of rigid links connected by joints, and defines important robot terms like degrees of freedom, joint types, link parameters, and work volume. It also categorizes common robot system configurations and explains robot kinematics, dynamics, motion types, and trajectory planning.
This document provides an introduction to robotics. It defines robots as man-made mechanical devices that can move autonomously and whose behavior is programmed. The term "robot" originated from the Czech word for forced labor. Robotics involves designing and building robots. Robots are useful because they can work in dangerous environments, perform tasks faster and more consistently than humans, and assist the handicapped. The document describes several types of robots including industrial, domestic, medical, service, military, and entertainment robots. It discusses the advantages and disadvantages of robots and concludes that robots should only be used to develop countries and not for unnecessary purposes.
Definition and origin of robotics – different types of robotics – various generations of robots – degrees of freedom – Asimov's laws of robotics – dynamic stabilization of robots.
A short PowerPoint presentation on robotic arm, its features and its development. Contains a video explanation, please download to watch it....Thanks for watching.
The advent of Mobile Robotics changed the definition of robotics and brought in some very interesting technologies paving the way for cutting edge sciences like AI, Behaviour Based Systems, etc
This document discusses robot programming methods. It describes different types of robot programming including joint-level, robot-level, and high-level programming. It also covers various robot programming methods such as manual, walkthrough, leadthrough, and offline programming. Specific programming languages and their applications are also summarized.
This course introduces students to robotics. Students will learn about how robots work, how to build robots, and how robots are used in various applications such as manufacturing, medicine, space exploration, and more. They will learn the principles of robot design, assembly, function, control, programming, sensing and movement. Students will work in teams to design and build a mobile robot to compete in a game. The goal is for students to not only have fun, but also understand the rewarding aspects of robotics and how it may impact the future.
Robotics is the branch of technology that deals with the design, construction, operation, and application of robots. A robot is usually an electro-mechanical machine that can be programmed and guided by a computer to perform tasks automatically. Isaac Asimov popularized the three laws of robotics: 1) a robot cannot harm a human, 2) a robot must obey human orders unless they conflict with the first law, and 3) a robot must protect its own existence as long as it does not conflict with the first two laws. Common robot projects include line-following robots, wall-following robots, and robots that use sensors like IR sensors, temperature sensors, and timers.
This document discusses robot controllers and motion control of robots. It describes how robot controllers are used to store information about the robot and environment and execute programs to operate the robot. It then discusses different types of motion control systems and control functions like velocity control and position control. It also describes PID and PI controllers that are commonly used for feedback control. Finally, it outlines different types of robot control including point-to-point, continuous path, and controlled path robots.
Definition and origin of robotics – different types of robotics – various generations of robots – degrees of freedom – Asimov’s laws of robotics – dynamic stabilization of robots
1) The document discusses various topics related to robotics including definitions, degrees of freedom, robot arm and wrist configurations, joint classifications, robot safety, components and control systems.
2) It provides details on common robot arm configurations including rectangular, cylindrical, spherical and revolute coordinated systems.
3) The document also describes robot control systems including limited sequence control, playback with point-to-point control and continuous path control as well as intelligent control.
Industrial robots are essential to modern manufacturing. The first modern robots, called Unimates, were developed in the late 1950s and early 1960s by George Devol and Joe Engelberger. Since then, robots have advanced through four generations and are now reprogrammable, multifunctional manipulators used to transfer materials, parts, tools, and devices through variable programmed motions. Common robot components include arms, end effectors like grippers or tools, drive mechanisms, controllers, and sensors. Robots are useful for applications like material handling, machine loading/unloading, welding, assembly, and inspection. While robots provide advantages like increased output and consistency, they still have limitations and rely on human creativity, decision making
This document discusses robotics and robotic history. It defines a robot as a re-programmable machine that can perform tasks in place of humans. The word "robot" was introduced in a 1920 play and the term "robotics" was coined in the 1940s. The first digital and programmable robot was invented by George Devol in 1954. The document outlines the typical components of industrial robots and describes common types of robots including mobile, stationary, autonomous, and virtual robots. It discusses potential applications and limitations of robotics. In the future, robots may be used to explore space, perform dangerous tasks, and work continuously.
Slide show demonstrating pick and place robot and its parts.
Also effects are implanted in the slide.
It can be helpful for students for academic projects.
This document provides an introduction and overview of robots. It discusses the history of robots from the first use of the term by Karel Capek to the building of the first robot called Unimate by George Devol and Joseph Engelberger in 1956. It then describes different types of robots including mobile robots, industrial robots, autonomous robots, remote-controlled robots, and virtual robots. The document concludes by discussing the future of robotics and advances being made through competitions like RoboCup.
Robotics and automation _ power sources and sensorsJAIGANESH SEKAR
Hydraulic, pneumatic and electric drives – determination of HP of motor and gearing ratio – variable speed arrangements – path determination – micro machines in robotics – machine vision – ranging – laser – acoustic – magnetic, fiber optic and tactile sensors.
This document defines robots and describes different types of industrial robots. It begins by defining a robot as a machine that can carry out complex actions automatically through programming to resemble human movements and functions. The main components of a robot are then outlined as the robot arms, sensors, end parts, controller, and drive. Several common types of industrial robots are also described, including Cartesian, cylindrical, spherical/polar, SCARA, articulated, and parallel robots. Each robot type is suited for different assembly or manufacturing tasks.
Introduction to robotics, Laws,Classification,Types, Drives,Geometry Mohammad Ehtasham
Introduction to robotics , Basic overview ,Classification of robotics,laws of robotics,Types of robot, Robot Geometry, Robot drives, Some of the key benefits of robots in industry and society
The document discusses robot kinematics and control. It covers topics like coordinate frames, homogeneous transformations, forward and inverse kinematics, joint space trajectories, and cubic polynomial path planning. Specifically:
1) Kinematics is the study of robot motion without regard to forces or moments. It describes the spatial configuration using coordinate frames and homogeneous transformations.
2) Forward kinematics determines end effector position from joint angles. Inverse kinematics determines joint angles for a desired end effector position.
3) Joint space trajectories plan motion by describing joint angle profiles over time using functions like cubic polynomials and splines.
4) Cubic polynomials satisfy constraints like initial/final position and velocity to generate smooth motion profiles for a single revol
The document discusses robots and robotics. It defines a robot and explains that the word robot was coined by Czech playwright Karel Capek from the Czech word for forced labor or serf. It also outlines Isaac Asimov's Three Laws of Robotics, which govern a robot's behavior. The document discusses various applications of robots, including in NASA's telerobotics program, industrial uses, surgery, dangerous situations, and more.
The document discusses control systems for robot manipulators. It covers open-loop and closed-loop control systems, with closed-loop being preferred using feedback. It describes using linear control techniques to approximate manipulator dynamics and designing controllers to meet stability and performance specifications. Common control techniques for manipulators are also summarized like PD, PID, state space control and adaptive/intelligent methods.
The document discusses the history and types of robots. It notes that the word "robot" was introduced in a 1920 play and that the term "robotics" was coined in the 1940s. It describes robots as re-programmable machines that can perform tasks in hazardous environments. The document outlines the key components of robots, including sensors, actuators, controllers, and power sources. It discusses different types of robots like mobile, autonomous, and virtual robots. It also explores current and potential future applications of robotics in various industries.
This document provides information about robotics and machine vision systems courses. The objectives are to study robot components, derive kinematics and dynamics equations, manipulate trajectories, and learn machine vision. Key topics covered include robot history, components, configurations like Cartesian and cylindrical, applications in material handling, processing, assembly, and inspection. Benefits of robots are also discussed.
The document outlines the key components of industrial robots including manipulator components, end effectors, control systems, applications, and programming languages. It describes how manipulators consist of joints and links that provide various degrees of freedom and discusses common joint types. The document also examines different robot configurations, control system types from limited sequence to intelligent control, applications in material handling and processing, and programming methods like teach pendant and offline programming.
This document provides an introduction and syllabus for a robotics course. It will cover topics like locomotion, perception, planning and navigation. Students will gain hands-on experience through simulation exercises and programming robots. They will also participate in an online robot soccer competition. The course aims to teach the science and challenges of robotics through both theoretical lectures and practical assignments using a robot simulation program called Webots.
1. The document discusses different types of wheels used in mobile robots including fixed wheels, centered orientable wheels, off-centered orientable wheels, and Swedish wheels.
2. It also covers various locomotion methods for mobile wheeled robots including differential drive, tricycle drive, synchronous drive, and Ackerman steering.
3. Kinematics models are presented for different robot configurations to describe the relationship between the robot's motion and control inputs.
This document discusses robot programming methods. It describes different types of robot programming including joint-level, robot-level, and high-level programming. It also covers various robot programming methods such as manual, walkthrough, leadthrough, and offline programming. Specific programming languages and their applications are also summarized.
This course introduces students to robotics. Students will learn about how robots work, how to build robots, and how robots are used in various applications such as manufacturing, medicine, space exploration, and more. They will learn the principles of robot design, assembly, function, control, programming, sensing and movement. Students will work in teams to design and build a mobile robot to compete in a game. The goal is for students to not only have fun, but also understand the rewarding aspects of robotics and how it may impact the future.
Robotics is the branch of technology that deals with the design, construction, operation, and application of robots. A robot is usually an electro-mechanical machine that can be programmed and guided by a computer to perform tasks automatically. Isaac Asimov popularized the three laws of robotics: 1) a robot cannot harm a human, 2) a robot must obey human orders unless they conflict with the first law, and 3) a robot must protect its own existence as long as it does not conflict with the first two laws. Common robot projects include line-following robots, wall-following robots, and robots that use sensors like IR sensors, temperature sensors, and timers.
This document discusses robot controllers and motion control of robots. It describes how robot controllers are used to store information about the robot and environment and execute programs to operate the robot. It then discusses different types of motion control systems and control functions like velocity control and position control. It also describes PID and PI controllers that are commonly used for feedback control. Finally, it outlines different types of robot control including point-to-point, continuous path, and controlled path robots.
Definition and origin of robotics – different types of robotics – various generations of robots – degrees of freedom – Asimov’s laws of robotics – dynamic stabilization of robots
1) The document discusses various topics related to robotics including definitions, degrees of freedom, robot arm and wrist configurations, joint classifications, robot safety, components and control systems.
2) It provides details on common robot arm configurations including rectangular, cylindrical, spherical and revolute coordinated systems.
3) The document also describes robot control systems including limited sequence control, playback with point-to-point control and continuous path control as well as intelligent control.
Industrial robots are essential to modern manufacturing. The first modern robots, called Unimates, were developed in the late 1950s and early 1960s by George Devol and Joe Engelberger. Since then, robots have advanced through four generations and are now reprogrammable, multifunctional manipulators used to transfer materials, parts, tools, and devices through variable programmed motions. Common robot components include arms, end effectors like grippers or tools, drive mechanisms, controllers, and sensors. Robots are useful for applications like material handling, machine loading/unloading, welding, assembly, and inspection. While robots provide advantages like increased output and consistency, they still have limitations and rely on human creativity, decision making
This document discusses robotics and robotic history. It defines a robot as a re-programmable machine that can perform tasks in place of humans. The word "robot" was introduced in a 1920 play and the term "robotics" was coined in the 1940s. The first digital and programmable robot was invented by George Devol in 1954. The document outlines the typical components of industrial robots and describes common types of robots including mobile, stationary, autonomous, and virtual robots. It discusses potential applications and limitations of robotics. In the future, robots may be used to explore space, perform dangerous tasks, and work continuously.
Slide show demonstrating pick and place robot and its parts.
Also effects are implanted in the slide.
It can be helpful for students for academic projects.
This document provides an introduction and overview of robots. It discusses the history of robots from the first use of the term by Karel Capek to the building of the first robot called Unimate by George Devol and Joseph Engelberger in 1956. It then describes different types of robots including mobile robots, industrial robots, autonomous robots, remote-controlled robots, and virtual robots. The document concludes by discussing the future of robotics and advances being made through competitions like RoboCup.
Robotics and automation _ power sources and sensorsJAIGANESH SEKAR
Hydraulic, pneumatic and electric drives – determination of HP of motor and gearing ratio – variable speed arrangements – path determination – micro machines in robotics – machine vision – ranging – laser – acoustic – magnetic, fiber optic and tactile sensors.
This document defines robots and describes different types of industrial robots. It begins by defining a robot as a machine that can carry out complex actions automatically through programming to resemble human movements and functions. The main components of a robot are then outlined as the robot arms, sensors, end parts, controller, and drive. Several common types of industrial robots are also described, including Cartesian, cylindrical, spherical/polar, SCARA, articulated, and parallel robots. Each robot type is suited for different assembly or manufacturing tasks.
Introduction to robotics, Laws,Classification,Types, Drives,Geometry Mohammad Ehtasham
Introduction to robotics , Basic overview ,Classification of robotics,laws of robotics,Types of robot, Robot Geometry, Robot drives, Some of the key benefits of robots in industry and society
The document discusses robot kinematics and control. It covers topics like coordinate frames, homogeneous transformations, forward and inverse kinematics, joint space trajectories, and cubic polynomial path planning. Specifically:
1) Kinematics is the study of robot motion without regard to forces or moments. It describes the spatial configuration using coordinate frames and homogeneous transformations.
2) Forward kinematics determines end effector position from joint angles. Inverse kinematics determines joint angles for a desired end effector position.
3) Joint space trajectories plan motion by describing joint angle profiles over time using functions like cubic polynomials and splines.
4) Cubic polynomials satisfy constraints like initial/final position and velocity to generate smooth motion profiles for a single revol
The document discusses robots and robotics. It defines a robot and explains that the word robot was coined by Czech playwright Karel Capek from the Czech word for forced labor or serf. It also outlines Isaac Asimov's Three Laws of Robotics, which govern a robot's behavior. The document discusses various applications of robots, including in NASA's telerobotics program, industrial uses, surgery, dangerous situations, and more.
The document discusses control systems for robot manipulators. It covers open-loop and closed-loop control systems, with closed-loop being preferred using feedback. It describes using linear control techniques to approximate manipulator dynamics and designing controllers to meet stability and performance specifications. Common control techniques for manipulators are also summarized like PD, PID, state space control and adaptive/intelligent methods.
The document discusses the history and types of robots. It notes that the word "robot" was introduced in a 1920 play and that the term "robotics" was coined in the 1940s. It describes robots as re-programmable machines that can perform tasks in hazardous environments. The document outlines the key components of robots, including sensors, actuators, controllers, and power sources. It discusses different types of robots like mobile, autonomous, and virtual robots. It also explores current and potential future applications of robotics in various industries.
This document provides information about robotics and machine vision systems courses. The objectives are to study robot components, derive kinematics and dynamics equations, manipulate trajectories, and learn machine vision. Key topics covered include robot history, components, configurations like Cartesian and cylindrical, applications in material handling, processing, assembly, and inspection. Benefits of robots are also discussed.
The document outlines the key components of industrial robots including manipulator components, end effectors, control systems, applications, and programming languages. It describes how manipulators consist of joints and links that provide various degrees of freedom and discusses common joint types. The document also examines different robot configurations, control system types from limited sequence to intelligent control, applications in material handling and processing, and programming methods like teach pendant and offline programming.
This document provides an introduction and syllabus for a robotics course. It will cover topics like locomotion, perception, planning and navigation. Students will gain hands-on experience through simulation exercises and programming robots. They will also participate in an online robot soccer competition. The course aims to teach the science and challenges of robotics through both theoretical lectures and practical assignments using a robot simulation program called Webots.
1. The document discusses different types of wheels used in mobile robots including fixed wheels, centered orientable wheels, off-centered orientable wheels, and Swedish wheels.
2. It also covers various locomotion methods for mobile wheeled robots including differential drive, tricycle drive, synchronous drive, and Ackerman steering.
3. Kinematics models are presented for different robot configurations to describe the relationship between the robot's motion and control inputs.
A robot is a machine that can carry out complex actions automatically. Robots were first introduced in a 1920 play and the term was coined from a Czech word. There are many types of robots classified by locomotion and application. Robots have various components like power sources, sensors, effectors and ways to interact with humans and environments. The three laws of robotics were introduced to ensure robots do not harm humanity. While robots have advantages like reduced costs, improved quality and safety, they also have disadvantages like power needs, loss of jobs and expense. Current uses include manufacturing, warehouses, entertainment and vehicles with future predictions of increased collaboration and intelligent networks of robots.
This document discusses inverse kinematics, which is finding the joint parameters of a robot given the desired end effector position and orientation. There are three main solutions to inverse kinematics problems: geometric, algebraic, and numerical. Geometric methods use geometry to directly calculate joint angles. Algebraic methods use transformation matrices from forward kinematics. Numerical methods use iterative techniques like pseudo-inverse or Jacobian transpose to approximate solutions.
1. The document discusses differential kinematics and how it can be used to examine the pose velocities of robot frames. It also covers Jacobians and how they map between joint and Cartesian space velocities.
2. Specific topics covered include differential transformations, screw velocity matrices, relating velocities in different frames, determining Jacobians for serial and parallel robots, and examining robot singularities.
3. Singularities occur when the mechanism loses mobility in certain directions and joint rates will increase near these configurations. Workarounds include tooling design, changing to joint space control near singularities, and carefully planning paths.
1) The document discusses the fundamentals of robotic manipulators, including their classification, parts, motions, and work envelopes.
2) The major types of robot configurations are Cartesian, cylindrical, spherical, SCARA, and articulated, which are defined by their joint types and resulting work spaces.
3) Robotic manipulators consist of links connected by joints and powered by electric, hydraulic, or pneumatic drives to position an end effector through programmed motions.
Robotics is the branch of technology that deals with the design, construction, operation, and application of robots. Robots can take the place of humans in hazardous or manufacturing processes, or resemble humans. Many modern robots are inspired by nature. The history of robots dates back to ancient myths, but modern concepts developed with the Industrial Revolution and introduction of electricity. Today, robots play a widespread role in industrial operations, classified as assembly/finishing products, moving materials/objects, or performing hazardous/difficult tasks. Robots provide quality work and increased production quantities for industries like manufacturing. They are also used in medical applications like surgery and rehabilitation. Household robots may perform tasks like cleaning in the future.
This document provides an overview of robots and robotics. It defines a robot as a re-programmable machine that can perform tasks automatically in place of humans, especially in hazardous environments. The document then discusses the history and origins of the words "robot" and "robotics." It also outlines some of the key parts of industrial robots like sensors, effectors, actuators, controllers, and arms. Finally, it briefly describes different types of robots and their applications as well as some advantages and disadvantages of robotics.
This document summarizes a seminar report on robotics. It defines a robot as an electromechanical device that can perform tasks automatically or by remote control. Robots are used in various industries like automotive, manufacturing, medical, military, space exploration, and research. The document discusses the applications of robots in these industries. It also explains the need for robots and identifies their main components as sensors, processors, actuators and motors that work together to give robots movement and ability to interact with their surroundings. The document provides examples of different sensors, motors and a sample Arduino code for robot movement.
This document provides information on industrial robotics. It discusses various types of industrial robots including articulated, Cartesian, polar, cylindrical, SCARA, and delta robots. It also outlines common robot components like the controller, manipulator, end effector, drive system, and sensors. Finally, it lists some key applications of industrial robots like robotic handling, welding, assembly, and dispensing.
Industrial robots are general purpose machines that can perform tasks faster and continuously like humans but without needs for pay, food, or breaks. They have evolved from early prototypes in the 1940s-1960s to become multifunctional manipulators used for tasks that are dangerous, repetitive, or difficult for humans. Robots are classified and their movements controlled through various joint and drive systems along with sensors to coordinate their operations in industrial applications like materials handling, processing, and assembly.
2 D.O.F Robotic Arm (SCARA Robot) using Arduino ProgrammingManpreet Singh
It is a PowerPoint presentation of the group project that I have made along with friends during my undergraduate degree. Hope it will be helpful for you.
Contents:
(1) Introduction
(2) Brief History
(3) Components
(4) Construction (Circuit Diagram)
(5) Working
(6) Arduino Code
(7) Future Scope
It was made with the help of the TinkerCAD platform. You may use this platform and run the given code in this PPT for a better understanding.
The document provides information about a robotics and control course, including:
- The course covers topics such as robot kinematics, trajectory planning, robot dynamics, and robot control.
- Textbooks and references are listed, and the assessment scheme includes assignments, quizzes, and an exam.
- The course objectives are to introduce robot concepts and design, kinematics, trajectory planning, control systems, and applications in robotics.
Artificial Control of PUMA Robot Manipulator: A-Review of Fuzzy Inference Eng...Waqas Tariq
One of the most important challenges in the field of robotics is robot manipulators control with acceptable performance, because these systems are multi-input multi-output (MIMO), nonlinear and uncertainty. Presently, robot manipulators are used in different (unknown and/or unstructured) situation consequently caused to provide complicated systems, as a result strong mathematical theory are used in new control methodologies to design nonlinear robust controller with acceptable performance (e.g., minimum error, good trajectory, disturbance rejection). Classical and non-classical methods are two main categories of robot manipulators control, where the conventional (classical) control theory uses the classical method and the non-classical control theory (e.g., fuzzy logic, neural network, and neuro fuzzy) uses the artificial intelligence methods. However both of conventional and artificial intelligence theories have applied effectively in many areas, but these methods also have some limitations. This paper is focused on review of fuzzy logic controller and applied to PUMA robot manipulator.
This document discusses industrial robots and their components and characteristics. It covers topics such as definitions of automation and robotics, different types of industrial robots, robot anatomy, configurations, power sources, technical features like work volume and precision of movement. Some key points discussed include that robots are a form of programmable automation, the main components of robots include manipulators, end effectors, actuators, sensors, controllers and software. Common robot configurations are polar, cylindrical, cartesian and jointed arm. Hydraulic and electric are main power sources. Precision is described by spatial resolution, accuracy and repeatability.
The document discusses the history and basics of robotics. It covers:
1. The origin of the term "robot" from a 1920 play and its Czech meaning of "forced labour."
2. The definition of a robot as a mechanical device that performs human tasks automatically or by remote control.
3. Isaac Asimov's three laws of robotics which state that a robot cannot harm humans and must obey human orders except when it conflicts with the first law.
4. The main types and parts of robots, including industrial, mobile, educational, and domestic robots as well as their manipulators, end effectors, actuators, sensors, controllers and processors.
This document provides an introduction to robotics, including definitions of robots, classifications of robots, the parts of a robot, robot joints and coordinate systems, robot workspaces, robot characteristics, robot languages, applications of robots, and the advantages and disadvantages of robots. It defines a robot as a reprogrammable manipulator designed to perform tasks through variable programmed motions. Robots are classified based on their level of autonomy and programming. The key parts of a robot are its manipulator, pedestal, controller, end effectors, and power source.
This document provides an introduction to robotics, including definitions of robots, classifications of robots, the parts of a robot, robot joints and coordinate systems, robot workspaces, robot characteristics, robot languages, applications of robots, and the advantages and disadvantages of robots. It defines a robot as a reprogrammable manipulator designed to perform tasks through variable programmed motions. Robots are classified based on their level of autonomy and programming. The key parts of a robot are its manipulator, pedestal, controller, end effectors, and power source.
This document provides an introduction to robotics, including definitions of robots, classifications of robots, the parts of a robot, robot joints and coordinate systems, robot workspaces, robot characteristics, robot languages, applications of robots, and the advantages and disadvantages of robots. It defines a robot as a reprogrammable manipulator designed to perform tasks through variable programmed motions. Robots are classified based on their level of autonomy and programming. The key parts of a robot are its manipulator, pedestal, controller, end effectors, and power source.
Robot architecture consists of several key components. The main components include a controller that coordinates movement, a processor that calculates motion, software that operates the robot, and manipulators or rovers that form the robot's main body. Robots also include end effectors, actuators, and various sensors. The robot control loop involves sensors sensing the environment, the processor planning actions, actuators moving the robot or manipulating objects, and feedback to continuously monitor and make adjustments. Robots are used in a variety of applications including exploration, medical science, factories, and more. Their development involves defining processes to automate and constant monitoring once deployed.
The document discusses industrial robots and automation. It defines an industrial robot as a reprogrammable, multifunctional manipulator designed to move material, parts, tools, or devices through variable programmed motions to perform tasks. Robots can be classified as a form of programmable automation. The document covers various topics related to industrial robots including types of automation, robot components, configurations, drives, and technical features like work volume and precision of movement.
This document is a lab report submitted by two students, B. Haridhar and G. Akhil, for their Bachelor of Technology degree. It describes the design of a pick and place robot for loading and packing lead battery cells. The report provides background on industrial robots and pick and place robots. It discusses the classification of robots, key components of pick and place robots like actuators and sensors, and how basic pick and place robot movement works through rotary joints. The overall aim is to analyze problems in automated battery loading and design a robot solution.
This document provides an introduction and overview of robotics. It discusses what robots are, including different types of robots like manipulators, wheeled robots, and aerial vehicles. It outlines what tasks robots can perform, such as dangerous, repetitive, or menial jobs. The document also covers the history of robotics, key robot components, applications in different industries, and the future of robotics, including areas like artificial intelligence and humanoids.
This document discusses robots and robotic technology. It provides information on the components of robots including power supply, actuators, sensors, manipulation and locomotion. It also discusses different robotic architectures and compares the HRP-4C humanoid robot to the HRP-4 robot. In conclusion, robots provide advantages for applications in hazardous environments or for tasks requiring speed and accuracy, though they may displace some human jobs.
This document provides an overview of industrial robot technology, including its basic components and functions. It discusses the definition of industrial robots, as well as their typical applications in welding, painting, and pick and place operations. The six basic components of industrial robots are described as the manipulator, end effector, actuators, sensors, controller, and teach pendant. Common actuator types include electric motors, pneumatic cylinders, and hydraulic cylinders. Sensors are used to provide feedback and increase a robot's capabilities. The controller coordinates the robot's motions based on programmed instructions and sensor input. A teach pendant is used to teach locations to the robot controller during programming.
This document provides an overview of robotics, including definitions of robotics, the different types of robots, laws of robotics, why robotics is needed, components of robots, industries using robots, advantages of robots, and future prospects of robotics. It discusses topics such as Isaac Asimov's Three Laws of Robotics, the structure, power sources, actuation, sensing, manipulation, and locomotion of robots.
The document is a seminar report on robotics that discusses various topics related to robots. It defines a robot as a device that can independently perform actions and interact with its surroundings. It discusses applications of robots in industries like automotive manufacturing, medical operations, military surveillance, space exploration, and research. The document also covers the typical parts of a robot like its chassis, motherboard, sensors, motors and actuators. It describes how robots need sensing abilities to perceive their environment, processing power to make decisions, and actuators to generate physical movement.
Definations related to refrigeration like refrigerating effect,TON of refrigeration,COP,vapour compression refrigeration system and vapour absorption refrigeration system,types of refrigerants and properties of refrigerants.
Prime movers are devices that convert energy into mechanical work. The document discusses two main types of prime movers - steam engines and steam turbines. It provides details on the components, working, and types of steam turbines, including impulse and reaction turbines. The key components of steam turbines are nozzles, blades (fixed and moving), rotors, and shafts. Steam turbines work by converting the pressure energy of steam into kinetic energy and then into rotational mechanical energy to power the turbine shaft.
Heat can be transferred between two systems in three modes: conduction, convection, and radiation. In a heat exchanger, heat is transferred when two fluids at different temperatures flow through the exchanger. The rate of heat transfer depends on the overall heat transfer coefficient, which takes into account the resistances to heat transfer through the solid wall and boundary layers of each fluid. Common types of heat exchangers include shell-and-tube, plate, compact, regenerative, and cross-flow exchangers. The selection of a heat exchanger depends on factors like the fluids used, temperatures, pressures, and space requirements.
The document discusses factors that influence the economic operation of power plants, including load factor, demand factor, and utilization factor. It states that the design and size of power plants should be based primarily on economic considerations and lowering the cost of energy production. Larger plant sizes and higher load factors generally improve efficiency but require greater investment. The document also analyzes economic considerations for different types of power plants such as steam, gas turbine, hydroelectric, and internal combustion engine plants.
CAD & CAM systems are used across various departments in industries from design to production. CAD is used for computer-aided design and involves using computers to aid the design process. CAM involves using computers to support manufacturing and includes numerical control of machines. The implementation of CAD/CAM systems provides benefits such as increased productivity and flexibility, improved quality and communication, and reduced costs and lead times.
The document discusses various types of pumps including centrifugal pumps, positive displacement pumps, and reciprocating pumps. It describes the main components and working principles of centrifugal pumps, including the impeller, casing, suction and delivery pipes, and shaft. Centrifugal pumps work by using an impeller to impart kinetic energy to the fluid and a volute casing to convert this to pressure. Reciprocating pumps use pistons while positive displacement pumps include gear pumps.
Fluid properties like density, viscosity, and specific gravity are important to characterize different fluids. Density is defined as mass per unit volume and determines whether a flow is compressible or incompressible. Viscosity measures a fluid's resistance to flow and internal friction. It is proportional to shear stress and inversely proportional to velocity gradient. Water has a viscosity of 1x10-3 N-s/m2 while air is less viscous at 1.8x10-5 N-s/m2. Specific gravity is the ratio of a fluid's density to that of water and is a dimensionless property.
The document discusses laminar and turbulent pipe flow. It states that the transition from laminar to turbulent flow depends on the dimensionless Reynolds number. It also discusses head losses due to friction in pipes and defines head loss as the equivalent height that the fluid needs to be raised to overcome frictional losses. Finally, it explains the water hammer phenomenon that can occur in pipes due to sudden changes in flow rate, describing how it generates pressure waves that travel through the pipe and can damage pipe walls.
Machine design is the process of creating and improving machines. It involves selecting appropriate materials based on their physical and mechanical properties, and designing machine parts to withstand forces without failing while minimizing production costs. Key considerations include avoiding stress concentrations from abrupt changes in geometry, providing generous radii to reduce stresses, and not locating weakening features like holes in highly stressed areas.
Introduction- e - waste – definition - sources of e-waste– hazardous substances in e-waste - effects of e-waste on environment and human health- need for e-waste management– e-waste handling rules - waste minimization techniques for managing e-waste – recycling of e-waste - disposal treatment methods of e- waste – mechanism of extraction of precious metal from leaching solution-global Scenario of E-waste – E-waste in India- case studies.
DEEP LEARNING FOR SMART GRID INTRUSION DETECTION: A HYBRID CNN-LSTM-BASED MODELgerogepatton
As digital technology becomes more deeply embedded in power systems, protecting the communication
networks of Smart Grids (SG) has emerged as a critical concern. Distributed Network Protocol 3 (DNP3)
represents a multi-tiered application layer protocol extensively utilized in Supervisory Control and Data
Acquisition (SCADA)-based smart grids to facilitate real-time data gathering and control functionalities.
Robust Intrusion Detection Systems (IDS) are necessary for early threat detection and mitigation because
of the interconnection of these networks, which makes them vulnerable to a variety of cyberattacks. To
solve this issue, this paper develops a hybrid Deep Learning (DL) model specifically designed for intrusion
detection in smart grids. The proposed approach is a combination of the Convolutional Neural Network
(CNN) and the Long-Short-Term Memory algorithms (LSTM). We employed a recent intrusion detection
dataset (DNP3), which focuses on unauthorized commands and Denial of Service (DoS) cyberattacks, to
train and test our model. The results of our experiments show that our CNN-LSTM method is much better
at finding smart grid intrusions than other deep learning algorithms used for classification. In addition,
our proposed approach improves accuracy, precision, recall, and F1 score, achieving a high detection
accuracy rate of 99.50%.
Embedded machine learning-based road conditions and driving behavior monitoringIJECEIAES
Car accident rates have increased in recent years, resulting in losses in human lives, properties, and other financial costs. An embedded machine learning-based system is developed to address this critical issue. The system can monitor road conditions, detect driving patterns, and identify aggressive driving behaviors. The system is based on neural networks trained on a comprehensive dataset of driving events, driving styles, and road conditions. The system effectively detects potential risks and helps mitigate the frequency and impact of accidents. The primary goal is to ensure the safety of drivers and vehicles. Collecting data involved gathering information on three key road events: normal street and normal drive, speed bumps, circular yellow speed bumps, and three aggressive driving actions: sudden start, sudden stop, and sudden entry. The gathered data is processed and analyzed using a machine learning system designed for limited power and memory devices. The developed system resulted in 91.9% accuracy, 93.6% precision, and 92% recall. The achieved inference time on an Arduino Nano 33 BLE Sense with a 32-bit CPU running at 64 MHz is 34 ms and requires 2.6 kB peak RAM and 139.9 kB program flash memory, making it suitable for resource-constrained embedded systems.
Literature Review Basics and Understanding Reference Management.pptxDr Ramhari Poudyal
Three-day training on academic research focuses on analytical tools at United Technical College, supported by the University Grant Commission, Nepal. 24-26 May 2024
ACEP Magazine edition 4th launched on 05.06.2024Rahul
This document provides information about the third edition of the magazine "Sthapatya" published by the Association of Civil Engineers (Practicing) Aurangabad. It includes messages from current and past presidents of ACEP, memories and photos from past ACEP events, information on life time achievement awards given by ACEP, and a technical article on concrete maintenance, repairs and strengthening. The document highlights activities of ACEP and provides a technical educational article for members.
Harnessing WebAssembly for Real-time Stateless Streaming PipelinesChristina Lin
Traditionally, dealing with real-time data pipelines has involved significant overhead, even for straightforward tasks like data transformation or masking. However, in this talk, we’ll venture into the dynamic realm of WebAssembly (WASM) and discover how it can revolutionize the creation of stateless streaming pipelines within a Kafka (Redpanda) broker. These pipelines are adept at managing low-latency, high-data-volume scenarios.
Advanced control scheme of doubly fed induction generator for wind turbine us...IJECEIAES
This paper describes a speed control device for generating electrical energy on an electricity network based on the doubly fed induction generator (DFIG) used for wind power conversion systems. At first, a double-fed induction generator model was constructed. A control law is formulated to govern the flow of energy between the stator of a DFIG and the energy network using three types of controllers: proportional integral (PI), sliding mode controller (SMC) and second order sliding mode controller (SOSMC). Their different results in terms of power reference tracking, reaction to unexpected speed fluctuations, sensitivity to perturbations, and resilience against machine parameter alterations are compared. MATLAB/Simulink was used to conduct the simulations for the preceding study. Multiple simulations have shown very satisfying results, and the investigations demonstrate the efficacy and power-enhancing capabilities of the suggested control system.
A SYSTEMATIC RISK ASSESSMENT APPROACH FOR SECURING THE SMART IRRIGATION SYSTEMSIJNSA Journal
The smart irrigation system represents an innovative approach to optimize water usage in agricultural and landscaping practices. The integration of cutting-edge technologies, including sensors, actuators, and data analysis, empowers this system to provide accurate monitoring and control of irrigation processes by leveraging real-time environmental conditions. The main objective of a smart irrigation system is to optimize water efficiency, minimize expenses, and foster the adoption of sustainable water management methods. This paper conducts a systematic risk assessment by exploring the key components/assets and their functionalities in the smart irrigation system. The crucial role of sensors in gathering data on soil moisture, weather patterns, and plant well-being is emphasized in this system. These sensors enable intelligent decision-making in irrigation scheduling and water distribution, leading to enhanced water efficiency and sustainable water management practices. Actuators enable automated control of irrigation devices, ensuring precise and targeted water delivery to plants. Additionally, the paper addresses the potential threat and vulnerabilities associated with smart irrigation systems. It discusses limitations of the system, such as power constraints and computational capabilities, and calculates the potential security risks. The paper suggests possible risk treatment methods for effective secure system operation. In conclusion, the paper emphasizes the significant benefits of implementing smart irrigation systems, including improved water conservation, increased crop yield, and reduced environmental impact. Additionally, based on the security analysis conducted, the paper recommends the implementation of countermeasures and security approaches to address vulnerabilities and ensure the integrity and reliability of the system. By incorporating these measures, smart irrigation technology can revolutionize water management practices in agriculture, promoting sustainability, resource efficiency, and safeguarding against potential security threats.
3. Essential Characteristics of robots
Sensing: The robot should be able to sense its surroundings and that
is only possible with the help of sensors.
Types of sensors:
light sensors (eye) , touch sensors(hands) , hearing sensors(ears) or chemical
sensors(nose)
Movement: A robot needs to be able to move around its environment
whether by rolling on wheels , walking , snaking or skating.
Energy: A robot needs to be able to power itself which depends
upon its power resources e.g. batteries , power generators or fuel.
Intelligence: A robot needs to be intelligent and smart which
is only possible by the programmer person.
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4. TYPES OF ROBOTS
Mobile Robots: They are able to move around in their
environment and not fixed to one physical location.
Industrial Robots: They are used in industrial manufacturing
environment e.g. welding , material handling , painting and others.
Domestic Or Household Robots: Robots used at home
such as robotic vacuum cleaner , robotic pool cleaner and sweeper.
Medical Robots: Robots used in medicine and medical
institutions e.g. surgery robots
Service Robots: Robots that don’t fall into other types by usage
e.g. robots used for research.
Military Robots: they are used in military e.g. bomb disposal
robot , different transportation robots and reconnaissance drones
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8. Uses and Advantages of Robots
Used in vehicles and car factories
Mounting circuits on electronic devise e.g. mobile phones
Working where there might be danger e.g. nuclear leaks and bomb
disposal
Surgeons are performing robotic surgeries to avoid jiggles and
movement in microscopically aided surgery or brain surgery
Mail delivery to various mail stations throughout the building in large
corporations
Toy robots are a good source of entertaining for the kids e.g. dancing
and talking robots
Robots do not get bored or tired and they can work 24/7 without
salary and food
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9. Disadvantages Of Robots
It needs a high supply of power
People can lose jobs in factories
It needs maintenance to keep it running
It cost a lot of money to make or buy a robot as they
are very expensive
A robot can not respond in time of danger as human
can
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10. Robotics
Not a pure Computer Engineering subject
Combination e.g. Mechanical, Electrical and Computers
Mechatronics = Mechanical + Electronics.
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11. Industrial Robots
“a robot is a reprogrammable, multifunctional
manipulator designed to move materials, parts, tools,
or specialized devices through variable programmed
motions, for the performance of a variety of tasks”.
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12. What is a Robot?
The Study of Robots
A machine that looks and acts like a human being.
An efficient but insensitive person
An automatic apparatus.
Something guided by automatic controls.
E.g. remote control
a computer whose main function is to produce
motion.
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13. Characteristic of a Robot
Repeatability
Manual control
Automatic control
Speed of operation
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17. General Components
Controller
Servo Systems
Open Loop
Closed Loop
Operating Methods
Pick and Place
Point-to-point
Continuous path
Vehicle
Stationary
Mobile
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18. What are the parts
of a robot?
•Manipulator
•Pedestal
•Controller
•End Effectors
•Power Source
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19. Manipulator
(Mimics the human arm)
•Base
•Appendage
-Shoulder
-Arm
-Grippers
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20. Here robot is considered as industrial robot called as robotic
manipulator or robotic arm.
This arm is roughly similar to human arm.
It is modeled as chain of rigid links
interconnected by flexible joints.
Links corresponds to :chest, upper arm,
fore arm
Joints: shoulder, elbow, and wrist.
At end of arm is an end effector ( tool,
gripper or hand).
Tool has two or more fingers that open and
closes.
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26. The number of degrees of freedom defines the robot’s configuration.
For example, many simple applications require movement along three axes: X, Y, and Z.
See Figure 2-10. These tasks require three joints, or three degrees of freedom
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27. The locus of the points in the three dimensional space that can
be reached by the wrist by the various combinations of the
movements of the robot joints from base up to wrist, is called the
gross work envelop of the robot.
The robot motions are accomplished by means of powered joints.
Thus a minimum of six axes are
required to achieve any desirable
position and orientation in the robot’s
work volume or work envelop or
workspace.
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28. The rigid members connected at the joints of the robot are called
links.
In the link-joint-link chain, the link closest to the base is referred to
as the input link .
The output link is the one which moves with respect to the input
link.
There are basically two types of
joints commonly used in industrial
robots, which are:
(i) prismatic or linear joints,(p)
which have sliding or linear
(translational) motion along an
axis.
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29. (ii)Revolute ,(R) : which exhibits the rotary motion about an axis.
the links are aligned perpendicular to one another at this kind of joint.
The rotation involves revolution of one link about another.
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30. Based on the physical configuration or the combination of the
revolute or prismatic joints for the three major axes, a particular
geometry of the work envelop is achieved.
The table shows the some of the most common robot work envelops
based on the major axes:
P:Prismatic -- R:Revolution
robot Axis 1 Axis 2 Axis 3 Total
revolute
cartesian P P P 0
Cylindrical R P P 1
Spherical R R P 2
SCARA R R P 2
Articulate
d
R R R 3
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33. Degrees of Freedom
Each plane in which a robot can maneuver.
ROTATE BASE OF ARM
PIVOT BASE OF ARM
BEND ELBOW
WRIST UP AND DOWN
WRIST LEFT AND RIGHT
ROTATE WRIST
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36. Robot Components1. Manipulator or Rover: Main body of robot
(Links, Joints, other structural element of the robot)
2. End Effecter: The part that is connected to the last joint
hand) of a manipulator.
3. Actuators: Muscles of the manipulators (servomotor,
stepper motor, pneumatic and hydraulic cylinder).
4. Sensors: To collect information about the internal state of
the robot or To communicate with the outside environment.
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37. Robot Components…
37
5. Controller: Similar to cerebellum. It controls and
coordinates the motion of the actuators.
6. Processor: The brain of the robot. It calculates the
motions and the velocity of the robot’s joints, etc.
7. Software: Operating system, robotic software and the
collection of routines.
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38. But in addition to classification, there are several additional
characteristics :
(i)Number of axes
(ii)Load carrying capacity (kg)
(iii)Maximum speed (mm/sec)
(iv)Reach and stroke (mm)
(v)Tool orientation (deg)
(vi)Precision, accuracy and Repeatability of movement (mm)
(viii) Operating environment
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39. Load Carrying Capacity:
The load carrying capacity is mainly determined by various factors
: robot’s size, configuration, type of drive system and the
type of application for which it is designed.
A very wide range: from few grams to several thousand of
kilograms.
The maximum load carrying capacity should be specified for the
condition that it is in its weakest position.
It is the position when the robots arm is at maximum horizontal
extension.
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40. The specification provided by manipulator manufacturers is
actually the gross weight capacity that can be put at the
robotic wrist.
Thus to use this specification the user must know weight of
the end effector.
E.g., if the gross load carrying capacity of a robot is 10.0 kg
and it’s end effector weigh 3.0 kg, then the net load carrying
capacity of the robot would be only 7.0 kg.
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42. 1.Wrist roll: it involves the rotation of the wrist mechanism about
the arm axis. Wrist roll is also referred to as wrist swivel.
2. Wrist pitch: if the wrist roll is in its center position, the wrist pitch
is the up or down rotation of the wrist. also called wrist bend.
3.Wrist yaw: if the wrist roll is in center position of its range, wrist
yaw is the right or the left rotation of the wrist.
The wrist yaw and pitch definitions are specified w.r.t.the central
position of the wrist roll,
the rotation of the wrist about the arm axis will change the
orientation of the pitch and yaw movements.
The robot would have a spherical wrist if the axes used to orient
the tool intersect at a common point.
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47. The major advantages :
1.Ability to do straight line insertions into furnaces.
2.Easy computation and programming.
3.Most rigid structure for given length.
Disadvantages :
1.Requires large operating volume.
2.Exposed guiding surfaces require covering in corrosive or dusty
environments
3.Can only manipulate the objects in front of it.
4.Axes of robot are hard to seal
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56. Manipulators
56
Robot Configuration:
Cartesian: PPP Cylindrical: RPP Spherical: RRP
SCARA: RRP
(Selective Compliance Assembly
Robot Arm)
Articulated: RRR
Hand coordinate:
n: normal vector; s: sliding vector;
a: approach vector, normal to the
tool mounting plate
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57. Classification based on motion control methods:
It is based on method used to control the movement of end effector
There are two types of motions:
1.Point to point motion:
•Tool moves to sequence of discrete points in a workspace.
•The path between points is not explicitly controlled by user.
•It is useful for operation which is discrete in nature.
e.g. Spot welding , pick and place , loading and unloading
Continuous motion:
•End effector follows a prescribed path in three dimensional
space.
•The speed of motion may vary along the path.
e.g. arc welding , spray painting 57
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59. End-of-Arm-Tooling
This general class of devices is also called end-of-
arm tooling (EOAT).
Robot end-of-arm tooling is not limited to various
kinds of gripping devices.
Grippers not available by default in general-
purpose robots
In some situations, a robot must change its
gripper during its task. If so, the robot's wrist
must be fitted with a quick-disconnect device.
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60. The First Gripper Designed
The first gripper
which was designed
resembles more to the
human hand.
Later it was realized to
design grippers along
to the requirement.
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61. Robotic Hands versus Human Hands
Robot end effectors
heavy objects, corrosive substances, hot objects, or
sharp and dangerous objects.
not good at handling complex shapes and fragile
items.
do not have good tactile sensing capability,
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62. How Grippers work?
Seven different methods to grip a part:
grasp it
hook it
scoop it
inflate around it
attract it magnetically
attract it by a vacuum
stick to it
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63. Types of Robotic Grippers
Vacuum cups
Electromagnets
Clamps or mechanical grippers
Scoops, ladles, or cups
Hooks
Hands with three or more fingers
Adhesives or strips of sticky tape
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64. Types of Robotic Grippers
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65. Types of Robotic Grippers
a. Inflatable bladder
b. Two-finger clamp
c. Vaccum cups
d. Three-fingers clamp
e. Magnet head
f. Tubing pickup device
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66. REQUIREMENTS FOR AN EFFECTIVE
GRIPPER
1. Parts or items must be grasped and held without damage
2. Parts must be positioned firmly or rigidly while being
operated on.
3. Hands or grippers must accommodate parts of differing
sizes or even of varying sizes
4.Self-aligning jaws are required to ensure that the load
stays centered in the jaws
5. Grippers or end effectors must not damage the part being
handled.
6.Jaws or grippers must make contact at a minimum of two
points to ensure that the part doesn’t rotate while being
positioned.
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67. Remote Center Compliance (RCC)Useful for accurate
positioning of objects.
Robots contains a built-in
multiaxis floating joint to
adjust for the
misalignments.
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68. Power for Grippers
Independent power supply required
Four types of power are used for grippers:
pneumatic
electrical
hydraulic
springs
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70. • The brain of a robot
• Servo Systems
– Open Loop
– Closed Loop
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71. OPERATING METHODS OF ROBOT CONTROLOPERATING METHODS OF ROBOT CONTROL
UNITUNIT
Pick-and-Place Control units
Point-to-Point Control Units
Continuous-path Control Units
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72. PICK & PLACE CONTROL UNITPICK & PLACE CONTROL UNIT
Generally small and pneumatic-powered, with no
position information feedback.
Open-loop servo-controlled robots.
Sometimes referred to as low-technology control units.
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73. PICK & PLACE CONTROL UNITPICK & PLACE CONTROL UNIT
Typical sequence of operationsTypical sequence of operations
• Move robot to starting position.
• Grasp a part.
• Remove the part from a machine.
• Move to second position
• Deposit part.
• Prepare to start another cycle.
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74. POINT TO POINT CONTROL UNIT
Can reach any point within its work envelope
Can have as many points in its work sequence
Medium-technology control units.
Can be programmed by a person moving the robot
through the sequence of points that the robot will be
required to repeat in performing the task.
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75. POINT TO POINT CONTROL UNIT
The path between the points
Not predictable
Uses Stepper Motor
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76. CONTINOUS PATH CONTROL UNITCONTINOUS PATH CONTROL UNIT
Can reach any point within its work envelope
Can have as many points in its sequence as a particular
task may require
Most expensive of all control units.
High-technology control unit
Large memory capacity required
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77. The Vehicle and the Robot's Base
Many industrial robots
have fixed-position bases
and thus do not have a
vehicle.
Even with a fixed-base
robot, stable mounting is
essential.
Fixed-base robots could be
used: a) overhead
mounting, b a gantry
mount, c) a wall mount, or
d) a floor mount.
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80. A sensor is a converter that measures a physical
quantity and converts it into a
signal that can be read by an observer.
Eg.
WHAT IS A SENSOR ?
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81. NEED OF SENSORS FOR ROBOTS
1) LOCALIZATION
2)OBSTACLE DETECTION
3)INTERNAL INFORMATION
NEED OF A SENSOR
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82. Sensors
Sensors changes a robot from dumb to intelligent.
The ability to adapt to particular surroundings is one
definition of intelligence.
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84. 1)CONTACT SENSORS- Sensors that determine
shape,size ,weight etc by touching.
a) Touch sensors
CLASSIFICATION OF EXTERIOCEPTORS
force voltage
measurement
electrical flow
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85. b) force/stress sensors-To measure robotic system
forces .( PIEZO ELECTRIC SENSOR)
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86. 2) NON CONTACT SENSORS
a)proximity sensors- they sense and indicate presence
and sometimes position also without physical contact.
Types
1) Optical proximity sensors
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89. 4) Capacitive proximity sensors
It works on the principle of change in capacitance
with environment.
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90. IT PROVIDES PRECISE MEASUREMENT OF THE
DISTANCE FROM A SENSOR TO AN OBJECT.
CATEGORIES
Active
send signal into environment and measure
interaction of signal with environment
e.g. radar, sonar
RANGE SENSORS
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91. Passive
record signals already present in environment
e.g. video cameras
Sterioscopic vision system
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94. Intensified CCD’s are also cameras which can exploit gain to
overcome the read noise limit but also have the added feature of being
able to achieve very fast gate times. The gating and amplification
occurs in the image intensifier tube. Image intensifiers were initially
developed for night vision applications by the Military but
increasingly their development is being driven by scientific
applications. The Image intensifier tube is an evacuated tube which
comprises the Photocathode, Microchannel plate (MCP) and a
Phosphor screen, and the properties of these determine the
performance of the device. The photocathode is coated on the inside
surface of the input window and it captures the incident image: see
the diagram on the right. When a photon of the image strikes the
photocathode, a photoelectron is emitted, which is then drawn
towards the MCP by an electric field. The MCP is a thin disc (about
1mm thick) which is a honeycomb of glass channels typically 6-10 µm,
each with a resistive coating. A high potential is applied across the
MCP, enabling the photoelectron to accelerate down one of the
channels in the disc. When the photoelectron has sufficient energy, it
dislodges secondary electrons from the channel walls. These electrons
in turn undergo acceleration which results in a cloud of electrons
exiting the MCP. Gains in excess of 10,000 can readily be achieved.
The degree of electron multiplication depends on the gain voltage
applied across the MCP which can be controlled in the camera.
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95. . TUBE TYPE CAMERAS
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97. Encoder- a device, circuit, software program,
algorithm or person that convert information
from one format or code to another
PROPRIOCEPTORS
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98. What Can Robots Do?
Industrial Robots
Material Handling Manipulator
Assembly Manipulator
Spot Welding Manipulator
•Material handling
•Material transfer
•Machine loading and/or
unloading
•Spot welding
•Continuous arc welding
•Spray coating
•Assembly
•Inspection
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99. 1.12.1 Loading/unloading parts to/from the machines
(i)Unloading parts from die-casting machines
(ii)Loading a raw hot billet into a die, holding it during forging and
unloading it from the forging die
(iii)Loading sheet blanks into automatic presses
(iv)Unloading molded parts formed in injection molding machines
(v)Loading raw blanks into NC machine tools and unloading the finished
parts from the machines
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101. Single machine robotic cell applications include:
(i)The incoming conveyor delivers the parts to the fixed position
(ii)The robot picks up a part from the conveyor and moves to the
machine
(iii)The robot loads the part onto the machine
(iv)The part is processed on the machine
(v)The robot unloads the part from the machine
(vi)The robot puts the part on the outgoing conveyor
(vii)The robot moves from the output conveyor to the input
conveyor
Multi-machine robotic cell application: Two or three CNC machines
are served by a robot. The cell layout is normally circular.
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102. Assembly Operations:
Electronic component assemblies and machine assemblies are
two areas of application.
Inspection:
Industrial robots are used for inspection applications, in which
the robot end effector is special inspection probe.
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103. Palletizing and Depalletizing:
Many products are packaged in boxes
of regular shape and stacked on
standard pallets for shipping.
Robots are commonly used to palletize
and depalletize boxes because they
can be programmed to move through the
array of box positions layer after layer.
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104. Drilling
Hole drilling is a precision
machining process.
Drilling robots use special drilling
end effectors which locate and dock
onto the work piece or a fixture.
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105. Spot Welding Spot welding is the most common
welding application found in the
manufacturing field.
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106. Fastening
Robots are commonly used for
applying threaded fasteners
in the automobile industry for
fastening wheels,
in the electronics industry
for screwing components to
circuit boards and circuit
boards into chassis.
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107. Paint and Compound
Spraying
Robots provide a
consistency in paint quality
and widely used in
automobile industry for
medium batch production.
Painting booths are hazardous
because the paint material is
often toxic, and flammable.
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108. Arc Welding
Ship building, aerospace,
construction industries are
among the many areas of
application
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These are the devices that perform the actual task.
End effectors are often designed for a particular task, but can also be made as all-purpose hands to do many types of tasks.