INTRODUCTION TO ROBOTICS

1. Robotics and Automation
Control
SHILPA JAGADAL
LECTURER
B.L.D.EA’S SSM POLYTECHNIC
VIJAYAPUR

2. ROBOTICS
• It is ability to perform on its own, going to the
extent of unmanning several operations.
• To relieve man from tedious and mindless,
repetitive and hazardous jobs.
• Robotics in Inter dispilnary field of study

3. Prothesis

4. cs

5. Locomotive device
• Locomotive
Robot series

6. Laws of Robotics

7. Functions of ROBOT
• SENSING
• Decision Making
• Performing

8. Difference between ROBOT and
Automated Machine
• Automation: the machine produces a job
following a set of operational jobs at different
times. Different sequence can be addressed
by programming.

10. Advantages and disadvantage
• ?????

11. Types of Robots
• General Purpose
• Special purpose
welding,spray painting
Telerobot
Mobile robot
Autonomous robot
Androids

13. Basic Components of Robots
• BASE
• MANIPULATOR ARM
• END EFFECTORS
• ACTUATORS AND TRANSMISSION
• CONTROLLER
• SENSORS

16. End effector
• Gripping methods
1.Mechanical clamping
2.Magnetic gripping
3.Vacuum gripping

17. Actuators and Transmission
• Pneumatic drives
• Hydraulic drives
• Electrical drives

18. Pneumatic drives

19. Hydraulic drives

20. Piezoelectric Actuators
http://www.robotplatform.com/knowledge/actuators/types_of_actuators.html

21. Non tactile sensors
• Contactless sensors
1.Proximity sensors
2.Electro-optical sensors
3.Range imaging sensors

22. Basic Motions
There are 6 motions
1.Vertical motion
2.Radial motion
3.Rotational motion
4.Pitch motion
5.Roll motion
6.yaw

23. Basic components of
Microprocessor based robotic
system

24. Six axes

25. Robot Classification
• Standard classification
• Broad classification
• General classification

26. Standard Classification
• Mechanical configuration based
It considers various joints, links, physical
structure of robot and relation to each other.
1.Cartesian coordinate configuration
2.Cylindrical configuration
3.Spherical configuration
4.Jointed-arm configuration (Revolute)

27. • Control method based
it considers the type of techniques implement to
control the robot. i.e;
1.Non Servo controlled ,
2. Servo controlled

28. Cartesian coordinate config.
• Cartesian or rectilinear
robot also called as gantry
robot, has three mutually
perpendicular axes which
defines a rectangular work
volume.
• Links of manipulator are
constrained to move in
linear motion. (Prismatic)
• Cartesian coordinates may
be of two types.
(1)Cantilevered Cartesian
(2)Gantry-style Cartesian

29. Cylindrical Config.
• Arm move up and
down
• Arm move radially w.r.t
The column.
Θ=360 not permitted
Due to h,e,p connections or
lines.

30. Spherical (polar)configuration
• It has telescopic arm,
which pivots about a
horizontal axis and also
rotates about a vertical
axis.
• Work envelope of such
robot is a portion of
sphere due to
mechanical and
actuators connections.

31. Range of spherical coordinate
robot

32. Jointed-arm configuration
(Revolute)
• Most resembles a
human arm.
• Consists series of links
connected by rotary
joints which are
referred as
• Shoulder, arm, wrist
joints.
Pure spherical,
parallelogram sph,
cylinderical

33. Control Classification
• Non servo controlled
(limited sequence robots,
end point robots, pick and
place or bang bang robots)
• Controlled by setting
mechanical stops or limit
switches to establish end
points to travel of each
joints
• Servo controlled robots
Subdivided-
continues path (CP)
point to point (PTP)
Info abt position and velocity
monitored and fed back to
control system.
Control system control the
movements.

34. Mechanical Inaccuracies
• Results from the various
errors that can occur in
a robot construction.
These includes gear,
backlash, stretching of
pulley cords, leakage of
fluids or material and
structural
imperfections.
• Such errors degrade the
overall accuracy of the
robot. And are
magnified when the
arm is fully extended.

35. Broad Classification
• Programmable/Reprogrammable general purpose robots
• Tele-operated, Man controlled robots or man-in-the-loop
manipulator
• Intelligent Robot

36. General Classification
• Special purpose robots • General Purpose robot
They can be
- Non-servo controlled
- Servo controlled
- Sensory robots