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1 Revision of Robotics
Section 2: Robot as a system

➢ Building blocks of robots

➢ Robot as a mechanical block
➢ Robot as a electronic block
➢ Robot as computational block
➢ Designing a robot
➢ Robot as flexible mechanical body
➢ Identification of industrial robots
➢ Identification of mobile robots
➢ Identification of Humanoid robots
Building blocks of Robots
• Sensors
• Actuators
• Controllers
• Power Systems
• Communication Systems
• Manipulators
1)Sensor
• A sensor is a device that can detect the changes in a physical environment.
• It can convert physical parameters such as temperature, heat, motion, humidity, pressure, etc. into electrical
signals.
• We can transform this signal into a human readable display and send them through a network for further
processing.
• There are mainly two types of sensors as active sensors and passive sensors.
• Active sensors require power supply while passive sensors do not require a power supply.

WHY DO WE NEED ROBOT SENSORS?

• A Robot sensor ensures the smooth functioning of a robot. These sensors help robots react to the commands
received.
• These sensors help create a feel-and-see feature in them, which provides the effortless accomplishment of
various tasks.
• Understanding the environment can help a robot determine the temperature, object proximity, sound, or chemical
reaction and act accordingly.
• To achieve reliable solutions with efficient calibre, quick response, accuracy, and cost-effectiveness, we need to
incorporate many sensors in robots. Let us take a look at various sensors
2)Actuators: These are devices that provide motion or movement to the robot. Common types
include:
1. Electric Motors: Convert electrical energy into mechanical motion.
2. Pneumatic Actuators: Use compressed air to produce motion.
3. Hydraulic Actuators: Utilize pressurized fluid to generate movement.

3) Control Systems: These are the "brains" of the robot, responsible for processing sensor data
and sending commands to actuators. Control systems can be:
Microcontrollers: Small computers used for basic control tasks.
PC-based Controllers: More powerful computers for complex robotic systems.
Programmable Logic Controllers (PLCs): Used in industrial automation.

What does a controller do in robotics?

The controller is the brain of a robot, and it executes the programming to operate
the robot.
4) Power Supply: Robots require energy to operate. The power supply can be:
1. Batteries: Common for mobile robots.
2. Power Cables: Often used in stationary or industrial robots.
3. Solar Panels: For robots operating in outdoor environments.

5) Communication Interface: Allows the robot to interact with humans or other systems. This
can include:
1. Wired Interfaces: Ethernet, USB, or serial connections.
2. Wireless Interfaces: Wi-Fi, Bluetooth, or radio communication.
3. Human-Machine Interfaces (HMIs): Touchscreens, buttons, or other interfaces for user
interaction.
6) Manipulators: This is the physical framework that holds the robot together and
determines its form and movement capabilities. Manipulators are one of the key
components in robotic systems, responsible for performing tasks by manipulating
objects or tools. They are essentially the arms or end-effectors of robots, designed to
interact with the environment. It includes:
Joints: Points where different parts of the robot can move relative to each other.
Linkages: Rigid bars or beams connecting joints.
End Effectors: Tools or devices at the end of a robot arm or manipulator, such as
grippers or welders.
 Robot as a Mechanical block:
• Robot as a mechanical block helps in understanding its physical
structure and how different components interact to perform tasks.

• While this perspective overlooks the electronic, software, and control

aspects of robotics, it provides a foundational understanding of the
robot's mechanical design and capabilities.
Rigid body structure:
1. Description: The main structural component that houses and supports all other components.
2. Function: Provides the framework and stability for the robot, ensuring it can move and
operate without collapsing.

Linkages and Joints:

1. Description: Points where two or more mechanical components connect and allow relative
motion.
2. Function: Determine the range and type of motion for the robot's limbs or manipulators.
3. Types: Revolute (rotary), prismatic (linear), spherical, etc.

Actuators:
1. Description: Mechanical devices that produce motion or force.
2. Function: Generate the necessary movement for the robot, converting energy into
mechanical motion.
3. Types: Electric motors, pneumatic or hydraulic cylinders, mechanical linkages, etc.
Controller: The block is controlled by a controller. The task of a controller is to
receive sensory information and generate control signals for actuators and other
components

End-effectors:
• Description: Tools or devices at the end of a robot's manipulator or arm.
• Function: Interact with the environment by manipulating objects, performing
tasks, or collecting data.
• Types: Grippers, welding torches, sensors, cameras, etc.
 Robot as an Electronic block:
• Robot as an electronic block emphasizes its electronic components and systems responsible for control, sensing,
communication, and power management.

Functioning and working principle:

1) Sensors: Collect data from the environment to inform the robot’s decision-making and control.
•Electronic Components: Proximity sensors, temperature sensors, cameras, gyroscopes, accelerometers etc.,

2) Control System: Process information, generate commands, and control the robot's behavior.
•Electronic Components: Microcontrollers, PLCs (Programmable Logic Controllers), CPUs (Central Processing Units), FPGAs (Field-
Programmable Gate Arrays).

3)Actuators: It convert electrical signals into mechanical motion or force. Like motors, valves and solenoids, which are used to
provide required force to make the mechanical block of the robot work.

4)Power Supply and Management:It provide electrical power to all electronic components and manage power consumption.
•Electronic Components: Batteries, voltage regulators, power distribution circuits.

5) Communication Interface:It enble the robot to exchange data with other systems, devices, or networks.
•Electronic Components: Transceivers, antennas, communication protocols (e.g., Wi-Fi, Bluetooth, Ethernet).
 Robot as a computational block:
• Robot as a computational block emphasizes its capabilities in processing, decision-making, and
interaction through computing systems and algorithms. In this context, the robot is seen as a
sophisticated computing machine that uses algorithms, data processing, and computational
power to operate efficiently.

Functioning and working principle:

• Decision-making: Receive and analyze data from sensors to make decisions.
• Planning: Control robot's behavior and execute tasks.
• Learning:Simulate behavior, test algorithms, and adapt over time.
 Designing or a robot
Designing a robot involves several stages, from conceptualization and planning to
prototyping and testing. Designing a robot is a complex and iterative process that
requires a multidisciplinary approach, involving mechanical engineering,
electronics, software development, and more. Proper planning, research,
prototyping, testing, and iteration are crucial to developing a successful robot that
meets its objectives and requirements. Collaboration, innovation, and continuous
improvement are key to navigating the challenges and complexities of robot design.
 Designing of a Humanoid robot

• Humanoid robots are robots that look like or mimic human behavior. These robots usually
perform human-like activities (like running, jumping and carrying objects), and are sometimes
designed to look like us, even having human faces and expressions.

Some features of humanoid robots are:

• Head: Typically features a head with facial features (eyes, mouth) and sometimes a
humanoid or anthropomorphic design.
• Torso: Consists of a torso resembling human proportions and structure.
• Limbs: Arms and legs designed with similar proportions, joints, and articulations as
humans.
• Joints: Ball-and-socket joints for shoulders, hinge joints for elbows and knees, and
pivot joints for wrists and ankles.
• Range of Motion: Designed to achieve a wide range of motion similar to humans,
allowing for fluid and natural movements.
• Hands: Multi-fingered hands capable of grasping and manipulating objects with
dexterity.
• Feet: Designed for stability and balance, with features like articulated toes or grippers.
Designing of an underwater robot
• These are also known as autonomous underwater vehicles (AUVs) or remotely
operated vehicles (ROVs), are robotic systems designed to operate underwater
without direct human intervention. These robots can be used for a variety of tasks
in both marine research and industry due to their ability to operate in environments
that are challenging or inaccessible to humans.

• Design features of an underwater robot

• Pressure Resistance: Design the hull and components to withstand high water pressures at varying
depths.

• Communication SystemsUse acoustic communication systems for underwater data transmission.

• Power source: Install high-capacity and rechargeable batteries suitable for underwater operation.
• Buoyancy Control: Implement ballast systems to control the robot's buoyancy and depth.
• Cameras and Sensors: Equip with sensors like INS (Inertial Navigation System), DVL (Doppler
Velocity Log), or acoustic positioning systems for precise navigation.Include cameras, sonar, or LIDAR
for underwater imaging, mapping, and object detection. Add sensors for measuring water parameters
(temperature, pressure, salinity) and detecting environmental changes.
• Manipulator arms: Include robotic arms or manipulators with multi-degree-of-freedom (DOF) for
object manipulation and handling.
• Propulsion Systems: Install efficient and powerful propulsion systems for precise maneuvering and
speed control.
• Materials:Designing an underwater robot requires selecting materials that can withstand the harsh
conditions of the underwater environment, including pressure, corrosion, and biofouling.
Titanium: High strength, corrosion-resistant, and suitable for deep-sea applications where higher pressures
are encountered.
Stainless Steel: Durable and corrosion-resistant, suitable for ROVs and deep-sea applications.
Polymers: Lightweight, strong, and can be tailored for specific strength and buoyancy requirements.
 Design features an aerial robot
• Sensors and Payload: Choose cameras or sensors suitable for the drone's application (e.g.,
HD cameras for photography, thermal cameras for surveillance). Consider adding sensors
like LiDAR, ultrasonic sensors, or infrared sensors for obstacle detection and navigation.

• Power System: Select batteries or power sources suitable for the drone's flight time and
payload requirements.

• Safety features: Ensure the drone's safety features and fail-safes work as intended in various
scenarios. Like auto landing system, crash management system and obstacle avoidance

• Communication System: Implement wireless communication systems (e.g., Wi-Fi, radio

frequency) for remote control and data transmission.
Designing of a mobile robot

Designing a mobile robot involves integrating mechanical, electrical, and software

components to create a robot capable of autonomous or remote-controlled
movement in various environments. Mobile robots are versatile and can be designed
for different applications, such as logistics, surveillance, exploration, and assistance.
 Design features of mobile robot
• Power Source: Select batteries or power sources suitable for the robot's size, weight, and
operational requirements. Implement power-saving features, efficient motors, and power
management systems to optimize energy consumption and battery life.

• Communication and Control Systems: Select a microcontroller or processor (e.g.,

Arduino, Raspberry Pi, NVIDIA Jetson) for controlling the robot's movements, sensors,
and actuators.Implement communication interfaces (e.g., Wi-Fi, Bluetooth, Zigbee) for
remote control, data transmission, and connectivity with other devices or systems
• Safety Features: Implement safety features like emergency stop buttons, collision
detection, and fail-safes to prevent accidents and ensure safe operation. Ensure
compliance with relevant regulations, standards, and certifications applicable to
mobile robots, especially for commercial or industrial applications.

• Sensors: Integrate sensors (e.g., proximity sensors, IMU, encoders) for navigation,
obstacle detection, and environment sensing.

• Mobility: Decide on the mobility mechanism (wheels, tracks, legs) based on the
terrain and application requirements.
Robot as a flexible mechanical body:
• Designing a robot with a flexible mechanical body involves creating a robot that
can adapt to its environment, interact with objects and humans safely, and navigate
through confined spaces or complex terrains. A flexible mechanical body can
enhance the robot's mobility, dexterity, and safety by allowing it to bend, stretch,
or deform without damaging its structure or components.

• Examples are
Identification of Industrial robots
Identification of mobile robots
Roomba Turtle bot Spot

Kiva Husky
 Identification of humanoid robots
Asimo Pepper Atlas

Talos Sophia
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