This document discusses various ways to classify robots. It describes classifications based on kinematics/movement, energy sources, certifying bodies, industrial vs non-industrial use, movement, technology level, and job/task. Some key classifications mentioned include Cartesian, cylindrical, and spherical coordinates; electrical, hydraulic, pneumatic and mechanical power sources; levels from various robotics associations; static vs dynamic movement; and low, medium, and high technology levels. The document suggests there are many ways to categorize robots depending on their intended functions.

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Mechanical Engineering Department
Bharati Vidyapeeth (Deemed to be University)
College of Engineering, Pune
Elective III Industrial Automation & Robotics

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

3. Course Objectives
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• To inculcate the basic concepts, parts of robots and types of
robots.
• To make student familiar with the various drive systems for
robots, sensors and their applications in robots and
programming languages of robots.
• To create manpower for working on robot.

4. Teaching Plan
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Date:26/02/2021,
08/03/2021
Lecture By,
Mr. Mahavir Beldar
(Assistant Professor)
Mechanical Engineering Department
Bharati Vidyapeeth (Deemed to be University)
College of Engineering, Pune
Unit No. 4 Sensors and End-Effectors in Robotics
Course Outcome:
After Successful completion of this course, the student will be able to select
suitable sensor & end-effector for different robotic applications
Lecture-1 & 2: Uses of Sensors in Robotics,
type of sensors in robot systems, non-optical
and optical position sensors, LVDT, Proximity
sensors.

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19. Working
CASE I When the core is at null position (for no
displacement) When the core is at null position then the
flux linking with both the secondary windings is equal so
the induced emf is equal in both the windings. So for no
displacement the value of output Vout is zero as V1 and
V2 both are equal. So it shows that no displacement took
place.
CASE II When the core is moved to upward of null
position (For displacement to the upward of reference
point) In the this case the
flux linking with secondary winding S1 is more as
compared to flux linking with S2. Due to this V1 will be
more as that of V2. Due to this output voltage Vout is
positive.
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20. •CASE III When the core is moved to downward of
Null position (for displacement to the downward of
reference point). In this case magnitude of V2 will
be more as that of V1. Due to this output Vout will
be negative and shows the output to downward of
reference point.
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24. Rotary Optical
Encoder
• Incremental Encoder
• Absolute Encoder
An encoder is an electrical mechanical device that converts linear or rotary
displacement into digital or pulse signals. The most popular type of encoder is the
optical encoder, which consists of a rotating disk, a light source, and a photo
detector (light sensor)

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1) Incremental Encoder
-Output is a pulse signal that is generated when the transducer disk
rotates as a result of the motion that is being measured.
-Displacement, however, is obtained with respect to some reference
point on the disk, as indicated by a reference pulse (index pulse)
generated at that location on the disk. The index pulse count determines
the number of full revolutions.

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2) Absolute Encoder
The output of an absolute encoder indicates the current shaft position, making it an
angle transducer.

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Binary
Code
Gray Code
000 000
001 001
010 011
011 010
100 110
101 111
110 101
111 100
Binary to Gray Code Conversion

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79. Thank You !
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https://slideplayer.com/slide/14167398/

92. BASED ON KINEMATICS COORDINATE
(MOVEMENT)
• Work space can be defined as space that
robot manipulate (MOVE)
• a) Cartesian Coordinate /Movement (x,y,z)
• b) Cylindrical Movement(Ø, r, z)
• c)Spherical Movement(Ø, R, Ø)
• d)SCARA Movement(Ø, Ø, Z)
• e)Revolute Movement(Ø, Ø, Ø)

93. BASED ON ENERGY SOURCES
• It is the energy source that makes the actuator
or robot joint to move.
• Normally there is four categories :
1) Electrical Robot
2) Hydraulic Robot
3) Pneumatic Robot
4) Mechanical Robot

94. BASED ON AUTHORITY BODY
• Japan Industrial Robot Association (JIRA)
– divide into 6 class.
• Robotics Institute of America (RIA)
–divide into 4 class (only consider class 3-6
as robots )
• Association Francaise de Robotique (AFR)
–divide into 4 class ( A to D )

95. BASED ON INDUSTRIAL / NON INDUSTRIAL
• Non industrial robot
use in home,school,field, for
personal,education, army,medical,hobby,
showcase and promote
• Industrial robot
in manufacturing, welding, cutting, formatting,
assembling, heavy works,painting

96. BASED ON MOVEMENT
• The robot classification based on movement
can be divided into two class :
1. Static Robot (still)
2. Dynamic Robot (moving)

97. BASED ON TECHNOLOGY
• This classification same as computer
.
• According to the level of technology used.
• The factor are number of axes, payload, cycle
time, accuracy, control and actuation.
• The tree levels of technology are :
1. Low level technology
2. Medium level technology
3. High level technology

98. BASED ON JOB OR TASK
There is various job or task that can be done by a robot such as :
1. Bomb destroyer
2. Searching and communicate
3. Searching victim in disaster
4. Seaching for Information - temperature - enemy - on planet Mars
5. Simple assembling – push, pull
6. Lifting and place
7. Entertain/ Hobby/ Friend/ to serve ( waiter) / player
8. Observe and guard (security guard)
9. Assembling line in manufacturing
There is many ways to categorize the robot .
Some are based on job or task.
Some are based on work