This document discusses robots and automation. It defines a robot as a reprogrammable device that moves parts or tools to perform tasks. The main parts of a robot are described as the control system, sensors, actuators, power supply, and end effectors. The four basic robot configurations are Cartesian, cylindrical, polar, and jointed-arm. Robots can have point-to-point or continuous path control and are powered by hydraulic, electric, or pneumatic systems with various end effectors like grippers or tools. Industrial applications of robots include material handling, processing, assembly, and inspection. Advantages are increased productivity, safety, and consistency while disadvantages include lack of emergency response and limited capabilities.

1. CAD/CAM AND AUTOMATION
UNIT:6
ROBOTICS AND AUTOMATION

2. INTODUCTION
ROBOT
• Robots are devices that are programmed to
move parts, or to do work with a tool.
• Defined by Robotics Industry Association (RIA) as
– a re-programmable, multifunctional manipulator designed
to move material, parts, tools or specialized devices
through variable programmed motion for a variety of
tasks.

3. ROBOT ANATOMY

4. Main Parts of a Robot
• Control System
• Sensors
• Actuators
• Power Supply
• End Effectors

5. Types of joints
(a) Linear joint (type L joint) , (b) orthogonal joint (type O joint ) (c) Rotational joint
(type R joint ) (d) Twisting joint ( type T joint) (e) revolving joint (type V joint)

6. Robot Physical Configuration
Four basic configurations are
1. Cartesian configuration
2. Cylindrical configuration
3. Polar configuration
4. Jointed-arm configuration

7. Workspace
• Depending on the configuration and size of
the links and wrist joints, robots can reach a
collection of points called a Workspace.

8. Cartesian configuration
Work space: rectangular/cube

9. Cylindrical configuration
Work space: cylinder

10. Polar configuration
Work space: spherical

11. Jointed-arm configuration
Work space: like human arm

12. Basic Robot Motions
Six basic motions or degrees of freedom
• Three arm and body motions and
• Three wrist motions

13. Basic Robot Motions
Arm and body motions
1. Vertical traverse: Up and down motion of the arm, caused by
pivoting the entire arm about a horizontal axis or moving the arm
along a vertical slide.
2. Radial traverse: extension and retraction of the arm (in and out
movement)
3. Rotational traverse: rotation about the vertical axis (right or left
swivel of the robot arm)
Wrist Motion
4. Wrist swivel: Rotation of the wrist
5. Wrist bend: Up or down movement of the wrist, this also involves
rotation movement.
6. Wrist yaw: Right or left swivel of the wrist.

14. Motion system
• Point-to-point (PTP) control robot
• Continuous-path (CP) control robot

15. Point-to-point (PTP) control robot
• Capable of moving from one point to another
point
• Do not control the path to get from one point
to the next point.
• Application:
component insertion, spot welding, hole
drilling, machine loading and unloading

16. Continuous-path (CP) control robot
• Robot can stop at any specified point along
the controlled path.
• All the points along the path must be stored
in the robot’s control memory. Typical
Applications:
spray painting, finishing, gluing, and arc
welding operations.

17. Types Of Drive Systems
• There are three basic drive system used in
commercially available robots:
1. Hydraulic drive
2. Electric drive
3. Pneumatic drive

18. Cont..
1. Hydraulic drive:
• Gives a robot great speed and strength.
• These systems can be designed to actuate
linear or rotational joints.
• It occupies floor space in addition to that
required by the robot.

19. Cont...
2. Electric drive
• Compared with a hydraulic system, an electric
system provides a robot with less speed and
strength.
• Adopted for smaller robots.
• More accurate, exhibit better repeatability,
and are cleaner to use.

20. Cont..
3. Pneumatic drive
• Used for smaller robots.
• Suitable for simple pick-and-place material
handling operations.

21. End Effectors
• In the terminology of robotics, end effectors
can be defined as a device which is attached
to the robots wrist to perform a specific task.
• The end effectors are the special purpose
tooling which enables the robot to perform a
particular job
• End effectors have two categories:
grippers and tools.

22. Grippers
• are generally used to grasp and hold an object
and place it at a desired location.
Grippers can be classified as
• Mechanical grippers
• Vacuum or suction cups
• Magnetic grippers
• Adhesive grippers
• Hooks,
• Scoops, and so forth.

23. Cont..

24. Cont..

25. Tools
• A robot is required to manipulate a tool to
perform an operation on a work part. Here the
tool acts as end-effectors.
• Spot-welding tools, arc-welding tools, spray
painting nozzles, and rotating spindles for
drilling and grinding are typical examples of
tools used as end-effectors.

26. ROBOT APPLICATIONS
Need to replace human labour by robots:
• Work environment hazardous for human beings
• Repetitive tasks
• Boring and unpleasant tasks
• Multi shift operations
• Infrequent changeovers
• Operating for long hours without rest
• Responding in automated operations

27. Industrial Robot Applications
• Material-handling applications
• Processing Operations
• Assembly Applications
• Inspection Operations

28. Advantages of Robots
• Robotics and automation can, in many situation, increase productivity,
safety,
efficiency, quality, and consistency of Products
• Robots can work in hazardous environments
• Robots need no environmental comfort
• Robots work continuously without any humanity needs and illnesses
• Robots have repeatable precision at all times
• Robots can be much more accurate than humans, they may have milli or
micro inch
accuracy.
• Robots and their sensors can have capabilities beyond that of humans.
• Robots can process multiple stimuli or tasks simultaneously, humans can
only one.
• Robots replace human workers who can create economic problems.

29. Disadvantages of Robots
• Robots lack capability to respond in emergencies, this can cause:
Inappropriate and wrong responses
A lack of decision-making power
A loss of power
Damage to the robot and other devices
Human injuries
• Robots may have limited capabilities in
Degrees of Freedom
Sensors
Vision systems
Real-time Response
• Robots are costly, due to
Initial cost of equipment
Installation Costs
Need for training
Need for Programming