1. SUBMITTED BY
AVINASH KUMAR YADAV 3023709008
MANOJ KUMAR SAHU 3023709025
N VENKATESHWAR RAO 3023709030
S VENKAT RAJA 3023709047
VIKRAM SAHU 3023709062
UNDER GUIDANCE OF
Asst. Prof. CHITRAKANT TIGER
DEPARTMENT OF MECHANICAL ENGINEERING
CHOUKSEY ENGINEERING COLLEGE OF ENGINEERING
BILASPUR 495001

5. INTRODUCTION

6.  A machine that resembles a human and
does mechanical routine tasks on command
 Any machine or mechanical device that
operates automatically with human like skill

9. Literature review
Word robot was coined by a Czech
novelist Karel Capek in a 1920 play titled
Rossum’s Universal Robots (RUR)
Robota in Czech is a word for worker or
servant Karel Capek

10.  Asimov proposed three “Laws
of Robotics”
 Law 1: 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 a
higher order law
 Law 3: A robot must protect
its own existence as long as
such protection does not
conflict with a higher order
law

11. History of Robotics: I
 The first industrial
robot: UNIMATE
 1954: The first programmable
robot is designed by George
Devol, who coins the term
Universal Automation. He later
shortens this to Animation,
which becomes the name of
the first robot company (1962).
UNIMATE originally
automated the manufacture
of TV picture tubes

12. History of Robotics: II
1978: The Puma (Programmable
Universal Machine for Assembly) robot
is developed by Unimation with a
General Motors design support
PUMA 560 Manipulator

13. History of Robotics: III
1980s: The robot industry enters a phase of rapid growth. Many institutions
introduce programs and courses in robotics. Robotics courses are spread across
mechanical engineering, electrical engineering, and computer science
departments.
Adept's SCARA robots Cognex In-Sight Robot Barrett Technology Manipulator

14. History of Robotics: IV
1995-present:
Emerging applications
in small robotics and
mobile robots drive a
second growth of start-up
companies and
research
2003: NASA’s Mars Exploration Rovers will launch toward Mars in
search of answers about the history of water on Mars

15. Robot Anatomy
 Manipulator consists of joints and links
 Joints provide relative motion
 Links are rigid members between
joints
 Various joint types: linear and rotary
 Each joint provides a “degree-of-freedom”
 Most robots possess five or six
degrees-of-freedom
 Robot manipulator consists of two
sections:
 Body-and-arm – for positioning of
objects in the robot's work volume
 Wrist assembly – for orientation of
objects
End of Arm
Base
Joint3 Link3
Joint1
Link0
Link2
Link1
Joint2

16. Manipulator Joints
 Translational motion
 Linear joint (type L)
 Orthogonal joint (type O)
 Rotary motion
 Rotational joint (type R)
 Twisting joint (type T)
 Revolving joint (type V)

17. Degrees of Freedom
 Joints constraint free movement,
measured in “Degrees of
Freedom” (DOFs).
 Links start with 6 DOFs,
translations and rotations around
three axes.
 Joints reduce the number of
DOFs by constraining some
translations or rotations.
 Robots classified by total number
of DOFs

19. Wrist Configurations
 Wrist assembly is attached to end-of-arm
 End effectors is attached to wrist assembly
 Function of wrist assembly is to orient end
effectors
 Body-and-arm determines global position of end
effectors
 Two or three degrees of freedom:
 Roll
 Pitch
 Yaw
 Notation :RRT

21. . The three motion to orient the hand,
which is the first part of human arm,
are approximately in the following
range.
-180<Roll<+90
-90<Pitch<+50
-45<yaw<+15

26. With the help of remote control system
movement of robot can controlled.

27. ACTUATOR
• Actuators are
mechanical devices
which converts energy
into motion
• The energy can be
hydraulic, pneumatic or
electric.
• In order to avoid the
complexity we have
chosen dc motor as
actuator.

30. WHEELS
 Wheels are employed on the robot to
provide the motion.

31. Non driven wheel

33. GEAR BOX
Gear box is a motion transmission device
which is used to control rpm of wheel.

38. ADVANTAGE
 Simplicity
 Effective for plane surfaces
 Cost Effective
 Power Efficient

41. Programming ……………..

42. REFERENCES
 ROBOTICS AND CONTROL BY R K MITTAL NAGRATH
 Balch, T. & Arkin R. 1998. “Behavior-based Formation Control for
Multi-robot Teams” IEEE Transactions on Robotics and Automation,
14(6).
 YOUTUBE.COM
 WIKIPEDIA
 M. P. Groover, M. Weiss, R. N. Nagel, and N. G. Odrey. Industrial
 Robotics: Technology, Programming and Applications. McGraw-
Hill,1986.
 (www.kukaroboter.de)
 http://introrobotics.googlepages.com
 http://en.wikibooks.org/wiki/Robotics

43. All the glory in the
world can be
achieved by
only……………………….
beginning…..
THE END