This document provides an overview of robotics. It defines a robot as a machine that can perform complex actions automatically without human interference, while robotics is the branch of technology dealing with the design, construction, and application of robots. The document classifies robots based on mobility and discusses common types of industrial robots. It also describes the parts of a robot, different robot configurations, specifications, common tasks performed by robots, and popular robotics shopping websites.

1. ROBOTICS
Lecture 1
Prepared by : Yazen Hudhaifa

2. Difference between ‘’Robot ‘’ & ‘’Robotics’’
Robot : It is a machine that carries out a complex series of action
automatically or without human interference,
especially one has been programmed by computer.
Robotics : The branch of technology that deals with the design,
construction, operation, and application of robots.

3. General Classification of Robotics
We can subdivided robotics according to the mobility to :
Mobile Robot
Fixed or Stationery
Robot

4. Industrial Robot
An automatically controlled , reprogrammable , multipurpose manipulator
programmable in three or more axes, which can be either fixed in place or mobile
for use in industrial automation applications.
Most common Industrial Robotics :
FANUC : Handling Application (5kg to 1,350kg payload capabilities)
KUKA Robotics : KUKA is a Chinese-owned German manufacturer of industrial robots and
solutions for factory automation.
ABB : ABB Robotics focuses on creating high quality robots that are productive and reliable.

5. Associations of Robots
JIRA (Japanese Industrial Robot Association)
 Class1: Manual-Handling Device : operator actuated; multiple degrees of freedom.
 Class2: Fixed Sequence Robot : (hard to modify)
 Class3: Variable Sequence Robot : (easy-to-modify)
 Class4: Playback Robot : (records motions of human operator and then replicates)
 Class5: Numerical Control Robot : ( program instead of record motion)
 Class6: Intelligent Robot: (understand environment)

6. Associations of Robots
RIA (Robotics Institute of America)
 Variable Sequence Robot(Class3)
 Playback Robot (Class4)
 Numerical Control Robot (Class5)
 Intelligent Robot (Class6)

7. Associations of Robots
AFR (Association FranÇaise de Robotique)
Type A: Manual Handling Devices/ tele-robotics
Type B: Automatic Handling Devices/ predetermined cycles
Type C: Programmable, Servo controlled robot, continuous point-to-point
trajectories
Type D: Same type with C, but it can acquire information.

8. What are the parts of a robot?
•End Effectors
•Manipulator part
•Base
•Controller
•Power Source

9. Analogy with Human Arm
Anatomy Representation
Body Base
Chest Link
Shoulder Joint
Upper arm Link
Elbow Joint
Fore- Arm Link
Wrist Joint

10. Robots degrees of freedom
• Degrees of Freedom: Number of independent position variables which
would has to be specified to locate all parts of a mechanism.
• In most manipulators this is usually the number of joints.
• Tow types or Joints ( Revolute (Rotation ) , Prismatic (linear))
Specifically, the ability to move forward and backward, up and down,
and to the left and to the right.

11. Robot Configuration
1- Cartesian Robot (Gantry Robot )
Movement : 3P
- The robot move linearly in
Three axes ( X,Y ,Z) without any rotation.
- Work space : Rectangular
- Example : IBM RS-1 Robot
Cartesian Robot

12. Robot Configuration
2- Cylindrical Robot
Movement : R2P
- The robot has two linear Joints and one rotation.
- Work space : Cylindrical Shape
- Example : GMF’s M-14 Robot
Cylindrical Robot

13. Robot Configuration
3- Spherical Robot
Movement : 2RP
- The robot has two revolute Joints
and one prismatic.
- Work space : Spherical Shape
- Example : Unimate 2000, Maker - 110
Polar Robot

14. Robot Configuration
4- Jointed Arm Robot
Movement : 3R
- The robot has three rotations.
- Work space : Irregular Shape
- Example : Cincinnati Milacron T3
Articulated Robot

15. Robot Configuration
4- SCARA robot
Movement : 2RP
- The robot has two horizontal and parallel
revolute Joints with one prismatic up and down.
- Work space : Cylindrical
Degrees of Freedom : 3-6
SCARA Robot

16. Robot Configuration video

17. Robot specification
1- Payload: the rated load carrying capacity of an industrial robot is defined by its
weight of the object or the tool held by the gripper.
2- Repeatability: the accuracy of the robot to repeat the predefined position
repeatedly. Estimated error should be adjusted through the software .
3- Precision: the reach of a position is defined by the resolution of the actuators and
feed back systems. The robot precision is given in terms of length units.
4- Reach: the lengths of the lengths of the robot links which is useful to determine
the work envelop.

18. What tasks can the robot do ?
• Material handling
• Material transfer
• Machine loading and/or unloading
• Spot welding
• Continuous arc welding
• Spray coating
• Assembly
• Inspection

19. Common websites of robotics shopping
• RobotShop: http://www.robotshop.com/uk/
(Founded in 2003, they specialize in robotics technology and offer a wide range of
products and services in this sector. We operate globally and our head office is
located in Mirabel, Quebec, Canada.)
• ACTIVE ROBOT : http://www.active-robots.com/
• Robot Worx : https://www.robots.com/
(RobotWorx focuses on quality automation solutions at a lower price. Throughout
the years, we have provided high-quality customized integration for a large variety
of robotic applications. We offer new or reconditioned industrial robots, work cells
and parts.)