ME0506 ROBOTICS ENGG

Classification and types of robot

 The word robot was coined by science fiction author and Nobel Prize winner Karel Capek in the year 1920. Word robotics was first used in the year May 1941 by Isaac Asimov in a science fiction story Liar. It came from Czech & Slovak word robota meaning self labor or hard work.

Industrial robot:The Robotics Industries Association

(RIA) defines robot in the following way: An industrial robot is a programmable, multifunctional manipulator designed to move materials, parts, tools, or special devices through variable programmed motions for the performance of a variety of tasks

 1. 2. 3. 4. 5.

Robots are used in the following Areas Industries Medicine Military Space Missions Home

Robot Foot Ball Match

Pick and Place Robot

Surgical Robot

Military Robot

Space Robot

Three Laws of Robotics:

A robot may not injure a human being, or, through inaction, allow a human being to come to harm. A robot must obey the orders given it by human beings except where such orders would conflict with the First Law. A robot must protect its own existence as long as such protection does not conflict with the First or Second Law.

1946 George Devol patents a playback device for controlling machines. 1961 Heinrich Ernst develops the MH-1, a computer operated mechanical hand at MIT. 1961 Unimate, the company of Joseph Engleberger and George Devoe, built the first industrial robot, the PUMA (Programmable Universal Manipulator Arm). 1966 The Stanford Research Institute creates Shakey the first mobile robot to know and react to its own actions.

Robotics History

Robotics History
Unimate PUMA SRI Shakey

Robotics History
1969 Victor Scheinman creates the Stanford Arm. The arm's design becomes a standard and is still influencing the design of robot arms today.

Robotics History
1976 Shigeo Hirose designs the Soft Gripper at the Tokyo Institute of Technology. It is designed to wrap around an object in snake like fashion. 1981 Takeo Kanade builds the direct drive arm. It is the first to have motors installed directly into the joints of the arm. This change makes it faster and much more accurate than previous robotic arms. 1989 A walking robot named Genghis is unveiled by the Mobile Robots Group at MIT.

Robotics History
1993 Dante an 8-legged walking robot developed at Carnegie Mellon University descends into Mt. Erebrus, Antarctica. Its mission is to collect data from a harsh environment similar to what we might find on another planet. 1994 Dante II, a more robust version of Dante I, descends into the crater of Alaskan volcano Mt. Spurr. The mission is considered a success.

Robotics History
1996 Honda debuts the P3.

Robotics History
1997 The Pathfinder Mission lands on Mars

1999 SONY releases the AIBO robotic pet.

 ASIMO (HONDA)

QRIO (SONY)
EMIEW (HITACHI)

 . ASIMO Stands for Advance Step In Innovative Mobility The first humanoid was manufactured by Honda Hondas ASIMO was born five years ago. It is physically anthropomorphic. ASIMO is almost always characterized as a service robot.

ASIMO ROBOT

Height Weight Walking speed Grasping force Actuators

Control unit unit,

4ft 3inch (130cm) 119 pounds (54 kg) 1.7mph (2.7 km/h) 0.5 kg/hand (5 fingers hand) servomotor+harmonic speed reducer+drive unit walk/operating control wireless transmission

 Sensors:Foot 6-axis foot area sensors Power Rechargeable 51.8V lithium ion battery Operating time 1 hour

Robot serving coffee

BASIC COMPONENTS
The basic components of an industrial robot are the Manipulator The end effector (which is the part of the manipulator). The power supply And the controller.

Components of robot

Basic components of Robot

ROBOT CLASSIFICATION
Classification Based on Physical Configuration:
1. Cartesian configuration 2. Cylindrical configuration 3. Polar configuration 4. Joint-arm configuration

Classification of the Robots

ROBOT CLASSIFICATION
Cartesian Configuration: Robots with Cartesian configurations consists of links connected by linear joints (L). Gantry robots are Cartesian robots (LLL).

Cartesian Robots
A robot with 3 prismatic joints the axes consistent with a Cartesian coordinate system.

Commonly used for: pick and place work assembly operations handling machine tools arc welding

Cartesian Robots
Advantages: ability to do straight line insertions into furnaces. easy computation and programming. most rigid structure for given length. Disadvantages: requires large operating volume. exposed guiding surfaces require covering in corrosive or dusty environments. can only reach front of itself axes hard to seal

ROBOT CLASSIFICATION
Cylindrical Configuration: Robots with cylindrical configuration have one rotary ( R) joint at the base and linear (L) joints succeeded to connect the links.

Cylindrical Robots
A robot with 2 prismatic joints and a rotary joint the axes consistent with a cylindrical coordinate system.

Commonly used for: handling at die-casting machines assembly operations handling machine tools spot welding

Cylindrical Robots
Advantages: can reach all around itself rotational axis easy to seal relatively easy programming rigid enough to handle heavy loads through large working space good access into cavities and machine openings Disadvantages: can't reach above itself linear axes is hard to seal wont reach around obstacles exposed drives are difficult to cover from dust and liquids

ROBOT CLASSIFICATION
Polar Configuration: Polar robots have a work space of spherical shape. Generally, the arm is connected to the base with a twisting (T) joint and rotatory (R) and linear (L) joints follow.

ROBOT CLASSIFICATION
The designation of the arm for this configuration can be TRL or TRR. Robots with the designation TRL are also called spherical robots. Those with the designation TRR are also called articulated robots. An articulated robot more closely resembles the human arm.

ROBOT CLASSIFICATION
Joint-arm Configuration: The jointed-arm is a combination of cylindrical and articulated configurations. The arm of the robot is connected to the base with a twisting joint. The links in the arm are connected by rotatory joints. Many commercially available robots have this configuration.

Articulated Robots
A robot with at least 3 rotary joints.

Commonly used for: assembly operations welding weld sealing spray painting handling at die casting or fettling machines

Articulated Robots
Advantages: all rotary joints allows for maximum flexibility any point in total volume can be reached. all joints can be sealed from the environment.

Disadvantages: extremely difficult to visualize, control, and program. restricted volume coverage. low accuracy

SCARA (Selective Compliance Articulated Robot Arm) Robots

A robot with at least 2 parallel rotary joints.

Commonly used for: pick and place work assembly operations

SCARA (Selective Compliance Articulated Robot Arm) Robots

Advantages: high speed. height axis is rigid large work area for floor space moderately easy to program. Disadvantages: limited applications. 2 ways to reach point difficult to program off-line highly complex arm

Spherical/Polar Robots
A robot with 1 prismatic joint and 2 rotary joints the axes consistent with a polar coordinate system. Commonly used for: handling at die casting or fettling machines handling machine tools arc/spot welding

Spherical/Polar Robots
Advantages: large working envelope. two rotary drives are easily sealed against liquids/dust. Disadvantages: complex coordinates more difficult to visualize, control, and program. exposed linear drive. low accuracy.

The Robotic Joints

The basic movements required for a desired motion of most industrial robots are: 1. rotational movement: This enables the robot to place its arm in any direction on a horizontal plane. 2. Radial movement: This enables the robot to move its end-effector radially to reach distant points. 3. Vertical movement: This enables the robot to take its end-effector to different heights.

Types of Joints

The Robotic Joints

These degrees of freedom, independently or in combination with others, define the complete motion of the end-effector. These motions are accomplished by movements of individual joints of the robot arm. The joint movements are basically the same as relative motion of adjoining links. Depending on the nature of this relative motion, the joints are classified as prismatic or revolute.

The Robotic Joints

Prismatic joints (L) are also known as sliding as well as linear joints. They are called prismatic because the cross section of the joint is considered as a generalized prism. They permit links to move in a linear relationship.

The Robotic Joints

Revolute joints permit only angular motion between links. Their variations include:
Rotational joint (R) Twisting joint (T) Revolving joint (V)

The Robotic Joints

In a prismatic joint, also known as a sliding or linear joint (L), the links are generally parallel to one

The Robotic Joints

A rotational joint (R) is identified by its motion, rotation about an axis perpendicular to the adjoining links. Here, the lengths of adjoining links do not change but the relative position of the links with respect to one another changes as the rotation takes place.

The Robotic Joints

The Robotic Joints

A twisting joint (T) is also a rotational joint, where the rotation takes place about an axis that is parallel to both adjoining links.

The Robotic Joints

A robot joint is a mechanism that permits relative movement between parts of a robot arm. The joints of a robot are designed to enable the robot to move its end-effector along a path from one position to another as desired.

Robotics Terminology
Speed The amount of distance per unit time at which the robot can move, usually specified in inches per second or meters per second. The speed is usually specified at a specific load or assuming that the robot is carrying a fixed weight. Actual speed may vary depending upon the weight carried by the robot. Load Bearing Capacity The maximum weight-carrying capacity of the robot. Robots that carry large weights, but must still be precise are expensive.

Robotics Terminology
Accuracy The ability of a robot to go to the specified position without making a mistake. It is impossible to position a machine exactly. Accuracy is therefore defined as the ability of the robot to position itself to the desired location with the minimal error (usually 25 mm). Repeatability The ability of a robot to repeatedly position itself when asked to perform a task multiple times. Accuracy is an absolute concept, repeatability is relative. A robot that is repeatable may not be very accurate, visa versa.

Accuracy and Repeatability Control Resolution (CR) is the distance between addressable points within the joint range. Number of addressable points = (joint range/2n) where n is the number of bit assigned to the joints range of motion

Spatial Resolution (SR) combines the control resolution with the mechanical errors (deflection of links, gear backlash, etc) SR = CR + 6 (std dev of mechanical errors) Accuracy = SR/2 Repeatability = + 3 (std dev of mechanical errors)

Accuracy and Repeatability: Example

Assume robot has one linear (sliding) joint with full range of 40. The robot control memory has a 12-bits storage capacity. The standard deviation of mechanical errors 0.0001. # increments (addressable points) = 2n = 212 = 4096 Joint Range 40 Control Resolution (CR) = ----------------- = -------- = 0.0098 # increment 4096

Repeatability

= + 3 ( std. dev . of mech errors) = + 3 ( 0.0001) = + 0.0003

Spatial Resolution (SR) Accuracy

= CR + 6 (std. dev. of mech errors) = 0.0098 + 6 (0.0001) = 0.0104 = SR/2 = 0.0104/2 = 0.0052

(worst)

Control Systems
The control system is similar to those of CNC machine tools. In PTP, path itself is not controlled, only the final position is controlled. All joints are driven at the same speed but not necessarily simultaneously. In Continuous Path all joints move simultaneously, but at different speeds to produce an accurate path The interpolation algorithms are more complex than CNC (many axis) Coordinate transformation from end point position to joint motion is required for control of all nonCartesian robots.

ROBOT CLASSIFICATION
Classification Based on Control Systems:
1. Point-to-point (PTP) control robot 2. Continuous-path (CP) control robot 3. Controlled-path robot

Point to Point Control Robot (PTP):

The PTP robot is capable of moving from one point to another point. The locations are recorded in the control memory. PTP robots do not control the path to get from one point to the next point. Common applications include:
component insertion spot welding hole drilling machine loading and unloading assembly operations

Continuous-Path Control Robot (CP):

The CP robot is capable of performing movements along the controlled path. With CP from one control, the robot can stop at any specified point along the controlled path. All the points along the path must be stored explicitly in the robot's control memory. Applications Straight-line motion is the simplest example for this type of robot. Some continuous-path controlled robots also have the capability to follow a smooth curve path that has been defined by the programmer. In such cases the programmer manually moves the robot arm through the desired path and the controller unit stores a large number of individual point locations along the path in memory (teach-in).

Continuous-Path Control Robot (CP):

Typical applications include:

spray painting finishing gluing arc welding operations

Controlled-Path Robot:
In controlled-path robots, the control equipment can generate paths of different geometry such as straight lines, circles, and interpolated curves with a high degree of accuracy. Good accuracy can be obtained at any point along the specified path. Only the start and finish points and the path definition function must be stored in the robot's control memory. It is important to mention that all controlled-path robots have a servo capability to correct their path.