Introduction to Robotics Unit 1

1. 1
Industrial Robotics
Lecture - 1
CHAPTER 1: Introduction
By
Prof. Punit Kumar
Department of Mechanical Engineering
National Institute of Technology Kurukshetra,

2. 2
Automation
&
Robotics

3. 3
What is an automated
system ?
It reduces human effort in production
of goods and services and hence,
increases:
Productivity
Quality

4. 4
Types of Automation

5. 5
Fixed Automation
•The sequence of operations is fixed
by the equipment configuration
•High initial cost for custom-
engineered equipment
•High production rates
•Relatively inflexible in
accommodating product variety

6. 6
Programmable Automation
•The sequence of operations can be
changed according to product
configuration using a program of
instructions
•High investment for general purpose
equipment
•Lower production rates
•Flexible in accommodating product
variety
•Most suitable for batch production

7. 7
Flexible Automation
•Capability to produce variety of products
with almost no time loss in changeover
•High investment for custom-engineered
equipment
•Continuous production of variable
mixture of products
•Medium production rates
•Flexibility to deal with product design
variations

8. 8
Definition of Robot
A robot is a software controlled
mechanical device that uses sensors
to guide one or more end-effectors
through programmed motions in a
workspace so as to manipulate
physical objects

9. 9
Robot Classification

10. 10
On the Basis of Drive
Technologies
Electric
Hydraulic
Pneumatic

11. 11
On the Basis of Work Envelope
Geometry
Workspace is defined as the locus of all
those points in 3D space which can be
reached by the wrist of the robot
•Major Axes: Axes of first 3 joints used
for positioning the wrist
•Minor Axes: Axes of other joints used
for orienting the tool

12. 12
The particular combination of revolute
and prismatic joints for the three major
axes determine the geometry of work
envelope
Types of Robot Joints

13. 13
Industrial Robotics
Lecture - 2
Introduction
By
Prof. Punit Kumar
Department of Mechanical Engineering
National Institute of Technology Kurukshetra,

14. 14
Robot Work Envelopes Based On
Major Axes

15. 15
Cartesian (P-P-P)

16. 16
Cylindrical (R-P-P)

17. 17
Spherical (P-R-P)

18. 18
SCARA (R-R-R)

19. 19
Articulated (R-R-R)

20. 20
On the Basis of Motion Control
Method

21. 21
Robot Applications

22. 22
Material handling
Spot welding
Arc welding
Spray painting & finishing
Mechanical assembly
Electronic assembly
Material removal
Inspection and testing
Water jet cutting

23. 23
Robot Specifications

24. 24

25. 25
Number of Axes
6- Axes Robot :General manipulator
Redundant axes may be used for:
Reaching around obstacles
Avoiding undesirable geometric configurations

26. 26
Capacity and Speed
Load carrying capacity & maximum tool
tip speed can vary widely
For example
Minimover 5 Microbot : 2.2 kg
GCA-XR6 Extended Reach: 4928 kg
Westinghouse Series 4000: 92 mm/s
Adept One SCARA: 9000 mm/s

27. 27
More Meaningful Measure of Speed
Cycle time: It is the time required to perform
a periodic task, eg, Pick-and-Place operation
Adept One SCARA carrying 2.2 kg payload
LONG A 700 mm path has cycle time of
0.9s.
Thus, avearge speed is 778 mm/s << 9000
mm/s (max. speed)

28. 28
Reach & Stroke

29. 29
Industrial Robotics
Lecture - 3
Introduction
By
Prof. Punit Kumar
Department of Mechanical Engineering
National Institute of Technology Kurukshetra,

30. 30
Tool Orientation
Spherical Wrist: All the axes for tool
orientation intersect at a point

31. 31
Repeatability, Precision & Accuracy

32. 32

33. 33
Operating Environment
Harsh Environment Robots
Material handling
Spray painting
Welding
Clean Room Robots
Silicon wafer handling

34. 34
CHAPTER 2
Coordinate
Transformations

35. 35
Coordinates of a Point

36. 36
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37. 37
Coordinates wrt UVW

38. 38
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39. 39
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40. 40
 .
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41. 41
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