Robot is a Reprogrammable, Multi-functional Manipulator designed to move materials, parts, tools or specialized devices through variable programmed motions for performing a variety of task

1. SUBJECT :
COMPUTER AIDED
MANUFACTURING (2171903)
Chapter No.6
Robot Technology
10/28/2020
1

2. OBJECTIVE
First of all we should understand
about
Automation
Robot

3. Automation
There are several examples of automation
one comes across daily,
simple examples
 Sewing machines,
 Packaging machines.

4. Sewing Machines
 Such machines are generally equipped to perform in a
specific way or to execute specific tasks.
 A sewing machine is designed to produce specific stitch
lengths

5. Packaging Machines.
 A packaging machine is designed to wrap a specific
size of the product.
 When product sizes change some parts of the machine
are to be manually changed to accommodate the new
size.
 Such machines are essentially designed to package
millions of products of a specific size and are hence
special purpose machines.
 The cost of such a machine is distributed over large
sales volumes.
....VIDEO(1) TEA PACKAGING MACHINE MANUFACTURERS - YouTube.mp4
....VIDEOBiscuit packaging machine in Flowpack.mp4

6. Necessity of Automation
 More recently there is a demand for variety.
 A good example is shirts of a size suiting a given
individual.
 Likewise there is a demand for soaps of various sizes
and shapes.
 This requires machines that can handle various shapes
and sizes and every time such a requirement arises one
has to stop the machine and readjust or reset some of
the links or components to handle the new product.
 This is a task that is not only time consuming but also
requires skill.

7. Necessity of Automation
 Human beings, unlike machines can not
only handle tools and products of different
sizes and shapes but are also capable of
executing a variety of tasks.
 Engineers have often sought similar
capabilities in machines and this has been
possible now with the availability of
inexpensive microprocessors.

8. Necessity of Automation
 Used in conjunction with special servo-
motors, actuators and sensors, the
microprocessor has revolutionized
automation.
 It is now possible to build automation
devices that can be operated under the
guidance of a program.

9. Robots
 An important part of the automation scene
is the area of “Robotics” a
multidisciplinary field that involves
mechanical, electronics and several other
engineering disciplines.

10. Robots
 Though the ultimate aim is to attempt
emulate human activities, something which
is extremely difficult to attain, these
attempts have resulted in development of
robots.
 These are beneficial in handling hazardous
tasks and for operating in hazardous areas
like chemical or nuclear plants.

11. Robots
Example-1
 Plates being x-rayed for inspection of
internal cracks and flaws, a routine but
hazardous operation.
....VIDEORobotic X-Ray.mp4

12. Robots
Example-2
 Where complex movements are involved
as in welding along a 3D profile, robots can
be used for assuring quality and
consistency.
....VIDEOABB Robotics - Arc Welding.mp4

13. Robots
Example-3
 In assembly operation of precision and tiny
parts, like in watches, robots perform with
accuracy and repeatability.
 The SCARA robot developed in Japan is
one such robot specifically suitable for
precision assembly tasks.
....VIDEOFast Robotic Assembly of CPU and Memory Modules on a Circuit.mp4

14. Robots
Example-3
 Painting is hazardous to humans and also
complex movements are involved (for
example in painting a car body) and in such
applications robots may replace human
beings.

15. Robots
 Robots have certain inherent capabilities
and limitations, just as any other machine
or human being does, and these should be
borne in mind when attempting to use them
in a given application.

16. Robots
 A lathe is best used for generating cylindrical objects
and milling machines are ideal for producing prismatic
parts.
 One would not attempt to use a lathe for manufacture of
prismatic parts or a milling machine to produce
cylinders.
 Thus manufacturing processes are chosen to suit the
product and conversely, products should be designed to
suit the manufacturing process.

17. Robots
 This philosophy applies to robotics also.
 One cannot expect a given robot to execute any
arbitrary task or handle any product. Some
times it may be beneficial to redesign the
product to enable robots to handle them with
ease.
 A well known example of designing a product to
suit robots is the SONY “Walkman” which has
been designed for ease of assembly by robots.

18. Robots
 Today robot finds applications in industries, medical and
other fields. For example, in eye surgery (replacement
of retina), where a cylindrical portion needs to be
replaced, the operation is best done by robots. Mobile
robots

19. Robots
 like walking machines, hopping machines
are examples of robots, and so also are
robotic aircraft and ships.
 Nuclear and power plants uses fish like
robots which move inside pipes for
purpose of inspection

20. Robot Definition
“Robot is a Reprogrammable, Multi-
functional Manipulator designed to
move Materials, parts, tools or
specialized devices through variable
programmed motions for performing
a variety of task”

21. History of Robots
 1954 - Devol & Engleburger – establish
Unimation Incorporation.
 1961 - Robots are used in die casting
application.
 1968 - AGVs (automated guided vehicles)
implemented.
 1970 - Stanford arm developed.
 1979 - SCARA robot for assembly developed
in Japan .

22. Generation of Robot
1) Dumb Robots
2) Clever Robots
3) Intelligent Robots

23. First Generation
Dumb Robots
 Combination of teach pendant procedure and
command statement
 They define point location by teach pendant and
sequence of the motion by command statement
 Ex. VAL(Veriable Assembly Language)

24. First generation
Dumb Robots
 Limitation
1) Inability to perform complex arithmetic
calculation during program execution.
2) Inability to make complex sensor.

25. Second Generation
Clever Robots
 The second generation language can
accomplish complex motion and complex
arithmetic calculation.
 The second generation language make the
robot more intelligent

26. Second Generation
Clever Robots
 Such a robot is equipped with sensors that
tell it things about the outside world.
 These devices include pressure sensors,
proximity sensors, tactile sensors, radar,
sonar, ladar, and vision systems.
 A controller processes the data from these
sensors and adjusts the operation of the
robot accordingly.
 ....VIDEOThe Cubli a cube that can jump up, balance, and 'walk'.mp4

27. Third Generation
Intelligent Robots
 Without use of teach pendant
 3D geometric model work without any teach
pendant
 The programming can be off-line without
interrupting the work of the robot.

28. Third Generation
Intelligent Robots
 The concept of a third-generation robot
encompasses two major avenues of
evolving smart robot technology: the
autonomous robot and the insect robot.
 An autonomous robot can work on its own.
It contains a controller, and it can do things
largely without supervision, either by an
outside computer or by a human being.
 ....VIDEOAmputee Makes History with APL’s Modular Prosthetic Limb.mp4

29. Advantages
1) Robot can work Hazardous environment
2) Robot need no environment comfort like Lighting,
Air conditioning, Ventilation and noise protection
3) Robot can work continuously without fatigue
4) Robot can process multiple task simultaneously
5) Robots have capabilities beyond that of human

30. Disadvantage
1) Robots are costly due to high initial investment,
installation cost, training cost and programming
cost
2) Robots have imitated capabilities like degree of
freedom, sensors, vision system, real time
response
3) Lack capacity to response unpredictable
emergency
4) Robots replace human workers creating
economic problem.

31. Robot Components

32. Basic Components..

33. Components
1) End effectors
2) Manipulators
3) Actuators
4) Controllers
5) Sensors
6) Processor
7) Software

35. End Effectors
The end effectors are controlled by robot
controller or PLC
The last joint of manipulator is End effectors
Mainly 2 types
1) Tool
2) Grippers

36. End Effectors
....VIDEOLet's Talk About End Effectors.mp4

37. Manipulator
The manipulator is capable of movement in
various direction Like linear or rotary motion
Manipulator is the combination of
mechanical linkages, connected by joints an
open loop kinematic chain

38. Manipulator
....VIDEORobot Manipulators.mp4

39. Actuators
The Actuators are the drives used to
actuate the joints of the manipulator
Produce the relative rotary or linear motion
between the two links of joints
Servomotors, stepper motors, Pneumatic
cylinder, hydraulic cylinder are actuators

40. Actuators
....VIDEOLinear Actuators - What are They and How Can they Help You.mp4

41. Sensors
The sensors are used to collect the
information about the status of the manipulator
and the end effectors.
The sensors are mainly two types
1) Contact type
2) Non contact type

42. Sensors
....VIDEOTypes of Sensors│ Different types of sensors│ Classification.mp4

43. Controller
The controller receive the instruction from
the processor of computer and controls the
motion of the actuators
It takes the feedback from the sensors

44. Processor
Processor are calculate the motion of the
joints so as to achieve the desired action of
the robot
It send the signals to the controller and
receives the feedback from the controllers

45. Software
Two types of software are used
1) Operation system
2) Robotic software