Day 01 Session:
Concepts of Industrial Robots, Applications of Robotics, Types of robots,
Configurations of robots – Articulated Robot, Polar configuration, SCARA,
Cartesian Co-ordinate Robot, Delta Robot, Key Components of Robot.
Day 02 Session:
Wrist configuration, Work Volume Degree of Freedom- Forward and Back, Up and Down, Left and Right,
Pitch, Yaw, Roll, Joint Notation & Type of joints in robot- Linear Joint (L Joint), Orthogonal Joint (O Joint),
Rotational Joint (R Joint), Twisting Joint (T Joint), Revolving Joint (V Joint)
End Effectors- Grippers, Tools, Types of grippers, Factors to be considered for Selecting a Gripper,
Robotic Drives- Electric Drive, Pneumatic Drive, Hydraulic Drive
Day 03 Session:
Robot Control systems-
• Point- to Point control Systems
• Continuous Path Control
• Intelligent control
• Controller Components
• System Control
Robotic Coordinate system using a robot
• Joint co-ordinate system
• Rectangular co-ordinate system
• User or object coordinate system
• Tool coordinate system.
Steps to define user co-ordinate system.
• Defining X, Y, Z co-ordinate system
• Verifying co-ordinate system by multiple motion movements.
Automation and Robotics Week 04 Theory Notes 20ME51I.pdfTHANMAY JS
Working with HMI software Tool
• Configure PLC with HMI
• Animation with graphical objects
• Animate objects on an HMI screen to
monitor motor status
• Trend the data of a process parameter
using a trend tool.
• Create user groups and monitor
screens with proper authentication.
• Use security features to do tag logging
and command execution
Automation and Robotics Week 03 Theory Notes 20ME51I.pdfTHANMAY JS
Day 01 Session:
Explain and demonstrate how to establish communication network with PLC systems using industry standard
communication protocols for data transfer
• Serial Communications
• ASCII Functions
• Parallel Communications
Day 02 Session:
Explain and demonstrate different types of networking architecture
Explain OSI model of networking
Networking hardware
Demonstrate TCP/IP Protocol, Introduction to IP Address, Subnet Mask,
Networking Devices, Network topology
Day 03 Session:
Industrial Automation Communication Protocols - RS232-422-485 standards
Network standards, Modbus, CAN bus, ControlNet, Ethernet, Profibus, FIP I/O, Static and Dynamic Routing
principle
Day 04 Session:
Concepts of Wireless Networking
Latest trends in PLC communication protocols.
Fundamental Parts and Characteristics of PLC communication Protocol
Demonstrate Peer to Peer (PLC to PLC) & PLC to PC Communication protocols
Automation and Robotics Week 02 Theory Notes 20ME51I.pdfTHANMAY JS
WEEK 02
Day 01 Session:
Recap and Practice PLC Ladder Diagram for Logic Gates, Timers, Counters
Day 02 Session:
Explain and Practice PLC Ladder Diagram for Compare, Jump and Subroutines
Explain and Practice PLC Ladder Diagram for Math Instructions and Shift Registers
Day 03 Session:
Explain and Practice PLC Program using Functional Block Diagram
Day 04 Session:
Explain and Practice PLC Program using Structural Text language
Automation and Robotics Week 01 Theory Notes 20ME51I.pdfTHANMAY JS
Identify the possibilities of automation in a production system Discuss Hierarchy of Industrial Automation,
Industrial Automation pyramid. Present an Overview on the Levels of Automation-
• Device level
• Machine Level
• Cell Level
• Plant Level
• Enterprise Level
Automation and Robotics Lab Manual 20ME51I.pdfTHANMAY JS
Automation and Robotics 20ME51I DTE C 20 Syllabus Programme Specialization Pathway
DTE 5th semester; DTE Karnataka C 20; 5th Semester Mechanical Engineering [General]
PLC Circuits; PLC Ladder Diagram; RSLogix 500; Identify the possibilities of automation in a production system; Select the Hardware components required for Automation and establish communication network by using industry standard protocol; Develop, simulate, interface and Execute an Automation system for a given Application; Develop, simulate, interface and Execute Robot Program for a specified process in an Automation system; Integrate HMI, SCADA and IIOT in an automation system
Automation and Robotics Week 04 Theory Notes 20ME51I.pdfTHANMAY JS
Working with HMI software Tool
• Configure PLC with HMI
• Animation with graphical objects
• Animate objects on an HMI screen to
monitor motor status
• Trend the data of a process parameter
using a trend tool.
• Create user groups and monitor
screens with proper authentication.
• Use security features to do tag logging
and command execution
Automation and Robotics Week 03 Theory Notes 20ME51I.pdfTHANMAY JS
Day 01 Session:
Explain and demonstrate how to establish communication network with PLC systems using industry standard
communication protocols for data transfer
• Serial Communications
• ASCII Functions
• Parallel Communications
Day 02 Session:
Explain and demonstrate different types of networking architecture
Explain OSI model of networking
Networking hardware
Demonstrate TCP/IP Protocol, Introduction to IP Address, Subnet Mask,
Networking Devices, Network topology
Day 03 Session:
Industrial Automation Communication Protocols - RS232-422-485 standards
Network standards, Modbus, CAN bus, ControlNet, Ethernet, Profibus, FIP I/O, Static and Dynamic Routing
principle
Day 04 Session:
Concepts of Wireless Networking
Latest trends in PLC communication protocols.
Fundamental Parts and Characteristics of PLC communication Protocol
Demonstrate Peer to Peer (PLC to PLC) & PLC to PC Communication protocols
Automation and Robotics Week 02 Theory Notes 20ME51I.pdfTHANMAY JS
WEEK 02
Day 01 Session:
Recap and Practice PLC Ladder Diagram for Logic Gates, Timers, Counters
Day 02 Session:
Explain and Practice PLC Ladder Diagram for Compare, Jump and Subroutines
Explain and Practice PLC Ladder Diagram for Math Instructions and Shift Registers
Day 03 Session:
Explain and Practice PLC Program using Functional Block Diagram
Day 04 Session:
Explain and Practice PLC Program using Structural Text language
Automation and Robotics Week 01 Theory Notes 20ME51I.pdfTHANMAY JS
Identify the possibilities of automation in a production system Discuss Hierarchy of Industrial Automation,
Industrial Automation pyramid. Present an Overview on the Levels of Automation-
• Device level
• Machine Level
• Cell Level
• Plant Level
• Enterprise Level
Automation and Robotics Lab Manual 20ME51I.pdfTHANMAY JS
Automation and Robotics 20ME51I DTE C 20 Syllabus Programme Specialization Pathway
DTE 5th semester; DTE Karnataka C 20; 5th Semester Mechanical Engineering [General]
PLC Circuits; PLC Ladder Diagram; RSLogix 500; Identify the possibilities of automation in a production system; Select the Hardware components required for Automation and establish communication network by using industry standard protocol; Develop, simulate, interface and Execute an Automation system for a given Application; Develop, simulate, interface and Execute Robot Program for a specified process in an Automation system; Integrate HMI, SCADA and IIOT in an automation system
Fundamentals of Automation Technology 20EE43P C-20 Lab Manual.pdfTHANMAY JS
For a given automation application select suitable pneumatic components and sensors.
Experiment 01: Electro pneumatics circuits for Direct Control of single acting cylinder
Experiment 02: Electro pneumatics circuits for In-Direct Control of single acting cylinder
Experiment 03: Electro pneumatics circuits for Direct Control of Double acting cylinder
Experiment 04: Electro pneumatics circuits for In-Direct Control of Double acting cylinder
Experiment 05: Electro pneumatics circuits for Control of Actuator using OR logic (Parallel circuit)
Experiment 06: Electro pneumatics circuits for Control of Actuator using AND logic (Series circuit)
Experiment 07: Electro pneumatics circuits for Automatic return of a Single acting cylinder
Experiment 08: Oscillation of double acting cylinder using proximity switches and Double Solenoid Sensors
Experiment 09: Control of double acting cylinder using pressure switch
Experiment 10: Control of double acting cylinder using delay timer
Section B
Demonstrate & control the Pneumatic actuators using pneumatic valves.
Experiment A: Conveyor belt with Oscillation motion
Experiment B: Latching circuit with a limit switch and Mechanical Position sensor
Experiment C: Simultaneous Transfer station Simulation Circuit
Experiment D: Multiple actuator circuit with direct control circuit
Experiment E: Stamping Circuit using Delay timer switch
Material handling (MH) makes use of the robot's simple capability to transport objects. By fitting the robot with an appropriate end of arm tool (e.g. gripper), the robot can efficiently and accurately move product from one location to another.
Robot is a Machine designed to execute one or more tasks automatically by means of variable programmed motions with high speed and precision.
Industrial robots have been used in car factories around the world for decades, but those in use today are more advanced than ever.
Car manufacturing robots give automotive companies a competitive advantage.
They improve quality and reduce warranty costs, increase capacity and relieve bottlenecks and protect workers from dirty, difficult and dangerous jobs.
Robots are an absolute necessity for car production companies in order to keep up with competitors due to extremely high demand, the complex nature of the product, and a lengthy assembly process.
There is a range of robotic applications within the automotive industry, and each application is responsible for making a specific process more accurate and efficient.
ommon motion systems use three types of control methods. They are position control, velocity control and torque control.
The majority of Newport’s motion systems use position control. This type of control moves the load from one known fixed position to another known fixed position. Feedback, or closed-loop positioning, is important for precise positioning.
Velocity control moves the load continuously for a certain time interval or moves the load from one place to another at a prescribed velocity. Newport’s systems use both encoder and tachometer feedback to regulate velocity.
Torque control measures the current applied to a motor with a known torque coefficient in order to develop a known constant torque. Newport’s motion systems do not employ this method of control.
Subject: Mechanical Engineering Measurement. (I-Scheme III Sem. Diploma in Mechanical Engg.)
Ch. no. 2. displacement, force & torque measurement.
Department of Mechanical Engg.
Babasaheb Phadtare Polytechnic, Kalamb-Walchandnagar.
Prepared by Prof. Amol Yashwant Kokare Sir
MODELING (mechanical) AND ANALYSIS OF ROBO-ARM FOR PICK AND PLACE OPERATION I...ijsrd.com
Robo- arm is assembly of number of joints which can work in 180 degree direction that allows the object to 'move' in its require direction, and is commonly used in mechanical industry where pick and place operation are carried out .It consists of a pair of hinges located close together, oriented at maximum 90° to each other, connected by a pin joint .Now, this project is based from ceramic industry in which the robo-arm perform its operation for pick and place activity very quickly. Here, I design the mechanical structure of robo-arm. Robo-arm can work at which places where, human can't work continuously in ceramic industry. For example at Furnace division .Robo-arm has its own end effectors. with the help of it, rob-arm can pick the object easily and safely. Basic design concept is taken from ceramic industry at the furnace division where, the working temperature is more than ambient temperature .With the help robo -arm we can save the time and cost, as compare to crane operated loading system and manual belt conveyor system, because robo-arm can place the component at particular place of the part storage area.
Fundamentals of Automation Technology 20EE43P C-20 Lab Manual.pdfTHANMAY JS
For a given automation application select suitable pneumatic components and sensors.
Experiment 01: Electro pneumatics circuits for Direct Control of single acting cylinder
Experiment 02: Electro pneumatics circuits for In-Direct Control of single acting cylinder
Experiment 03: Electro pneumatics circuits for Direct Control of Double acting cylinder
Experiment 04: Electro pneumatics circuits for In-Direct Control of Double acting cylinder
Experiment 05: Electro pneumatics circuits for Control of Actuator using OR logic (Parallel circuit)
Experiment 06: Electro pneumatics circuits for Control of Actuator using AND logic (Series circuit)
Experiment 07: Electro pneumatics circuits for Automatic return of a Single acting cylinder
Experiment 08: Oscillation of double acting cylinder using proximity switches and Double Solenoid Sensors
Experiment 09: Control of double acting cylinder using pressure switch
Experiment 10: Control of double acting cylinder using delay timer
Section B
Demonstrate & control the Pneumatic actuators using pneumatic valves.
Experiment A: Conveyor belt with Oscillation motion
Experiment B: Latching circuit with a limit switch and Mechanical Position sensor
Experiment C: Simultaneous Transfer station Simulation Circuit
Experiment D: Multiple actuator circuit with direct control circuit
Experiment E: Stamping Circuit using Delay timer switch
Material handling (MH) makes use of the robot's simple capability to transport objects. By fitting the robot with an appropriate end of arm tool (e.g. gripper), the robot can efficiently and accurately move product from one location to another.
Robot is a Machine designed to execute one or more tasks automatically by means of variable programmed motions with high speed and precision.
Industrial robots have been used in car factories around the world for decades, but those in use today are more advanced than ever.
Car manufacturing robots give automotive companies a competitive advantage.
They improve quality and reduce warranty costs, increase capacity and relieve bottlenecks and protect workers from dirty, difficult and dangerous jobs.
Robots are an absolute necessity for car production companies in order to keep up with competitors due to extremely high demand, the complex nature of the product, and a lengthy assembly process.
There is a range of robotic applications within the automotive industry, and each application is responsible for making a specific process more accurate and efficient.
ommon motion systems use three types of control methods. They are position control, velocity control and torque control.
The majority of Newport’s motion systems use position control. This type of control moves the load from one known fixed position to another known fixed position. Feedback, or closed-loop positioning, is important for precise positioning.
Velocity control moves the load continuously for a certain time interval or moves the load from one place to another at a prescribed velocity. Newport’s systems use both encoder and tachometer feedback to regulate velocity.
Torque control measures the current applied to a motor with a known torque coefficient in order to develop a known constant torque. Newport’s motion systems do not employ this method of control.
Subject: Mechanical Engineering Measurement. (I-Scheme III Sem. Diploma in Mechanical Engg.)
Ch. no. 2. displacement, force & torque measurement.
Department of Mechanical Engg.
Babasaheb Phadtare Polytechnic, Kalamb-Walchandnagar.
Prepared by Prof. Amol Yashwant Kokare Sir
MODELING (mechanical) AND ANALYSIS OF ROBO-ARM FOR PICK AND PLACE OPERATION I...ijsrd.com
Robo- arm is assembly of number of joints which can work in 180 degree direction that allows the object to 'move' in its require direction, and is commonly used in mechanical industry where pick and place operation are carried out .It consists of a pair of hinges located close together, oriented at maximum 90° to each other, connected by a pin joint .Now, this project is based from ceramic industry in which the robo-arm perform its operation for pick and place activity very quickly. Here, I design the mechanical structure of robo-arm. Robo-arm can work at which places where, human can't work continuously in ceramic industry. For example at Furnace division .Robo-arm has its own end effectors. with the help of it, rob-arm can pick the object easily and safely. Basic design concept is taken from ceramic industry at the furnace division where, the working temperature is more than ambient temperature .With the help robo -arm we can save the time and cost, as compare to crane operated loading system and manual belt conveyor system, because robo-arm can place the component at particular place of the part storage area.
Slide show demonstrating pick and place robot and its parts.
Also effects are implanted in the slide.
It can be helpful for students for academic projects.
Design and Analysis of Articulated Inspection Arm of RobotIJTET Journal
Nowadays Robot play a vital role in all the activities in human life including industrial needs. There is a definite trend in the manufacture of robotic arms toward more dexterous devices, more degrees of-Freedom, and capabilities beyond the human arm. The ultimate objective is to save human lives in addition to increasing productivity and quality of high technology work environments. The objective of this project is to design, analysis of a Generic articulated robot Arm. This project deals with the modeling of a special class of single-link articulated inspection arms of robot. These arms consist of flexible massless structures having some masses concentrated at certain points of hollow sections at the beam. Some aspects of the articulated Robot that are anticipated as useful are its small cross section and its projected ability to change elevation and maneuver over obstacle require large joint torque to weight ratios for joint actuation. A knuckle joint actions actuation scheme is described and its implementation is detailed in this project. The parts of the (AIA) arm are analyzed for deflection and stress concentration under loading conditions in different angles.
This is my internship report in Drona Automation, where I received tremendous opportunity as an Intern Design Engineer.
Over the course of the internship, I had cultivated and developed my engineering skills like idea generation, problem-solving, design/model/analysis of sewage robots, working with 3D printers, additive manufacturing, etc.
Robotics-Asimov's Laws, Mechanical Subsystems, Robot Kinematics, Robot Dynami...Sumanth A
A simple PPT on basics of Robotics. Used simple AI generated images.
Robotics-Asimov's Laws, Mechanical Subsystems, Robot Kinematics, Robot Dynamics, SENSORS AND VISION SYSTEMS, ROBOT CONTROL, RoboAnalyzer, Open Source Computer Vision (OpenCV), Positioning and Orientation, INTEGRATION OF ASSORTED SENSORS, MICRO CONTROLLERS AND ROS IN A ROBOTIC SYSTEM
Compliant mechanisms and its application in roboticsTanvi Verma
what are the compliant mechanisms.what are the design and manufacturing techniques. how is it different from rigid link mechanism. what are the applications of compliant mechanism in the field of robotics...
Fundamentals of Automation Technology 20EE43P Portfolio.pdfTHANMAY JS
Course Outcome:
CO01 Select a suitable sensor and actuator for a given automation application and demonstrate its use.
CO02 Install, test & control the pneumatic actuators using various pneumatic valves.
CO03 Develop ladder diagrams for a given application and explain its implementation using PLC.
CO04 Describe the concept of SCADA and DCS systems and list their various applications
Fundamentals of Computer 20CS11T Chapter 5.pdfTHANMAY JS
Chapter 05: INTRODUCTION TO COMPUTER PROGRAMMING
5.1 Basics of programming
• Algorithms and Flowcharts
• Basics
• Decision making
• Iterative
(With sufficient examples)
5.2 Programming Languages
• Generation of languages
• General concepts of variables and constants
Fundamentals of Computer 20CS11T Chapter 4.pdfTHANMAY JS
Chapter 04: INTRODUCTION TO COMPUTER ORGANIZATION & OPERATING SYSTEM
4.1 Introduction
• Overview of functional units of a computer
• Stored Program Concept
• Flynn's Classification of Computers
4.2 Memory Hierarchy
• Main memory
• Auxiliary memory
• Cache memory
4.3 Introduction to BIOS and UEFI
4.4 OS Concepts
• Overview
• Types (Batch Operating System, Multitasking/Time Sharing OS, Multiprocessing OS, Real Time OS, Distributed OS, Network OS, Mobile OS)
• Services
1.1 Introduction to number system.
• Decimal • Binary • Octal • Hexadecimal • Characteristics of each number system
1.2 Conversion from one number system to other
1.3 Complements of number systems and arithmetic operations
1.4 Computer codes (BCD, EBCDIC, ASCII Code, Gray code, Excess-3 code and Unicode)
1.5 Logic gates
1.6 Boolean algebra (rules, laws, De-Morgan Theorem, Boolean expressions and simplifications)
Solved Question Papers
Elements of Industrial Automation Week 09 Notes.pdfTHANMAY JS
Select a suitable Sensor / Switch for a given Process Variable and activate
• Selection of Sensor/Transducer – 10 Marks
• Activation and Result –20Marks
OR
Select a suitable motor for the given case and energize
• Selection of the Motor – 10 Marks
• Energize and Result – 20 Marks
Device and Simulate a ladder diagram for the given Case Study
• Writing Ladder Program –30 Marks
• Simulate and Troubleshoot –20 Marks
Elements of Industrial Automation Week 08 Notes.pdfTHANMAY JS
Select a suitable Sensor / Switch for a given Process Variable and activate
• Selection of Sensor/Transducer – 10 Marks
• Activation and Result –20Marks
OR
Select a suitable motor for the given case and energize
• Selection of the Motor – 10 Marks
• Energize and Result – 20 Marks
Device and Simulate a ladder diagram for the given Case Study
• Writing Ladder Program –30 Marks
• Simulate and Troubleshoot –20 Marks
Elements of Industrial Automation Week 07 Notes.pdfTHANMAY JS
Select a suitable Sensor / Switch for a given Process Variable and activate
• Selection of Sensor/Transducer – 10 Marks
• Activation and Result –20Marks
OR
Select a suitable motor for the given case and energize
• Selection of the Motor – 10 Marks
• Energize and Result – 20 Marks
Device and Simulate a ladder diagram for the given Case Study
• Writing Ladder Program –30 Marks
• Simulate and Troubleshoot –20 Marks
Elements of Industrial Automation Week 06 Notes.pdfTHANMAY JS
Select a suitable Sensor / Switch for a given Process Variable and activate
• Selection of Sensor/Transducer – 10 Marks
• Activation and Result –20Marks
OR
Select a suitable motor for the given case and energize
• Selection of the Motor – 10 Marks
• Energize and Result – 20 Marks
Device and Simulate a ladder diagram for the given Case Study
• Writing Ladder Program –30 Marks
• Simulate and Troubleshoot –20 Marks
Elements of Industrial Automation Week 05 Notes.pdfTHANMAY JS
Select a suitable Sensor / Switch for a given Process Variable and activate
• Selection of Sensor/Transducer – 10 Marks
• Activation and Result –20Marks
OR
Select a suitable motor for the given case and energize
• Selection of the Motor – 10 Marks
• Energize and Result – 20 Marks
Device and Simulate a ladder diagram for the given Case Study
• Writing Ladder Program –30 Marks
• Simulate and Troubleshoot –20 Marks
Elements of Industrial Automation Week 04 Notes.pdfTHANMAY JS
Select a suitable Sensor / Switch for a given Process Variable and activate
• Selection of Sensor/Transducer – 10 Marks
• Activation and Result –20Marks
OR
Select a suitable motor for the given case and energize
• Selection of the Motor – 10 Marks
• Energize and Result – 20 Marks
Device and Simulate a ladder diagram for the given Case Study
• Writing Ladder Program –30 Marks
• Simulate and Troubleshoot –20 Marks
Elements of Industrial Automation Week 03 Notes.pdfTHANMAY JS
Select a suitable Sensor / Switch for a given Process Variable and activate
• Selection of Sensor/Transducer – 10 Marks
• Activation and Result –20Marks
OR
Select a suitable motor for the given case and energize
• Selection of the Motor – 10 Marks
• Energize and Result – 20 Marks
Device and Simulate a ladder diagram for the given Case Study
• Writing Ladder Program –30 Marks
• Simulate and Troubleshoot –20 Marks
Elements of Industrial Automation Week 02 Notes.pdfTHANMAY JS
Select a suitable Sensor / Switch for a given Process Variable and activate
• Selection of Sensor/Transducer – 10 Marks
• Activation and Result –20Marks
OR
Select a suitable motor for the given case and energize
• Selection of the Motor – 10 Marks
• Energize and Result – 20 Marks
Device and Simulate a ladder diagram for the given Case Study
• Writing Ladder Program –30 Marks
• Simulate and Troubleshoot –20 Marks
Elements of Industrial Automation Week 01 Notes.pdfTHANMAY JS
Select a suitable Sensor / Switch for a given Process Variable and activate
• Selection of Sensor/Transducer – 10 Marks
• Activation and Result –20Marks
OR
Select a suitable motor for the given case and energize
• Selection of the Motor – 10 Marks
• Energize and Result – 20 Marks
Device and Simulate a ladder diagram for the given Case Study
• Writing Ladder Program –30 Marks
• Simulate and Troubleshoot –20 Marks
Fundamentals of Automation Technology 20EE43P C-20 Lab Manual SCADA.pdfTHANMAY JS
1.Meaning of SCADA
-Functions of each component of SCADA system,
-Describe SCADA Hardware and software
-Applications of SCADA.
Experiment 01: Moving of Object from one Place to Another
Experiment 02: Filling up of Tank
Experiment 03: Lighting a Bulb
Experiment 04: Starting of Fan
Elements of Industrial Automation 20ME43P C-20 Lab Manual.pdfTHANMAY JS
Experiment 01: Activation of Various Output Indicator Elements using Push buttons
Experiment 02: Activation of Indicator Light by series and Parallel switches
Experiment 03: Activation of Indicator Light by Coil activated Contact Switch
Experiment 04: Activating Indicator light using Circuit with Coil latch and Coil Unlatch
Experiment 05: Activation of Indicator light by Delay timer circuit
Experiment A: Control of double acting cylinder using Proximity sensors and Proximity Switch
Experiment B: Control of double acting cylinder using delay on and off timer and counter
Experiment C: Execute energized motor using Switches in Series or Parallel Circuit
Experiment D: Execute energized motor using Switches in Latching Circuit
Experiment E: Execute energized motor using Switches in Sequential O/P
Experiment F: Delay Control of Motors using Timer function
Experiment G: Control of Motors using Relay contact
Experiment H: Indirect Control of Forward and Reverse motion in Motor
Experiment I: Direct Control of Forward and Reverse motion in Motor
Product Design and Development 20ME43P C-20 Lab Manual.pdfTHANMAY JS
Product Development and Design:
1. Explain Product Development-Stages of Product Development-Need and Feasibility study
2. Explain Development of design-Selection of Materials and Process
3. Explain Protype –launching of product –Product life cycle
General consideration in design Based on:
• Functional requirement
• Effect on environment
• Life, Reliability, Safety
• Principles of Standardization
• Assembly Feasibility
• Maintenance-Cost-Quantity
• Legal issues and Patents
• Aesthetic and Ergonomic factors
• Choice of Materials
• Feasibility of Manufacturing Processes
Aesthetic and Ergonomic consideration in Design:
• Explain Aesthetic considerations-Basic types of product forms, designing for appearance, shape, Design features, Materials, Finishes, proportions, Symmetry Contrast etc.
• Morgan’s color code.
• Ergonomic considerations-Relation between man, machine and environmental factors.
• Design of displays and controls.
“Case Study on Ergonomics and Aesthetic design principles”.
Torsion of Shaft:
1. Assumptions in Shear stress in a shaft subjected to torsion –Strength and Rigidity (Solid and Hollow shaft)
2. Power Transmitted by Solid and Hollow shaft - ASME and BIS Code for power Transmission
3. Problems on Shafts subjected to only Shear based on Rigidity and Strength
Validate the Problems on Shafts for Strength and Rigidity using Ansys (One each on Strength and Rigidity)
1. Problems on Shafts subjected to only Shear based on Rigidity and Strength
2. Problems on Shaft subjected to only Bending
3. Problems on Shaft subjected to only Bending
Practice on Section of Solids
a) Prisms
b) Pyramid
1. Problems on Shaft subjected to combined Shear and Bending.
2. Problems on Shaft subjected to combined Shear and Bending
3. Problems on Shaft subjected to combined Shear and Bending
Practice on Section of Solids
a) Cylinder
b) Cone
Springs:
1. Classification of springs- Application of springs- Leaf springs –Application
2. Terminology of Helical spring-Materials and Specification of springs
3. Design of helical spring
Sections on Simple Machine Elements (CAD)
a) Sectional front view, Front view with Right half in Section, Front view with Left half in Section
b) Sectional Top View
c) Sectional Side View
Coupling:
i. Design of Muff coupling
ii. Design of Protected type Flange Coupling
iii. Design of Knuckle Joint
Using CAD, prepare Part Models for Muff coupling based on designed parameter and assemble the same.
Extract the Sectional views for the above machine element indicating Surface Texture and Bill of Materials
3D Printing
1. Introduction, Process, Classifications, Advantages of additive over conventional Manufacturing, Applications, Modeling for Additive Manufacturing
2. Additive Manufacturing Techniques, 3D Printing Materials and its forms, Post Processing Requirement and Techniques.
3. Product Quality, Inspection and Testing, Defects and their causes, Additive Manufacturing Application Domains
Preparation of 3D Printer for printing – Modeling, S
Operation “Blue Star” is the only event in the history of Independent India where the state went into war with its own people. Even after about 40 years it is not clear if it was culmination of states anger over people of the region, a political game of power or start of dictatorial chapter in the democratic setup.
The people of Punjab felt alienated from main stream due to denial of their just demands during a long democratic struggle since independence. As it happen all over the word, it led to militant struggle with great loss of lives of military, police and civilian personnel. Killing of Indira Gandhi and massacre of innocent Sikhs in Delhi and other India cities was also associated with this movement.
2024.06.01 Introducing a competency framework for languag learning materials ...Sandy Millin
http://sandymillin.wordpress.com/iateflwebinar2024
Published classroom materials form the basis of syllabuses, drive teacher professional development, and have a potentially huge influence on learners, teachers and education systems. All teachers also create their own materials, whether a few sentences on a blackboard, a highly-structured fully-realised online course, or anything in between. Despite this, the knowledge and skills needed to create effective language learning materials are rarely part of teacher training, and are mostly learnt by trial and error.
Knowledge and skills frameworks, generally called competency frameworks, for ELT teachers, trainers and managers have existed for a few years now. However, until I created one for my MA dissertation, there wasn’t one drawing together what we need to know and do to be able to effectively produce language learning materials.
This webinar will introduce you to my framework, highlighting the key competencies I identified from my research. It will also show how anybody involved in language teaching (any language, not just English!), teacher training, managing schools or developing language learning materials can benefit from using the framework.
How to Make a Field invisible in Odoo 17Celine George
It is possible to hide or invisible some fields in odoo. Commonly using “invisible” attribute in the field definition to invisible the fields. This slide will show how to make a field invisible in odoo 17.
Model Attribute Check Company Auto PropertyCeline George
In Odoo, the multi-company feature allows you to manage multiple companies within a single Odoo database instance. Each company can have its own configurations while still sharing common resources such as products, customers, and suppliers.
Students, digital devices and success - Andreas Schleicher - 27 May 2024..pptxEduSkills OECD
Andreas Schleicher presents at the OECD webinar ‘Digital devices in schools: detrimental distraction or secret to success?’ on 27 May 2024. The presentation was based on findings from PISA 2022 results and the webinar helped launch the PISA in Focus ‘Managing screen time: How to protect and equip students against distraction’ https://www.oecd-ilibrary.org/education/managing-screen-time_7c225af4-en and the OECD Education Policy Perspective ‘Students, digital devices and success’ can be found here - https://oe.cd/il/5yV
How to Create Map Views in the Odoo 17 ERPCeline George
The map views are useful for providing a geographical representation of data. They allow users to visualize and analyze the data in a more intuitive manner.
Unit 8 - Information and Communication Technology (Paper I).pdfThiyagu K
This slides describes the basic concepts of ICT, basics of Email, Emerging Technology and Digital Initiatives in Education. This presentations aligns with the UGC Paper I syllabus.
The Roman Empire A Historical Colossus.pdfkaushalkr1407
The Roman Empire, a vast and enduring power, stands as one of history's most remarkable civilizations, leaving an indelible imprint on the world. It emerged from the Roman Republic, transitioning into an imperial powerhouse under the leadership of Augustus Caesar in 27 BCE. This transformation marked the beginning of an era defined by unprecedented territorial expansion, architectural marvels, and profound cultural influence.
The empire's roots lie in the city of Rome, founded, according to legend, by Romulus in 753 BCE. Over centuries, Rome evolved from a small settlement to a formidable republic, characterized by a complex political system with elected officials and checks on power. However, internal strife, class conflicts, and military ambitions paved the way for the end of the Republic. Julius Caesar’s dictatorship and subsequent assassination in 44 BCE created a power vacuum, leading to a civil war. Octavian, later Augustus, emerged victorious, heralding the Roman Empire’s birth.
Under Augustus, the empire experienced the Pax Romana, a 200-year period of relative peace and stability. Augustus reformed the military, established efficient administrative systems, and initiated grand construction projects. The empire's borders expanded, encompassing territories from Britain to Egypt and from Spain to the Euphrates. Roman legions, renowned for their discipline and engineering prowess, secured and maintained these vast territories, building roads, fortifications, and cities that facilitated control and integration.
The Roman Empire’s society was hierarchical, with a rigid class system. At the top were the patricians, wealthy elites who held significant political power. Below them were the plebeians, free citizens with limited political influence, and the vast numbers of slaves who formed the backbone of the economy. The family unit was central, governed by the paterfamilias, the male head who held absolute authority.
Culturally, the Romans were eclectic, absorbing and adapting elements from the civilizations they encountered, particularly the Greeks. Roman art, literature, and philosophy reflected this synthesis, creating a rich cultural tapestry. Latin, the Roman language, became the lingua franca of the Western world, influencing numerous modern languages.
Roman architecture and engineering achievements were monumental. They perfected the arch, vault, and dome, constructing enduring structures like the Colosseum, Pantheon, and aqueducts. These engineering marvels not only showcased Roman ingenuity but also served practical purposes, from public entertainment to water supply.
Automation and Robotics Week 08 Theory Notes 20ME51I.pdf
1. Vidya Vikas Educational Trust (R),
Vidya Vikas Polytechnic
27-128, Mysore - Bannur Road Alanahally, Alanahally Post, Mysuru, Karnataka 570028
Prepared by: Mr Thanmay J.S, H.O.D Mechanical Engineering VVETP, Mysore
WEEK08
Day 01 Session
Concepts of Industrial Robots
An industrial robot is an autonomous system of sensors, controllers, and actuators on an articulated
frame that executes specific functions and operations in a manufacturing or processing line. They operate
continuously through repetitive movement cycles as instructed by a set of commands called a program. These
machines minimize or eliminate the human factor to gain various advantages in processing speed, capacity,
and quality.
The main structure of an industrial robot is the arm. The arm is a structure made of links and joints.
Links are rigid components that move through space in the range of the robot. The joints, on the other hand,
are mechanical parts that connect two links while allowing translational (prismatic) or rotational (revolute)
movement. The configuration of these two components classifies the different types of industrial robots.
The most important part of the robot is the end-of-arm-tool (EOAT), or end effector. The EOAT is the
component that manipulates the product or process by moving or orienting. They perform special operations
such as welding, measuring, marking, drilling, cutting, painting, cleaning, and so on.
An industrial robot integrator supplies robotic systems that are made by an original equipment
manufacturer (OEM). A robot integrator, or “system” integrator, can provide a complete “turn-key” robotic
work cell with parts feeders, end effectors, and guarding to form a complete work cell. Robotic integrators
have a wider array of solutions since they can offer more products and represent more than one company for
each robot category.
Advantages of Industrial Robots
• Faster Rate of Production
• Higher Load Capacity
• Improved Safety
• Lower Operating Cost
• Better Repeatability and Precision
• High Accuracy
• Excellent Product Quality
• More Compact Production Area
2. Vidya Vikas Educational Trust (R),
Vidya Vikas Polytechnic
27-128, Mysore - Bannur Road Alanahally, Alanahally Post, Mysuru, Karnataka 570028
Prepared by: Mr Thanmay J.S, H.O.D Mechanical Engineering VVETP, Mysore
Applications of Robotics
a) Product Assembly: Industrial robots are widely used as assembly machines. They are suitable for highly
repetitive but precise tasks that are tedious for a human operator. Their end effectors are usually mechanical
grippers that pick, place, and orient small or large parts in quick succession. Sensors are optional and are
typically used for recalibrating the accuracy of the robot ‘s movements.
b) Non-Conventional Machining: Common non-conventional methods of machining include waterjet
cutting, laser cutting, abrasive jet machining, electric discharge machining (EDM), and plasma cutting. These
non-contact machining processes perform material removal by using highly concentrated streams of water,
light, electric charge, or another physical entity.
c) Palletizing and Depalletizing: Palletizing is the process of combining several individual products into a
single load for more efficient product handling, storage, and distribution. On the other hand, depalletizing is
the opposite: It is the disassembly of a palletized load. Both of these processes are labor-intensive and can
quickly become process bottlenecks. Robotic palletizers are used for their better product handling and cost-
efficiency. End effectors integrated into robotic palletizers are mechanical, pneumatic, and vacuum grippers
that operate by picking, orienting, and stacking items, similar to the operation of assembly machines.
d) Welding: Robotic welding systems are commonly seen in automotive manufacturing plants, but they are
also widely used in many high-volume metal fabrication processes. Increased market competitiveness
created the need for better product quality and higher operating rates. This, in turn, requires more accurate
and precise welding processes. The main advantage of using industrial robots in welding is better control of
different parameters such as current, voltage, arc length, filler feed rate, weld rate, and arc travel speed.
e) Painting and Coating: Painting and coating is a sensitive operation that requires highly accurate and
repeatable movements to create a layer with uniform thickness. On top of the required accuracy and
precision, painting involves working with potentially hazardous chemicals. Many pigments and solvents are
poisonous, and some can even create an explosive atmosphere. All these hazards are mitigated by using
industrial robots.
f) Grinding, Polishing, and Buffing: Grinding, polishing, and buffing are common secondary fabrication
processes used to improve the product's final appearance and surface properties. These processes involve
repetitive, oscillating motions of the abrasive or polishing material. A robotic arm can easily mimic this
simple movement of the tool.
g) Deburring: Another capability of modern industrial robots is deburring. This is a process where the robot
holds a rotating tool, usually a sanding drum, wire wheel, or carbide deburr tool, and follows a pre-
programmed path to deburr and smooth parts from casting or injection molding..
h) Machine Loading and Unloading: Machine loading and unloading take advantage of robotic systems'
high load capacity and mechanical advantage. Specific machine loading and unloading applications include
transferring large metal or plastic parts from casting, moulding, and forging processes to conveyor systems,
secondary processing stations, or loading machining centres with blanks for machining.
i) Inspection: Robotic inspection systems can use measuring devices such as optical sensors, proximity
sensors, force transducers, ultrasonic probes, and even complete machine vision systems to perform
inspection tasks on parts or assemblies. These machines are typically used to precisely measure the
dimensions of a product to maintain quality and consistency.
j) Sorting: Sorting processes utilize the simple pick and place capability and high-speed monitoring of
robotic systems. Visual sensors detect variations in size, colour, or shape. Upon detection of an odd item, a
robot is used to pick and reject the item. Common industries using robotic sorting systems are
pharmaceuticals and electronics.
3. Vidya Vikas Educational Trust (R),
Vidya Vikas Polytechnic
27-128, Mysore - Bannur Road Alanahally, Alanahally Post, Mysuru, Karnataka 570028
Prepared by: Mr Thanmay J.S, H.O.D Mechanical Engineering VVETP, Mysore
Types of Industrial robots
Industrial robots are classified according to their arm configuration. A robotic arm is composed of links and
joints. Varying the number and type of these two components yields robots with different configurations.
Below are the six types of industrial robots.
1) Cartesian Robot: A Cartesian robot is composed of three prismatic joints.
Thus, the tool is limited to linear motion at each axis but can still generate
circular moves through kinematic models that allow circular interpolation.
The name Cartesian is derived from the three-dimensional Cartesian
coordinate system, which consists of X, Y, and Z axes. Cartesian robots are
the simplest robotic system since their operation may only involve
translational movements. They are suitable for applications that only
require movement at right angles without the need for angular translations. Since one or two of a cartesian
robot’s prismatic joints can be supported at both ends, they can be built to handle heavier loads than other
robot types.
2) Polar Robot: Polar robots, also known as spherical robots, use the three-
dimensional polar coordinate system r, θ, and φ coordinate. Instead of having
a work envelope in the shape of a rectangular prism, polar robots have a
spherical range. Their range of motion has a radius equal to the length of the
link connecting the EOAT and the nearest revolute joint. This configuration
allows polar robots to have the farthest reach for a given arm length compared
to other robot types. The range of a polar robot can be further extended using a second link connected by a
prismatic joint. Because of their wide reach, polar robots are commonly used in machine loading applications.
3) Cylindrical Robot: As the name suggests, a cylindrical robot has a
cylindrical range of motion. This type consists of one revolute joint and two
prismatic joints. The revolute joint is located at the arm's base, allowing the
rotation of the links about the robot's axis. The two prismatic joints are used
for adjusting the radius and height of the robot’s cylindrical work envelope.
In compact designs, the prismatic joint used for adjusting the arm’s radius is
eliminated. This one revolute, one prismatic joint configuration is useful in
simple pick and place operations where the product feed is located only in one place.
4) Selective Compliant Articulated Robot Arm (SCARA): A SCARA is a
type of robot with an arm that is compliant or flexible in the horizontal or
XY-plane but rigid in the vertical direction or Z-axis. Its translational
movement on a single plane describes its “Selective Compliant”
characteristic. A SCARA has two links, two revolute joints, and a single
prismatic joint. The links and the base are connected by the revolute joints
oriented at the same axis. The prismatic joint is only for raising or lowering
the End effectors. The resulting work envelope of a SCARA is a torus. Its application is similar to that of a
cylindrical robot.
4. Vidya Vikas Educational Trust (R),
Vidya Vikas Polytechnic
27-128, Mysore - Bannur Road Alanahally, Alanahally Post, Mysuru, Karnataka 570028
Prepared by: Mr Thanmay J.S, H.O.D Mechanical Engineering VVETP, Mysore
5) Delta Robot: A delta robot consists of at least three links connected to
an End effector and a common base. The End effector is connected to the
links by three undriven universal joints. On the other hand, the base is
connected by either three prismatic or revolute-driven joints. The driven
joints work together to allow the End effector to have four degrees of
freedom. For designs using prismatic joints, a fourth link or shaft is
usually connected to the End effector to enable rotation. The End effector
of a delta robot can move along all Cartesian axes and rotate around the
vertical axis, resulting in a dome-shaped work envelope. The simultaneous action of the three driven joints
makes delta robots suitable for high-speed pick and place applications.
6) Articulated Robot or Anthropomorphic Robot: Articulated robots are
the most common robots used in manufacturing processes. They perform
more complex operations such as welding, product assembly, and
machining. End effectors are mounted on articulated robots are designed to
have a full six degrees of freedom. The robot arm consists of at least three
revolute joints. A fourth revolute joint can be added to the wrist of the arm
for rotating the End effector. Its work envelope is also spherical, similar to
that of the polar robot type.
Configurations of robots
There are six major types of robot configurations: Cartesian, Cylindrical, Spherical, Selective Compliance
Articulated Robot Arm (SCARA). Articulate, and Delta (Parallel).
Robot Configuration Explanation Common Uses
Cartesian
Has the robot’s tool moving in a linear motion along
each of the Cartesian coordinates (x, y, z).
3D printers
Cylindrical
Allows its tool to rotate around a central axis. The tool
can also move towards and away from the central
axis, plus up and down the central axis.
Assembly operations, handling
of machine tools and die-cast
machines, and spot welding.
Spherical
The tool motion created by this configuration sweeps
out a workspace shaped like a sphere. It has its tool
rotate around a central axis, and the tool can also
rotate around a second axis which is placed at a 90⁰
angle on the central axis.
Die casting, injection
moulding, welding, and
material handling.
Selective Compliance
Articulated Robot
Arm (SCARA)
Uses pivot points to allow its tool to move in a
combination of the Cartesian and the cylindrical
motions.
assembly and palletizing, bio-
medical applications.
Articulated
This type of robot is the most commonly pictured
when referring to an industrial robot. As a minimum,
it needs to have at least a shoulder joint, an elbow
joint, and a wrist joint.
Assembly, arc welding,
material handling, machine
tending, and packaging.
Delta (Parallel)
Can move the robot’s tool the fastest of all of the
robot configuration types. It uses parallel linkages to
allow its tool to quickly sweep out its workspace.
A Delta can nimbly and
quickly pick and place items in
a sorting task
5. Vidya Vikas Educational Trust (R),
Vidya Vikas Polytechnic
27-128, Mysore - Bannur Road Alanahally, Alanahally Post, Mysuru, Karnataka 570028
Prepared by: Mr Thanmay J.S, H.O.D Mechanical Engineering VVETP, Mysore
WEEK 8
Day 02 Session
Technical specification in Robotics
i. Accuracy: The robot's program instructs the robot to move to a specified point, it does not actually
perform as per specified. The accuracy measures such variance. That is, the distance between the
specified position that a robot is trying to achieve (programming point), and the actual X, Y and Z
resultant position of the robot end effector.
ii. Repeatability: The ability of a robot returns repeatedly to a given position. It is the ability of a robotic
system or mechanism to repeat the same motion or achieve the same position. Repeatability is is a
measure of the error or variability when repeatedly reaching for a single position. Repeatability is often
smaller than accuracy.
iii. Degree of Freedom (DOF): Each joint or axis on the robot introduces a degree of freedom. Each DOF
can be a slider, rotary, or other type of actuator. The number of DOF that a manipulator possesses thus
is the number of independent ways in which a robot arm can move. Industrial robots typically have 5
or 6 degrees of freedom.
Three of the degrees of freedom allow positioning in 3D space (X, Y, Z), while the other 2 or 3 are
used for orientation of the end effector (yaw, pitch and roll). 6 degrees of freedom are enough to allow
the robot to reach all positions and orientations in 3D space. 5 DOF requires a restriction to 2D space,
or else it limits orientations. 5 DOF robots are commonly used for handling tools such as arc welders.
iv. Resolution: The smallest increment of motion can be detected or controlled by the robotic control
system. It is a function of encoder pulses per revolution and drive (e.g. reduction gear) ratio. And it is
dependent on the distance between the tool center point and the joint axis.
v. Envelope: A three-dimensional shape, that defines the boundaries that the robot manipulator can
reach; also known as reach envelope.
vi. Reach: The maximum horizontal distance between the center of the robot base to the end of its wrist.
vii. Maximum Speed: A robot simultaneously moving with all joints in complimentary directions at full
speed with full extension. The maximum speed is the theoretical values which does not consider under
loading condition.
viii. Payload: The maximum payload is the amount of weight carried by the robot manipulator at reduced
speed while maintaining rated precision. Nominal payload is measured at maximum speed while
maintaining rated precision. These ratings are highly dependent on the size and shape of the payload
due to variation in inertia.
Wrist configuration
Roll- This is also called wrist swivel; this involves rotation of the wrist mechanism about the arm axis.
Pitch- It involves up & down rotation of the wrist. This is also called as wrist bend.
Yaw- It involves right or left rotation of the wrist.
6. Vidya Vikas Educational Trust (R),
Vidya Vikas Polytechnic
27-128, Mysore - Bannur Road Alanahally, Alanahally Post, Mysuru, Karnataka 570028
Prepared by: Mr Thanmay J.S, H.O.D Mechanical Engineering VVETP, Mysore
Robot Work Volume
The work volume is determined by the following physical characteristics of the robot:
• The robot’s physical configuration (type of joints, structure of links)
• The sizes of the body, arm, and wrist components
• The limits of the robot’s joint movements
Robot Degree of Freedom
Degree of freedom basically refers to the number of ways in which an object can move. Now, simply put,
there are 2 fundamental means of movement:
1. Translation
2. Rotation
Translation can be further broken down into 3 kinds of
movements:
• Forward - Backward
• Left - Right
• Up - Down
Rotation can also be further broken down into 3 kinds of
movements:
• Pitch
• Yaw
• Roll
Total there are 6 degrees of freedom.
Joint Notation & Type of joints in robot
The Robot Joints is the important element in a robot which helps the links to travel in different kind of
movements. There are five major types of joints such as:
1) Translational motion:
▪ Linear joint (type L)
▪ Orthogonal joint (type O)
2). Rotary motion:
▪ Rotational joint (type R)
▪ Twisting joint (type T)
▪ Revolving joint (type V)
Linear Joint: Linear joint can be indicated by the letter L –Joint. This
type of joints can perform both translational and sliding movements.
These motions will be attained by several ways such as telescoping
mechanism and piston. The two links should be in parallel axes for
achieving the linear movement.
7. Vidya Vikas Educational Trust (R),
Vidya Vikas Polytechnic
27-128, Mysore - Bannur Road Alanahally, Alanahally Post, Mysuru, Karnataka 570028
Prepared by: Mr Thanmay J.S, H.O.D Mechanical Engineering VVETP, Mysore
Orthogonal Joint: The O –joint is a symbol that is denoted for the
orthogonal joint. This joint is somewhat similar to the linear joint. The only
difference is that the output and input links will be moving at the right angles.
Rotational Joint: Rotational joint can also be represented as R –Joint. This
type will allow the joints to move in a rotary motion along the axis, which is
vertical to the arm axes.
Twisting Joint: Twisting joint will be referred as V –Joint. This joint
make twisting motion among the output and input link. During this process, the
output link axis will be vertical to the rotational axis. The output link rotates in
relation to the input link.
Revolving Joint: Revolving joint is generally known as V –Joint. Here, the
output link axis is perpendicular to the rotational axis, and the input link is
parallel to the rotational axes. As like twisting joint, the output link spins about
the input link.
Joint Notation Scheme
Uses the joint symbols (L, O, R, T, V) to designate joint types used to construct robot manipulator.
Separates body-and-arm assembly from wrist assembly using a colon (:)
Example: TLR: TR
Robot End Effectors
End effector are usually attached to the robot's wrist. The end effector enables the robot to accomplish a
specific task. Because of the wide variety of tasks performed by industrial robots, the end effector must usually
be custom-engineered and fabricated for each different application.
There are two categories of end effectors are grippers and tools.
1) Grippers: Grippers are end effectors used to grasp and manipulate objects during the work cycle. The
objects are usually Work parts that are moved from one location to another in the cell. Machine loading
and unloading applications fall into this category. Grippers must usually be custom designed to the variety
of part shapes, sizes, and weights. Types of grippers used in industrial robot applications include the
following:
8. Vidya Vikas Educational Trust (R),
Vidya Vikas Polytechnic
27-128, Mysore - Bannur Road Alanahally, Alanahally Post, Mysuru, Karnataka 570028
Prepared by: Mr Thanmay J.S, H.O.D Mechanical Engineering VVETP, Mysore
a) mechanical grippers: consisting of two or more fingers that can be actuated by the robot controller to
open and measure to grasp the work part.
b) vacuum grippers: In these suction cups are used to hold flat objects.
c) magnetized devices: Used for holding ferrous parts.
Mechanical grippers are the most common gripper type. Some of the innovations und advances in mechanical
gripper technology includes.
i. Dual grippers, consisting of two gripper devices in one end effector, which are useful for machine
loading and unloading.
ii. interchangeable fingers that can be used on one gripper mechanism. To accommodate different parts,
different fingers are attached to the gripper.
iii. Sensory feedback in the fingers that provide the gripper with capabilities such as; sensing the presence
of the work part or applying a specified limited force to the work part during gripping.
iv. Multiple fingered grippers that possess the general anatomy of a human hand.
v. Standard gripper products that are commercially available, thus reducing the need to custom-design a
gripper for each separate robot application.
2) Tools: Tools are used in applications where the robot must perform some processing operation on the
work part. The robot therefore manipulates the tool relative to a stationary or slowly moving object (e.g., work
part or subassembly). Examples of the tools used as end effectors by robots to perform processing applications
include:
a) spot welding gun
b) arc welding tool
c) spray painting gun
d) rotating spindle for drilling, routing. grinding, and so forth
e) assembly tool (e.g., automatic screwdriver)
f) heating torch
g) water jet cutting tool.
In each case, the robot must not only control the relative position of the tool with respect to the work as a
function of time, it must also control the operation of the tool. For this purpose. the robot must be able to
transmit control signals to the tool for starting, stopping, and otherwise regulating its actions.
Factors to be considered for Selecting a Gripper
9. Vidya Vikas Educational Trust (R),
Vidya Vikas Polytechnic
27-128, Mysore - Bannur Road Alanahally, Alanahally Post, Mysuru, Karnataka 570028
Prepared by: Mr Thanmay J.S, H.O.D Mechanical Engineering VVETP, Mysore
Robotic Drives- Electric Drive, Pneumatic Drive, Hydraulic Drive
Actuators drive the mechanical linkages and joints of a manipulator, which can be various types of motors
and valves. The energy for these actuators is provided by some power source such as hydraulic, pneumatic, or
electric. There are three major types of drive systems for industrial robots:
I. Hydraulic drive system
II. Pneumatic drive system
III. Electric drive system
1. Hydraulic Drive System: The most popular form of the drive system is the hydraulic drive system because
hydraulic cylinders and motors are compact and allow for high levels of force and power, together with
accurate control. These systems are driven by a fluid that is pumped through motors, cylinders, or other
hydraulic actuator mechanisms. A hydraulic actuator converts forces from high pressure hydraulic fluid into
the mechanical shaft rotation or linear motion. Hydraulic robots are preferred in environments in which the
use of electric drive robots may cause fire hazards, for example, in spray painting.
Advantages
• A hydraulic device can produce an enormous range of forces
• without the need for gears, simply by controlling the flow of fluid
• Preferred for moving heavy parts
• Preferred to be used in explosive environments
• Self-lubrication and self-cooling
• Smooth operation at low speeds
• There is need for return line
Disadvantages
• Occupy large space area
• There is a danger of oil leak to the shop floor
2. Pneumatic Drive System: Pneumatic drive systems are found in approximately 30 percent of today’s robots.
These systems use compressed air to power the robots. Because machine shops typically have compressed air
lines in their working areas, the pneumatically driven robots are very popular. These robots generally have
fewer axis of movement and can carry out simple pick-and-place material-handling operations, such as picking
up an object at one location and placing it at another location. These operations are generally simple and have
short cycle times. The pneumatic power can be used for sliding or rotational joints.
Advantages
• Less expensive than electric or hydraulic robots
• Suitable for relatively less degrees of freedom design
• Do not pollute work area with oils
• No return line required
• Pneumatic devices are faster to respond as compared to a hydraulic
• system as air is lighter than fluid
Disadvantages
• Compressibility of air limits control and accuracy aspects
• Noise pollution from exhausts
• Leakage of air can be of concern
10. Vidya Vikas Educational Trust (R),
Vidya Vikas Polytechnic
27-128, Mysore - Bannur Road Alanahally, Alanahally Post, Mysuru, Karnataka 570028
Prepared by: Mr Thanmay J.S, H.O.D Mechanical Engineering VVETP, Mysore
3. Electric Drive System: Electrical drive systems are used in about 20 percent of today’s robots. These
systems are servomotors, stepping motors, and pulse motors. These motors convert electrical energy into
mechanical energy to power the robot. Compared with a hydraulic system, an electric system provides a robot
with less speed and strength. Electric drive systems are adopted for smaller robots. Electrically driven robots
are the most commonly available and used industrial robots. There are three major types of electric drive that
have been used for robots:
a) Stepper Motors: These are used mainly for simple pick and place mechanisms where cost is more
important than power or controllability.
b) DC Servos: For the early electric robots, the DC servo drive was used extensively. It gave good power
output with a high degree of control of both speed and position.
c) AC Servos: In recent years, the AC servo has taken over from the DC servo as the standard drive.
These modern motors give higher power output and are almost silent in operation. As they have no
brushes, they are very reliable and require almost no maintenance in operation.
Advantages
• Good for small and medium size robots
• Better positioning accuracy and repeatability
• Less maintenance and reliability problems
Disadvantages
• Provides less speed and strength than hydraulic robots
• Not all electric motors are suited for use as actuators in robots
• Require more sophisticated electronic controls and can fail in high temperature, wet, or dusty
environments
11. Vidya Vikas Educational Trust (R),
Vidya Vikas Polytechnic
27-128, Mysore - Bannur Road Alanahally, Alanahally Post, Mysuru, Karnataka 570028
Prepared by: Mr Thanmay J.S, H.O.D Mechanical Engineering VVETP, Mysore
WEEK 8
Day 03 Session
Robot Control systems
The motions of a robot are controlled by a combination of software and hardware that is programmed by the
user. Robots are classified by control method into servo and non-servo robots.
1. Non-Servo Controlled Robots: Non-servo control is a purely mechanical system of stops and limit
switches, which are pre-programmed for specific repetitive movements. This can provide accurate control for
simple motions at low cost. The motions of non-servocontrolled robots are controlled only at their endpoints,
not throughout their paths. Non-servo robots are often referred as “endpoint,” “pick and place,” or “limited
sequence” robots. These robots are used primarily for materials transfer.
Characteristics of non-servo robots include:
• Relatively high speed possible due to smaller size of the manipulator
• These robots are low cost and simple to operate, program, and maintain
• These robots have limited flexibility in terms of program capacity and positioning capability
2. Servo Controlled Robots: Servo control system is capable of controlling the velocity, acceleration, and
path of motion, from the beginning to the end of the path. It uses complex control programs. These systems
use programmable logic controllers (PLCs) and sensors to control the motions of robots. They are more
flexible than non-servo systems, and they can control complicated motions smoothly. Sensors are used in
servo-control systems to track the position of each of the axis of motion of the manipulator. Servo controlled
robots are classified according to the method that the controller uses to guide the end-effector. These are:
• Point- to Point control Systems
• Continuous Path Control
• Intelligent control
• Controlled Path Robots
• System Control
(a) Point-to-Point Control Robot (PTP): A point-to-point robot is capable of moving from one discrete
point to another within its working envelope. During point-to-point operation the robot moves to a position,
which is numerically defined, and it stops there. The end effector performs the desired task, while the
robot is halted. When task is completed, the robot moves to the next point and the cycle is repeated. Such
robots are usually taught a series of points with a teach pendant. The points are then stored and played back.
Applications: Point-to-point robots are severely limited in their range of applications. Common applications
include:
• Component insertion
• Spot-welding
• Hole drilling
• Machine loading and unloading
• Assembly operations
(b) Continuous-path (CP) Control Robot: In a continuous-path robot, the tool performs its task, while
the robot (its axes) is in motion, like in the case of arc welding, where the welding pistol is driven along the
programmed path. All axes of continuous path robots move simultaneously, each with a different speed. The
12. Vidya Vikas Educational Trust (R),
Vidya Vikas Polytechnic
27-128, Mysore - Bannur Road Alanahally, Alanahally Post, Mysuru, Karnataka 570028
Prepared by: Mr Thanmay J.S, H.O.D Mechanical Engineering VVETP, Mysore
computer co-ordinates the speeds so that the required path is followed. The robot’s path is controlled by storing
a large number of spatial points in the robot’s memory during the teach sequence. During teaching, and while
the robot is being moved, the co-ordinate points in space of each axis are continually monitored and placed
into the control system’s computer memory. These are the most advanced robots and require the most
sophisticated computer controllers and software development. Applications: Typical applications include:
• Spray painting
• Finishing
• Gluing
• Arc welding operations
• Cleaning of metal articles
• Complex assembly processes
(c) Intelligent control robots: This type of robots not only programmable motion cycle but also interact
with its environment in a way that years intelligent. It taken make logical decisions based on sensor data
receive from the operation. There robots are usually programmed using an English like symbolic language not
like a computer programming language.
(d) Controlled-Path Robot: In controlled-path robots, the control equipment can generate paths of
different geometry such as straight lines, circles, and interpolated curves with a high degree of accuracy. Good
accuracy can be obtained at any point along the specified path. Only the start and finish points and the path
definition function must be stored in the robot's control memory. It is important to mention that all controlled-
path robots have a servo capability to correct their path.
(e) System Control Robots: Control systems help to control the movements and functions of the robot.
To understand the control system first we need to understand some terminologies used in robotics.
• State- output produce by a robotic system is known as a state. Normally we denote it by x, the state
depends on its previous states, stimulus (signals) applied to the actuators, and the physics of the
environment. The state can be anything pose, speed, velocity, angular velocity, force and etc.
• Estimate- Robots cannot determine the exact state x, but they can estimate it using the sensors attached
to them. These estimations are denoted with y. It is the responsibility of the robotic engineer to select
good enough sensors or to calibrate the sensors well, such that they can produce y ~ x.
• Reference- the goal state we wish to achieve, it is denoted using r.
• Error- the difference between the reference and estimate is known as error.
• Control Signal- the stimulus produces/output by the controller is known as the control signal, it is
denoted using u.
• Dynamics- it is also called as the system plant/system model, it denotes how the system will behave
under non-static conditions. Dynamics are affected by the environment that may change or not always
linear. For example, floor type (concrete/wood), the air drags, slope and etc.
It is always the key responsibility of the engineer to build a controller, that reacts and produces control
signal u, such that e~0 & x~r.
13. Vidya Vikas Educational Trust (R),
Vidya Vikas Polytechnic
27-128, Mysore - Bannur Road Alanahally, Alanahally Post, Mysuru, Karnataka 570028
Prepared by: Mr Thanmay J.S, H.O.D Mechanical Engineering VVETP, Mysore
Robotic Coordinate system using a robot
1. Joint co-ordinate system: This coordinate system determined by reference to
each moving joint. If the manipulator has six joints: J1 J2 J3 J4 J5 J6, all of which
are rotary joints. The positive rotation direction of each joint follows the right-
hand rule and the thumb points to the opposite direction of the output shaft of
each shaft motor
2. Rectangular co-ordinate system: These robots use the Cartesian
coordinate system (X, Y, and Z) for linear movements along the three axes
(forward and backward, up and down, and side to side). All three joints are
translational, which means the movement of the joint is restricted to going in
a straight line. This is why such robots are also called “linear” robots.
3. User or object or Work coordinate system: Work coordinates are
3-dimensional Cartesian coordinates defined for each operation space
of workpiece. The origin can be defined anywhere and as much as
needed. Work coordinates are expressed by the coordinate origin (X,
Y, Z) corresponding to the base coordinates and the angles of rotation
(RX, RY, RZ) around X, Y and Z axes of base coordinates. Up to
seven work coordinates can be defined and assigned work
coordinates. If work coordinates are not defined, base coordinates go
into effect.
4. Tool coordinate system: A tool mounting surface at the end of the robot arm
is called a flange. Three-dimensional Cartesian coordinates whose origin at
the center of the flange center are called mechanical interface coordinates.
The tool coordinates are 3-dimensional Cartesian coordinates whose origin
at the end of the tool mounted on the flange. Based on the origin of the
mechanical interface coordinates, the tool coordinates define the offset
distance components and axis rotation angles.
14. Vidya Vikas Educational Trust (R),
Vidya Vikas Polytechnic
27-128, Mysore - Bannur Road Alanahally, Alanahally Post, Mysuru, Karnataka 570028
Prepared by: Mr Thanmay J.S, H.O.D Mechanical Engineering VVETP, Mysore
Steps to define user co-ordinate system.
• Defining X, Y, Z co-ordinate system
The user coordinate system is related to the essential points of the technological process. A robot can work
with different fixtures or working surfaces having different positions and orientations. A user coordinate
system can be defined for each fixture. If all positions are stored in object coordinates, you will not need to
reprogram if a fixture must be moved or turned. By moving (translating or turning) the user coordinate system
as much as the fixture has been translated or turned, all programmed positions will follow the fixture and no
reprogramming will be required. The user coordinate system is defined based on the world coordinate system
Verification and Validation Methods for Robotic Coordinate Systems: Verification & validation of
robotic systems is a challenging problem due to their complex and interactive architectures. Successful
operations of robots are not only depending hardware and software components but also their interaction with
the environment. Robots are systems that contains both mechanical and electronic hardware components. For
the successful interaction with the environment, robots use sensors to perceive their environment and actuators
that enable them to make changes in the environment. According to these perceptions, algorithms determine
the appropriate action and activate the actuators. All these systems; hardware, software, and interaction with
the environment should be considered for Verification & validation. Assuming all hardware units are working
as expected, at least V&V process should apply to the software component including the interaction with the
environment.
Software Engineering standards known as IEEE-STD-610 defines “Verification” as a test of a system to prove
that it meets all its specified requirements at a particular stage of its development. On the other hand,
“Validation” is defined as an activity that ensures that an end product stakeholder’s true needs and expectations
are met. Verification and validation activities are typically performed at many different stages of development
process. Early-stage focusses more on verification activities like reviews and testing to check that the system
is being developed correctly. During final stage, validation activities are often mandatory to check that the
system provides its intended services.
15. Vidya Vikas Educational Trust (R),
Vidya Vikas Polytechnic
27-128, Mysore - Bannur Road Alanahally, Alanahally Post, Mysuru, Karnataka 570028
Prepared by: Mr Thanmay J.S, H.O.D Mechanical Engineering VVETP, Mysore
WEEK 08
Day 04 Session
Jogging Practice on robot with different coordinate systems
RoKiSim 1.7: Robot Kinematics Simulator
Dear Students
RoKiSim is a free multi-platform educational software tool for 3D simulation of serial six-axis
robots developed at the Control and Robotics Lab of the École de technologie supérieure (Montreal,
Canada).
The user can jog the virtual robot in either its joint space or the Cartesian space (with respect to the
tool frame, the base frame, or the world frame), show the various reference frames and visualize all possible
robot configurations (solutions of the inverse kinematics) for a given pose of the end-effector. Orientations
can be represented in any of several common Euler angle conventions (such as those used by FANUC
Robotics, KUKA Robotics, Adept Technology), as well as in unit quaternions (used by ABB Robotics).
The RoKiSim package comes with several popular industrial robot models as well as with seven end-
effector tools. It is relatively easy to add new robot models, and quite trivial to add new end-effector tools (in
ASCII STL format). The package also comes with simulations of the three types of robot singularities (wrist,
elbow and shoulder) for some of the robot models. A simulation consists of an ASCII file with a *.sim
extension, containing a sequence of numerical values for the six articular variables, and another ASCI file
with an *rks extension, specifying the robot and its tool.
The robot simulation software also comes with the ability to import object geometries and place them
in the robot environment. An object must be defined in an ASCII STL file or an SLP file (same as STL format
but allows a different color for each facet). A set consisting of a robot, an end-effector tool, objects and their
poses with respect to the robot's base frame, a simulation file, as well as the choice of language and Euler
angle convention can be saved as a station. An example of such a station is provided with the package. The
software package also comes with the possibility to jog the robot in Cartesian mode using a Wii Motion Plus
controller. Finally, RoKiSim can be interfaced with other software (e.g., Matlab) using internal socket
messaging IP address 127.0.0.1, and port 2001.
Download address:
https://www.parallemic.org/RoKiSim.html#:~:text=RoKiSim%20is%20a%20free%20multi,sup%C3%A9rie
ure%20(Montreal%2C%20Canada).
With Regards
THANMAY J S
16. Vidya Vikas Educational Trust (R),
Vidya Vikas Polytechnic
27-128, Mysore - Bannur Road Alanahally, Alanahally Post, Mysuru, Karnataka 570028
Prepared by: Mr Thanmay J.S, H.O.D Mechanical Engineering VVETP, Mysore
User Screen Controls
Once you have selected your preferred robot model, Euler angle convention, menu language, and, optionally,
an end-effector, objects and a simulation, you can save them as default by selecting the option "Save as default
station" in the File menu.
Changing the view orientation
• Rotate: press the left mouse button while dragging the mouse.
• Pan: press Ctrl + the left mouse button while dragging the mouse.
• Zoom: press Shift + the left mouse button while dragging the mouse or use the mouse wheel button.
Playing simulations
To load a simulation, press Ctrl+D. Then, use the simulation panel at the bottom of the RoKiSim window (the
visibility of this panel can be toggled by pressing F4) or the following shortcuts:
• ↓: starts the simulation that has already been loaded.
• ↑: stops the simulation and brings the robot to its home configuration.
• →: stops the simulation and advances one step forward.
• ←: stops the simulation and advances one step backward.
Screen Panel Control
F2 for the Robot control panel, F3 for the Objects panel, and F4 for the Simulation panel
17. Vidya Vikas Educational Trust (R),
Vidya Vikas Polytechnic
27-128, Mysore - Bannur Road Alanahally, Alanahally Post, Mysuru, Karnataka 570028
Prepared by: Mr Thanmay J.S, H.O.D Mechanical Engineering VVETP, Mysore
Simple Steps to Jog the Robot
Step 01: Select any Robot and Select Front View for Initial Position
Step 02: Slect Either Joint Jog or Cartician Jog for Setting the Tool to the required position
Step 03: Change to Left or Right-side view and use Joint Jog or Cartician Jog for Setting the Tool to the
required position
18. Vidya Vikas Educational Trust (R),
Vidya Vikas Polytechnic
27-128, Mysore - Bannur Road Alanahally, Alanahally Post, Mysuru, Karnataka 570028
Prepared by: Mr Thanmay J.S, H.O.D Mechanical Engineering VVETP, Mysore
WEEK 08
Day :05 Session
Developmental Weekly Assessment + Industry Assignment
WEEK 08
Day 06 Session
Industry Class on interfacing of Robots with peripheral devices + Industry Assignment