ppt robot classification working and spesific uitilities of robot by chetan yadav mechanical 4th sem igec sagar mp.

1. SEMINAR TOPIC:
GUIDED BY: SUBMITTED TO:
SUBMITTED BY:
Prof. R.S.S. Rawat Prof.
R.S.S.RAWAT
ROBOT CLASSIFICATION,WORKING
AND SPESIFIC UTILITY OF ROBOTS
CHETAN YADAV
0601ME111018

2. ROBOT CLASSIFICATION,WORKING AND SPESIFIC UTILITY OF ROBOTS

3. Robotics
Sections:
1. Introduction
2. Elements of Robots
3. Classification of Robots
4. Utility of Robot
5. Advantages
6. Disadvantages

4. Robot Defined
 A robot is a reprogrammable,
multifunctional manipulator designed
to move material, parts, tools, or
specialized devices through variable
programmed motions for the
performance of a variety of tasks.

5. Working of Robot and it’s Elements
A Robot is a system, consists of the following
elements, which are integrated to form a whole:
 Manipulator / Rover : This is the main body of the
Robot and consists of links, joints and structural
elements of the Robot.
 End-effector : This is the part that generally
handles objects, makes connection to other
machines, or performs the required tasks.
It can vary in size and complexity from a end
effector on the space shuttle to a small gripper.

6. Robot Elements
 Actuators : Actuators are the muscles of the
manipulators. Common types of actuators are
servomotors, stepper motors, pneumatic cylinders etc.
 Sensors : Sensors are used to collect information about
the internal state of the robot or to communicate with
the outside environment. Robots are often equipped
with external sensory devices such as a vision system,
touch and tactile sensors etc which help to communicate
with the environment
 Controller : The controller receives data from the
computer, controls the motions of the actuator and
coordinates these motions with the sensory feedback
information.
Controller

7. CLASSIFICATION
:
 DEGREES OF
FREEDOM: ROBOT
ARM

ROBOT WRIST.

8. ARM
GEOMETRY:
Cylindrical
Spherical
Cylindrical
CLASSIFICATION
Spherical

9. CLASSIFICATION:
POWER
SOURCES:
ELECTRICAL
HYDRAULIC
INTELLLIGENCE LEVEL:
LOW
TECHNOLOGY(NONSERVO)
HIGH-TECHONOLOGY(SERVO).
SERVO
battery
RADIOIS0TOPE THERMOELECTRIC
GENERATOR

10. 1.Preprogrammable
2 . Man controlled
3.Intelligent Robots
CLASSIFICATION:
Man controlled
Intelligent Robots

11. Cartesian/Rectangular Gantry(3P) :
These Robots are made of 3 Linear
joints that orient the end effector,
which are usually followed by
additional revolute joints.
CLASSIFICATION:

12. CLASSIFICATION:
Cylindrical (R2P): Cylindrical
coordinate Robots have 2
prismatic joints and one
revolute joint.

13. CLASSIFICATION:
Spherical joint (2RP): They
follow a spherical coordinate
system, which has one linear and
two rotationary coordinates.

14. CLASSIFICATION:
Articulated/anthropomorphic(
3R) :An articulated robot’s
joints are all revolute, similar
to a human’s arm.

15. CLASSIFICATION:
Selective Compliance Assembly
Robot Arm (SCARA) (2R1P): They
have two revolute joints that are
parallel and allow the Robot to
move in a horizontal plane, plus an
additional prismatic joint that
moves vertically.

16. Degrees of Freedom
Degrees of Freedom
refer to the
movement range
available for a
given piece of
equipment within
three dimensions.
©Emil Decker, 2009

17. Robot Classification:
Degrees of Freedom
Diagram courtesy: Dr. Eberhard Bamberg Assistant Professor of Mechanical Engineering University of Utah
©Emil Decker, 2009

18. Robot Classification:
The six degrees of a
rigid body are
often described
using nautical
terms:
Moving up and down
(heaving);
Moving left and right
(swaying); ©Emil Decker, 2009

19. Robot Classification:
Moving forward and
backward
(surging);
Tilting forward and
backward
(pitching);
Turning left and right
(yawing);
Tilting side to side
(rolling). ©Emil Decker, 2009

20. DEGREES OF FREEDOM (CONTD.)
 THE THREE DEGREES OF FREEDOM LOCATED IN THE ARM OF A ROBOTIC
SYSTEM ARE:
 THE ROTATIONAL REVERSE: IS THE MOVEMENT OF THE ARM ASSEMBLY ABOUT A
ROTARY AXIS, SUCH AS LEFT-AND-RIGHT SWIVEL OF THE ROBOT’S ARM ABOUT A
BASE.
 THE RADIAL TRAVERSE: IS THE EXTENSION AND RETRACTION OF THE ARM OR THE
IN-AND-OUT MOTION RELATIVE TO THE BASE.
 THE VERTICAL TRAVERSE: PROVIDES THE UP-AND-DOWN MOTION OF THE ARM OF
THE ROBOTIC SYSTEM.
 THE THREE DEGREES OF FREEDOM LOCATED IN THE WRIST, WHICH BEAR
THE NAMES OF AERONAUTICAL TERMS, ARE
 PITCH OR BEND: IS THE UP-AND-DOWN MOVEMENT OF THE WRIST.
 YAW: IS THE RIGHT-AND-LEFT MOVEMENT OF THE WRIST.
 ROLL OR SWIVEL: IS THE ROTATION OF THE HAND.

22. POWER SOURCES
 THE FOUR POWER SOURCES USED IN CURRENT ROBOTS ARE:
 ELECTRIC: ALL ROBOTS USE ELECTRICITY AS THE PRIMARY SOURCE OF ENERGY.
 ELECTRICITY TURNS THE PUMPS THAT PROVIDE HYDRAULLIC AND PNEUMATIC PRESSURE.
 IT ALSO POWERS THE ROBOT CONTROLLER AND ALL THE ELECTRONIC COMPONENTS AND
PERIPHERAL DEVICES.
 IN ALL ELECTRIC ROBOTS, THE DRIVE ACTUATORS, AS WELL AS THE CONTROLLER, ARE
ELECTRICALLY POWERED.
 BECAUSE ELECTRIC ROBOT DO NOT REQUIRE A HYDRAULIC POWER UNIT, THEY CONSERVE
FLOOR SPACE AND DECREASE FACTORY NOISE.
 NO ENERGY CONVERSION IS REQUIRED.
 PNEUMATIC: THESE ARE GENERALLY FOUND IN RELATIVELY LOW-COST
MANIPULATORS WITH LOW LOAD CARRYING CAPACITY.
 PNEUMATIC DRIVES HAVE BEEN USED FOR MANY YEARS FOR POWERING SIMPLE STOP-TO-
STOP MOTIONS.
 IT IS INHERENTLY LIGHT WEIGHT, PARTICULARLY WHEN OPERATING PRESSURES ARE
MODERATE.

23.  HYDRAULIC: ARE EITHER LINEAR POSITION ACTUATORS OR A ROTARY VANE
CONFIGURATION.
 HYDRAULIC ACTUATORS PROVIDE A LARGE AMOUNT OF POWER FOR A GIVEN
ACTUATOR.
 THE HIGH POWER-TO-WEIGHT RATIO MAKES THE HYDRAULIC ACTUATOR AN
ATTRACTIVE CHOICE FOR MOVING MODERATE TO HIGH LOADS AT REASONABLE
SPEEDS AND MODERATE NOISE LEVEL.
 HYDRAULIC MOTORS USUALLY PROVIDE A MORE EFFICIENT WAY OF ENERGY
TO ACHIEVE A BETTER PERFORMANCE, BUT THEY ARE EXPENSIVE AND
GENERALLY LESS ACCURATE.

24. INTELLIGENCE LEVEL
 THE INTELLIGENT CONTROL ROBOT IS CAPABLE OF PERFOMING SOME OF THE
FUNCTIONS
 AND TASKS CARRIED OUT BY HUMAN BEINGS.
 IT CAN DETECT CHANGES IN THE WORK ENVIRONMENT BY MEANS OF SENSORY
PERCEPTION.
 INTELLIGENT ROBOT IS EQUIPPED WITH A VARIETY OF SENSORS AND SENSOR
APPARATUS PROVIDING
 VISUAL (COMPUTER VISION) AND TACTILE (TOUCHING) CAPABILITIES TO RESPOND
INSTANTLY TO
 VARIABLE SITUATIONS.
 MUCH LIKE HUMANS, THE ROBOT OBSERVES AND EVALUATES THE IMMEDIATE
ENVIRONMENT BY
 PERCEPTION AND PATTERN RECOGNITION.

25. SPECIFIC UTILITY OF
ROBOTS
•Automobile
•Construction
•Entertainment
•Health care: hospitals, patient-
care, surgery , research, etc.
•Laboratories: science,
engineering , etc. •
•Manufacturing •Military:
demining, surveillance, attack,
etc.
•Mining, excavation, and
exploration •Transportation: air,
ground, rail, space,
Etc.
Entertainment
surgery

26. Industrial
applications:
•Material handling
•Material transfer
•Machine loading
and/or unloading
•Spot welding
•Continuous arc
welding
•Spray coating
•Assembly
•Inspection

27. Human Robot

29. Advantages of Robots
• Safety (human, machine and product)
• Can work in Hazardous environment
• Accuracy
• Repeatability
• No environmental comfort needed
• Continuous work without fatigue and boredom .
Disadvantages of Robots
• Unemployment ( major problem)
• Economic problem ( salary)
• Dissatisfaction and resentment among workers
• Lack capability to respond in emergencies
• Lack of decision making power
• Limitations ( DOFs, Dexterity, sensors, real time response etc.)
• High initial cost
• Need for periphirals, training, and programming