Introduction about fundamentals of Robots

1. UNIT-1

2. UNIT I FUNDAMENTALS OF ROBOT
Robot - Definition - Robot Anatomy - Co ordinate Systems, Work Envelope
Types and Classification- Specifications-Pitch, Yaw, Roll, Joint Notations,
Speed of Motion, Pay Load- Robot Parts and their Functions-Need for
Robots-Different Applications.

3. 
 An Electro Mechanical device
 Performs Various Tasks
 Controlled by
1) Human (or)
2) Automated
Robot

4. 
 A Robot is a Re-programmable, Multi Functional
Manipulator Designed To Move Materials, parts,
Tools, Or Any Devices Through Various Programmed
Motions For The Performance Of A Variety Of Tasks
ROBOT DEFINITION

5. 
S.NO HUMAN ROBOT AUTOMATIONS
1 BRAIN PROCESSORS
COMPUTER CHIPS &
SOFTWARE
2
SKIN,EARS,
NOSE
SENSORS LIGHTS & SOUNDS
3 EYES VISION SYSTEMS
WORKS WITH OPTICAL
CABLES (TV,CAMERA)
4
ARMS &
HANDS
END EFFECTORS
MANIPULATE & SUPPORT
TOOLS
5 FEET
TRANSPORTATION
SYSTEMS
MOVEMENT MECHANISMS
Comparisons of Human & Robot

6. 
 Robot Anatomy is concerned with the physical construction of
the body, Arm & wrist of the machine.
 Most robots are mounted on a base which is fastened to the
floor.
 The joint movements usually involve either Rotating Or Sliding
motions.
 The entire Assembly of the body, Arm & wrist of the machine
of called as a Manipulator.
 The attachment of robot’s wrist is a hand or a tool called the
End Effectors.
Robot Anatomy

8. 
Four common configurations
 Polar configurations
 Cylindrical configurations
 Cartesian co-ordinate configurations
 Jointed arm configurations
 Selective Compliance Assembly Robot Arm (SCARA)
Different types of Robot
Anatomy

9. Classification of Robot
 Based on Mechanical Arm
1. Cylindrical configurations 2. Cartesian co-ordinate configurations
3. Polar configurations 4. Jointed arm configurations
5. Selective Compliance Assembly Robot Arm (SCARA)
6. Serial Manipulator Configuration
7. Parallel Manipulator Configuration
 Based on DOF
1. Single DOF 2. Two DOF 3. Three DOF
4. Four DOF 5. Five DOF 6. Six DOF
 Based on Power Source
1. Electric power system
a) Servo Motor 1. A.C Servo motor 2. D.C Servo motor b) Stepper motor
2. Hydraulic Power system 3. Pneumatic Power System

10.  Based on Control system
1. Servo controlled 2. Non servo controlled
 Based on Sensor System
1. Vision robot 2. Intelligent robot 3. Simple & Blind robot
 Based on Robot Movement
1. Fixed Robot 2. Mobile Robot 3. Walking (or) legged Robot
 Based on Industry Application
1. Tool operating 2. Assembly robot 3. Material Handling
Based on Capability
1. System parameter 2. Program control
3. Control for the end effector 4. Program debug & simulation
5. External robot control & communication

11.  Based on Robot Control System
1. Point to point path 2. Continuous path
3.Controlled path 4. Intelligent robot
 Based on type of Technology
1. Low level - Pay load 25 pound,
- DOF with movement of 2-4 axes
2. Medium level - Pay load 300 pound,
- DOF with movement of 4- 6 axes
3. High level - Pay load 300 pound,
- DOF with movement of 6-9 axes
 Based on Motion
1. Linear motion 2. Rotational motion
3. Extensional motion 4. Twisting motion

12. 
 Rotational transverse - Movement about a vertical axis
 Radial transverse – Extension & retraction of arm
 Vertical transverse – Up & Down motion
 Pitch - Up & Down movement of wrist
 Yaw – Side to Side movement of wrist
 Roll – rotation of wrist
Six basic robot motions
are

13. 
Basic robot motions

14. Robotic Movement
It means change of Position or Location
Types of Robotic Movements
The basic movements for desired motion are
Arm & Body Movements
Wrist Movements.
1. Rotational Movement
Here the Robot Arm will rotates in any direction on Horizontal Plane.
2. Radial Movement
Here the robot move its End effector radially to reach distance
3. Vertical Movement
Here the End effector moves in different height, Independent DOF.

15. 
Robotic Motion
Types of Basic robotic motions
1. Linear Motion
2. Extensional Motion
3. Rotational Motion
4. Twisting Motion
5. Revolving Motion
6. Cylindrical Motion
7. Spherical Motion

16. Linear Motion:
Here the robot parts slides Linearly
Extension Motion:
It occurs when one part of arm slides inside another part of the arm

17. Rotational Motion:
Twisting Motion:

18. Revolving Motion:
Cylindrical Motion

19. Spherical Motion:

20. 
Different types of
Robot Joint

21. Linear Joint ( L)
Orthogonal Joint (O)

22. Rotational Joint (R)
Twisting Joint (T)
Revolving Joint (V)

23. Degree OF Freedom
 The number of independent ways by which a dynamic system can move,
without violating any constraint imposed on it, is called number of degrees
of freedom.
 The number of degrees of freedom can be defined as the minimum number
of independent coordinates that can specify the position of the system
completely.
 The number of input parameter independently controlled each joint by
motor.
 The DOF is equal to the no of independent displacements (or) aspect motion.
 The no of joints determines the Manipulator DOF .

24. SINGLE DEGREE OF FREEDOM
No of Joint = 1
DOF = 1
TWO (2) DEGREE OF FREEDOM
Joint = 2
DOF = 2

25. THREE (3) DOF 3 Rotational Joints
FOUR (4) DOF
1,2,4 – Rotation
3 – Linear

26. FIVE (5) DOF
All 5 are
Rotational
SIX (6) DOF
6 DOF
Turning in Different Axis
Moving X & Y - Pitch
X & Z – Yaw
Y & Z - Roll

27. 
Different Robot
Configurations
1. Cylindrical configurations
2. Cartesian co-ordinate configurations
3. Polar configurations
4. Jointed arm configurations
5. Selective Compliance Assembly Robot Arm (SCARA)
6. Serial Manipulator Configuration
7. Parallel Manipulator Configuration

28. 1. Cylindrical configurations
Uses as Vertical Column and a slide that can moved up & down along
column
The following movements are able to perform:
1. Rotational movement - Body
2. Vertical movement ( Y-Axis) – Body
3. Horizontal movement ( X-Axis) - Arm

29. Work Volume / Work Space / Work Envelope
 Operates in Cylindrical work volume
 Work volume is restricted in back side
 Work space is part of a cylinder
 Limited movements
 These system is good to reach deep in Machine
Applications
 Material Handling
 Loading/Unloading
 Palletizing

30. 2. Cartesian Coordinate Configuration or Rectilinear Robot
Uses as 3 Perpendicular slides to construct x,y,z axes. The following
movements are able to perform:
1. Vertical movement ( Y-Axis) – Body
2. Horizontal movement ( X-Axis) – Arm
3. Z Axis - Wrist

31. Work Volume / Work Space / Work Envelope
 Operates with in Rectangular Work Volume
 Work Space is cubic or rectangular space
 The work area resembles a rectangular envelope.
Applications
Assembly , Inspection , Loading & Unloading
X Axis – Front & Back
Y Axis – Side to Side
Z Axis – Top & Bottom

32. 3. Polar configurations or Spherical Coordinates
The arm that can raised or lowered about a horizontal pivot.
The following movements are able to perform:
1. Rotational movement - Body
2. Spherical movement - Joint
3. Horizontal movement ( X-Axis) - Arm

33. Work Volume / Work Space / Work Envelope
 Operates within a spherical geometry work volume.
 It gives wide range of options for robot positioning.
Applications
 Machine Assembly, Injection Moulding
 Machine tool Loading, Handlin of Heavy loads

34. 4. Jointed Arm or Articulated Configuration
Made up of rotating joints, it perform as a Human arm

35. Work Volume / Work Space
 Operates in spherical work volume
 Is has spherical envelope
 This type is majorly used in industries.
Applications
 Arc Welding, Spot Welding, Automatic Assembly

36. 
 Selected Compliance Assembly Robot Arm
 Here rotational Arm & Linear Arms motion occurred
 Work as cylindrical volume
 The SCARA robot have 4 Joints , with each joint has
one Single DOF.
5. SCARA

37. 
SCARA

38. Work Volume / Work Space
 Operate within cylinder work volume
 It is a part of cylinder type
 Here 2 rotation & 1 Linear motion is occurred.
 Wrist can also able to rotate
Applications
 Packaging
 Palletisation
 Assembly operations

39. 6. Serial Manipulator Configuration
 Here the several links are connected serially, to give motion to End
Effectors.

40. KINEMATIC STRUCTURE OF SERIAL MANIPULATOR

41. Work Volume / Space
 Dexterous work space – any point can be reachable with help of end effector
 Most types have 6 DOF
 The shape is important for environment to work

42. 7. Parallel Manipulator Configuration
 It is a mechanical system, uses several computer controlled serial chains
to support a single platform or End effector
 It is made up of closed loop chain.

43. Types of Envelope
1. Reach Envelope 2. Maximum Envelope 3. Restricted Envelope
4. Operating Envelope 5. Horizontal reach 6. Horizontal Stroke
7. Vertical reach 8. Vertical stroke 9. Swivel

44. 
Joint Notation
The Configuration of the robot are represented by
Notation (or) Symbol.
1. Linear joint (L) 2. Rotational joint (R)
3. Twisting joint (T) 4. Revolving joint (V)
5. Orthogonal joint (O) 6. Prismatic joint (P)
7. Helical joint (H) 8. Cylindrical joint (C)
9. Spherical joint (S) 10. Universal joint (U)

45. LP Joint
L – Linear
P- Prismatic
TL Joint
L – Linear
T - Twist

46. RRR Joint
R - Rotation
RRT Joint
R – Rotation
T - Twist

47. TR TR Joint
R – Rotation
T - Twist
TV RTR Joint
R – Rotation
T – Twist
V - Revolve

48. LLL Joint
L – Linear
RLL Joint
L – Linear
R - Rotate

49. TRL Joint
T – Twist
L – Linear
R - Rotate
TRR Joint
T – Twist
R - Rotate

50. RRRP Joint
R – Rotate
P – Prismatic SCARA

51. CHARACTERISTICS OF CONFIGURATION SYSTEMS
Type of
Robot
Pay load No of Axis Repeatability Work
Volume
Cartesian 5 – 100 kg 3 linear
Axis
High ( 0.015 – 0.1
mm)
Rectangular
Cylindrical 5 – 250 kg 2 L, 1 R Avg (0.1 – 0.5 mm) Cylindrical
Polar 5 – 100 kg 1 L, 2 R Poor (0.5 – 1mm) Spherical
Jointed
Arm
5 – 130 kg 3R Avg (0.1–0.5 mm) Revolute
SCARA 10 – 100 kg 1L, 3R High ( <0.0025) Cylindrical
Series 10 – 1000 kg 6 DOF Very High
Parallel 10 - 1000 kg Variable Very High

52. 
Different types of robots
 Industrial robots
 Laboratory robots
 Explorer robots
 Hobbyist robots
 Class room robots
 Educational robots
 Tele robots
 Nano robots
 Humanoid robots
 Military robots
 Surgery robots
 Agricultural robots
 Autonomous robots
 Assembly robots
 Gantry robots
 Pick & Place robots

53. Humanoid Robot
 It is first walking robot with 2 legs
 It can also communicate with persons
Domestic Robot
 Used for house works like using floor cleaning, using Vacuum cleaners
 Used for cutting vegetables, Dish washing
Gantry Robot
 It is a linear motion robot
Tele Robotics
 It is human operated
through a remote controlled
system
 Used at hazardous places

54. Specification of the Robot
 Accuracy
 Precision
 Repeatability
 Reach
 Resolution
 Speed
 Weight
 Distance to be moved
 DOF
 Pay load Capacity
 Stability
 Centre of Gravity
 Work Envelope
 Pitch
 Yaw
 Roll

55. Robot Parts & Function

56. 1. Body
 It may be the any shape , size depends upon the tasks to be performed
2. Power supply (or) Drive System
 The movements of the body, arm, wrist of the robot are determined by the
power drive system
3. Controller (or) Actuator
 It is the information processing device whose inputs are both desired and
measured.
Function of Controller
 Interface with Robot & Human
 Control Peripheral device
 Issues instruction to the robot

57. 4. Manipulator
 The manipulator is used to manipulate materials without direct contact.
 It contains links, joints and other structural elements of robots.
5.Sensors
 It is a electronic device that transfer a
physical phenomenon ( temperature,
pressure ) into electronic signals.
 Vision sensor , Object recognition are the
recent areas of sensor developments

58. End Effectors
 The End effector is attached to the wrist of the robot arm, for performing
the various tasks.
 There are many possible end effectors (or) tools including grippers,
pump, blow, torch, welds, spray painting etc. that helps to carry out
operation

59. Working of Robots
Input --------CPU (Processor)-----Output
Input of the Robot -
- Sensors & Transducers
* Light Sensor , * Temperature Sensor, * Contact Sensor
CPU (Processor)
- It desires the Motion and velocity of the robot
Output
- Performs Action through End Effectors

60. Working of Robots
controller

61. 
ROBOT CONTROL
 Controller is an information processing device
whose inputs are both desired and measured
position, velocity (or) other pertinent variables in a
process whose outputs are derive signals to
controlling motor (or) actuators.

62. 
 Non servo (open loop) control
 Servo (closed loop) control
ROBOT CONTROL
TECHNIQUES

63. 
 Non servo robots do not have the feedback capability
and their axes are controlled through a system of
mechanical stops and limit switches.
Non servo (open loop)
control

64. 
Servo (closed loop)
control

65. 
 Physical configurations
 Control systems
 Movements
 Drive systems
 Applications
 Degree of freedoms
 Sensor systems
 Capabilities of robot systems
CLASSIFICATION OF
ROBOTS

66.  The Robot have the control system to operate its drive
system.
 It is used to move arm, wrist and body of a robot at
various path
Types of Control System
1. Limited sequence robot
2. Playback robot with point to point control
3. Playback robot with Continuous path control
4. Intelligent robot
Robot Control System

67. 1. Limited sequence robots
 It is incorporated with mechanical stops and limit switches for
determining the finishing points of its joints
 No need of programming for operations
 It operates through pneumatic systems
 It is preferred for simple operations . E.g.. pick and place
2. Playback robot with point to point control
 It performs the tasks by touching the position, these position are
saved in memory
 It have capacity to travel from one position to another position
 It can cover less distance with programming’s

68. 3. Playback robot with Continuous path control
 It can control their path and can end on any specified position
 These type can commonly move in straight line
 Every point movement should be specified by the programmer while
programming, to ensure to move on straight line
 Microprocessor is used as a controller
4. Intelligent robot
 It can performs the define motion
 It can also work according to environment
 The sensors are integrated to receive the information during process.

69. 
TYPES OF PATH
GENERATED
 Industrial robots can be programmed from a
distance to perform their required and
preprogrammed operations with different types of
paths generated through different control
techniques.

70. 
 Stop to stop
 Point to point
 Controlled path
 Continuous path
Path control

71. 
 Speed
 Hazardous (Dangerous) environment
 Repetitive task
 Efficiency
 Accuracy
 Adaptability
NEED FOR ROBOTS

72. 
 Loading
 Unloading
 Palletizing
 Depalletizing
Various work performed
by robots

73. 
Role of Robots in Industries
 Machine loading &
Unloading
 Pick & place process
 Palletization
 Arc welding
 Spot welding
 Spray painting
 Assembly unit
 Car manufacturing
 Inspection section
 Packaging

74. 
 Robots will be used to move the work parts to (or)
from the production machine.
 This application comes under the category of
material handling
Robots in Machine
loading & Unloading

75. Robots in Machine loading & Unloading

76. 
 In this operation, the robot loads raw work parts in
machine and some other systems are used to unload
the finished work parts from the machine.
Machine loading

77. 

78. 
 In machine unloading the finished work parts are
unloaded from the machine by a robot while the
loading of raw materials are done without any robot
support.
Machine Unloading

79. 
 Increased productivity
 Perform secondary operation
 Improved ergonomics
 Increased quality
 Robot repeatability
Loading and unloading
Robot benefits

80. 
 A pick and place robot is the one which is used to
pick up an object and place it in the desired location.
 It can be a cylindrical robot providing movement in
horizontal, vertical and rotational axes.
Pick and Place Robot

81. Working of a Basic Pick & Place Robots

85. 
Advantages of Pick and
Place robot
 Pick and place robots are accurate
 They are flexible and have the appropriate design
 They increase the safety of the working environment
and actually never get tried.
 Pick and place robots are faster

86. 
 Defence
 Industrial
 Fast assembly
 Inspection and quality control
Application of Pick and
Place robots

87. 
 Palletization is used to store (or) transport goods that
have been placed upon a pallet and then ship it as a
unit load.
 It is easy because it allows the use of mechanical
equipment to move large weights.
Palletization

88. 
 Restack empty pallets
 Use vision to locate product
 Tier sheets, toss in a bin (or) put in a rack
 Depalletize cases, bags, bundle trays pallets and their
sheets.
 Vision can teach on the fly for products that have
never been introduced before making system more
flexible.
Features of palletization

89. 
 Space saving
 Safety and stability
 Reduced cycle time
 Optimization of the economic process value
 Flexible production easily adapted to new products
 High load carrying capacity and range of handling
systems
Advantages of
palletizing

90. Robots in Palletization

92. 
Depalletizing
 Removing in sequence material which have been
arranged on a pallet
 A depallatizer machine is any machine that can
breakdown pallet
 Motion controls robotics provides depalletizing
systems for manufacturing and distribution facilities
that perform depalletizing operation.
 Depalletizing can also be used to load a machine (or)
conveyor.

93. 
 Robot arc welding utilizes an electric arc between an
electrode and a metal base using either consumable
(or) non consumable electrode.
Application of robot in
arc welding

94. Robots in Arc Welding

96. 
Application of robot in
spot welding process
 Robot spot welding is a resistance welding process
that uses large electrical current to joint two (or)
more sheets of metal in a single location.

97. 
 Conserve materials
 Less time
 Operation safety
 Improved product quality
 Battery control over product operation
Advantages of robot in
spot welding process

98. Robots in Spot Welding

99. 
Application of robot in
Spray Painting
 In the spray coating method, a robot spray gun tool
is used to the paints on the metal workpiece (or)
wall.
 It is done automatically by the robotic system.

100. 
Robots in Spray Painting

101. Robots in Spray Painting

102. 
Advantages of robot in
Spray Painting
 Can be used for domestic use also
 Paints evenly distributed on all the surface
 Gives good accessibility
 Speedy painting process
 Controlled through remote

103. 
 Pipe industries
 Fabrication industries
 Automobile industries
Applications

104. 
 Collection of independent parts and assembled
together.
Application of robot in
Assembly

105. Robots in Line Assembly

107. Robots in Car Manufacturing

108. 
Advantages
 More savings
 Increased safety
 Reduced waste
 Shorter cycle operations
 Attract more customers
 Better floor space utilization
 Improved quality and reliability

109. Robots in Inspection

110. 
Advantages
 Robots are helping to reduce the time it takes to
conduct industrial inspections.
 Reducing the number of humans that must be
involved in the inspection process
 Improve safety by taking humans out of hazardous
environment.

111. Robots in Packing

112. 
Advantages
 Labour cost reduction
 Reduced part package time
 Ability to lift larger packages

113. Robots in Grinding operation

114. Robots in Work cell

115. 

116. 

117. 

118. 

119. 

120. 

121. 