Basic and brief overview of the Robotics and Automation industry. Includes parameters to look up to before selecting a robot.

1. Module:1
Introduction to Robotics &
Automation
Nagesh Shenoy
nagesh.shenoy9401@gmail.com
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2. 2
About
Robots today are making a
considerable impact on many aspects
of modern life, from industrial
manufacturing to healthcare,
transportation, and exploration of
deep space and sea.

3. Definitions
Robot
A robot is a reprogrammable,
multifunctional manipulator designed to
move material, parts, tools or specialized
devices through variable programmed
motions for the performance of a variety
of tasks
Robotics
Robotics is a branch of engineering that
involves the conception, design,
manufacture and operation of robots.
The objective of the robotics field is to
create intelligent machines that can assist
humans in a variety of ways
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4. Definitions Automation
Automation is termed as design engineering
philosophy that is directed towards
enhancing the automatic nature of a
machine process or other types of work.
Robotics & Automation
Automation is the process of using
technology to complete human tasks
whereas Robotics is the process of
developing robots to carry out a
particular function. Not all types of
automation use robots – and not all robots
are designed for process automation.
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5. Characteristics of Robotics
Intelligence
I
Sensing
S
Movement
M
Energy
E
A robot should be able sense
the environment and is only
possible through sensors.
A robot needs to be able to
move around its environment.
A robot needs to be able to
power itself.
A robot needs to be intelligent
and smart and that is only
possible through
programming.
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6. Principle of Robotics
Asimov’s 3 Laws of Robotics
Law l:
A robot may not injure a human being or through inaction, allow a human being to come to harm.
Law 2:
A robot must obey orders given to it by human beings, except where such orders would
conflict with the first law.
Law 3:
A robot must protect its own existence
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7. Need for Robotics
● To carry out dangerous work which human can't do
● To perform boring and repetitive work
● To carry out high precision and high speed work
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8. Subsystems
of
Robot
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9. 9
Motion Subsystem
The motion subsystem is the
physical structure of the
robot that carries out
desired motion similar to
human arms.

10. 11
Recognition
Subsystem
The recognition subsystem uses
various sensors to gather
information about the robot
itself, any object acted upon
and about the environment.
Based on the data it
recognizes robot’s state.

11. 12
Control Subsystem
The control subsystem
influences the robot
motion to achieve a given
task using the information
provided by the recognition
subsystem.
Reference image
https://commons.wikimedia.org/wiki/File:Servo_Motor.jpg

12. Robot
Specification
s
1. Payload
2. Reach
3. Repeatability
4. Accuracy
5. Resolution
6. Speed
7. DOF
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13. 1. Payload
The maximum amount of
weight the wrist of the robotic
arm can carry is known as
Payload of a Robot.
The weight of the tool should
also be considered with
workpiece while selecting
Robot.
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Reference Image
https://elearning.robotiq.com/enrol/index.php?id=13

14. 2. Reach
It is a measure how far a
robot can reach from its base
when it’s completely extended.
The combination of inner and
outer reach of the robot in all
directions defines the
workspace of that robot.
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Reference Image https://aradmin.en.made-in-china.com/product/rdeTpFDOZQAb/China-
Air6sc600-600mm-Reach-4-Axis-Robot-Scara-Robot-for-Pick-Place-for-Robotics-Arm-Food-
Picking-Placing.html

15. Reference image
https://blog.robotiq.com/what-are-accuracy-and-repeatability-in-industrial-robots
3. Repeatability & Accuracy
Repeatability of a robot is defined as
the ability of the robot’s TCP to
achieve the same range of points.
Accuracy for a robot is defined as the
difference obtained between actual
TCP position and desired position.
Repeatability is a relative term while
Accuracy is absolute.Mostly,
industries prefer Repeatability.
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TCP- Tool Centre Point

16. 4. Resolution
Resolution of a robot is
defined as the smallest
increment of movement
into which the robot can
divide its work volume
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Reference image
https://slideplayer.com/slide/6854012/

17. 5. Speed
Speed of a Robot can be
defined as how fast the
robot can position the end
of its arm.
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18. 6. DOF
Degree of freedom of a robot
can be described as the
number of independent
unconstrained motion a robot
can have.
Degree of Freedom for any
robot is given by the Grüblers
Formula.
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19. Classification
of
Robots
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20. Cartesian
When the arm of a robot
moves in a rectilinear mode,
that is, to the directions of x,
y, and z coordinates of the
rectangular right-handed
Cartesian coordinate system,
as shown in Figure, it is
called Cartesian or
rectangular type. The
associated robot is then
called Cartesian robot.
It provides an accurate
position of the end-
effector 21

21. Cylindrical
When the arm of a robot
possesses one revolute and two
prismatic joints, i.e., the first
prismatic joint of the Cartesian
type, the points that it can
reach conveniently be specified
by the cylindrical coordinates,
i.e., angle θ, height y, and radius
z, as in Figure. A robot with this
type of arm is termed as
cylindrical robot whose arm
moves, θ, y, and z, i.e., it has
base rotation, elevation, and
reach, respectively
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22. Spherical
When the arm of a robot
can change its configuration
by moving its two revolute
joints and one prismatic
joint, i.e., the second
prismatic joint along the
height y of the cylindrical
type is replaced by a
revolute joint with its axis
rotated by 90o about the
reach z-axis, the arm
position is conveniently
described by means of the
spherical coordinates, i.e., θ,
φ, and z. The arm is shown
in Figure, and is termed a
spherical or polar robot arm
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23. SCARA
SCARA acronym stands for
Selective Compliance
Articulated Robot Arm.Four axis
SCARA robot that consists of an
inner link that rotates about the
World Z-axis, connected to an
outer link that rotates about a Z
elbow joint, which in turn is
connected to a wrist axis that
moves up and down and also
rotates about Z.
SCARA robots provide consistent
reliable performance, repetitive
accuracy and are able to handle
heavy work loads and perform in
harsh environments.
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24. Articulated
When a robot arm consists
of links connected by
revolute joints only, i.e., the
third prismatic joint of the
spherical type is also
replaced by another
revolute joint with its axis
rotated by 90° about q-axis,
it is called articulated or
revolute jointed arm
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25. Based on Linkages
Serial Robot
Most manipulators take the form of an
arm consisting of a chain of links
connected end to end, or serially, such
manipulators are known as Serial Robot
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Parallel Robot
It is also possible to achieve an equivalent
motion by connecting the links side by side,
in parallel, such manipulators are known as
Parallel Robot

26. Some Application
of Robots
in the
Industry
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27. Machine Tending
● Machine tending is to
load and/or unload a
given machine with
parts or material.
● Currently,most of the
applications involving
machine tending are
done by humans.
● Companies are
introducing robots
into their workshops
to make up for the
lack of employees.
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28. Welding
● Industrial Robotic
Welding is by far the
most popular
application of robotics
worldwide.
● In fact, there is a
huge number of
products that require
welding operations in
their assembly
processes.
● In Automotive
industry welding
robots are extensively
used for Fabrication
of Car body Frame
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29. Assembly &
Inspection
● Compared to manual
inspection, automated
quality control offers
significant benefits
including: Improved
Product Quality,Reduced
Costs,Advanced Quality
Management.
● After the inspection if the
Quality of the product
meets the standards set by
the manufacturer, then
the parts are assembled.
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30. Metal Cutting
● Though mostly metal
cutting application are
performed on CNCs,
there are few processes
which cannot be
performed in CNCs.
Hence Robots are used
in such applications.
Eg. Deburring,
LASER cutting,
Grinding,Plasma
cutting.
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31. Painting
● Painting Robots are
increasingly employed
in the manufacturing,
construction, and
automotive industries.
● Painting robots are
majorly used in
Automotive industry to
paint the body of the
car.
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