ROBOTICS

OVERVIEW What is robot What is robotics Association of robotics Classification of robotics Laws of robotics Types of robot Robot Geometry Ideal Task Robotics Drives Benefits of robot

WHAT IS ROBOT? Robot Institute of America defines

robot: “A robot is a programmable, multi-functional

manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks.”

A robot is Mechanical or virtual artificial agent Usually an electro-mechanical machine Guided by computer program or

electronic circuitry

WHAT IS ROBOTICS The word robotics was derived from

the word robot Branch of electrical or mechanical engineering

and computer science deals with the design, construction, operation, and

application of robot Computer system provide their control feedback and

information processing

ASSOCIATION OF ROBOTICSThere are many robotics association in world JIRA (Japan industrial robotics association)

WRO (world robotic Olympiad)RIA (robotics institute of America) IFR (international federation of robotics) CRIA (China Robot Industry Alliance ) IEEE robot & automation society

ASSOCIATION OF ROBOTICS

CLASSIFICATION OF ROBOTICS

According to JIRAJIRA’s chiefly concerned with industrial robots

buthas created a robot classification system.i. Manual Robotii. Fixed Sequence robotiii. Variable sequence robotiv. Numerical robot v. Playback robotvi. Intelligent robot

MANUAL ROBOT This type of robot has multiple degrees

of freedom, but all of its actions are performed under the direct control of an operator.

FIXED SEQUENCE ROBOT This type of robot repeats a fixed sequence

of actions without needing to be controlled by an operator

VARIABLE SEQUENCE ROBOT This type of robot is similar to class 2, except

that the sequence of actions can be reprogrammed easily allowing it to be quickly adapted to perform new tasks

PLAYBACK ROBOT This type of robot is first guided through a

sequence of actions by an operator, then repeats the same actions automatically.

playback robot with point to point control

NUMERICAL ROBOT This type of robot moves through a sequence

of actions, which it receives in the form of numerical data.

INTELLIGENT ROBOT A robot that senses its environment and

responds to changes in it in order to continue performing its function.

LAWS OF ROBOTICS A robot may not injure a human being or, by

failing to act, allow a human being to come to harm.

A robot must obey orders given to it by human beings, except where carrying out those orders would break the First Law.

A robot must protect its own existence, as long as the things it does to protect itself do not break the First or Second Law

TYPES OF ROBOTThere are five types of robots which are: Cartesian robot Cylindrical Spherical Articulated/Anthropomorphic robot SCARA

CARTESIAN ROBOT (3L) A Cartesian robot, also

known as a Cartesian coordinate robot, is a common type of industrial robot. It has three "arms" that each function along linear axes of control. Each of these axes is at a right angle to the other two.

Motions available:1. Forward/Reverse if

horizontal2. Up/Down if vertical

CYLINDRICAL ROBOT 2L/R It has three axes of

movement - two of which are linear

and one - circular.

So, usually robots of this type can move along Z and Y axes and rotate along Z axis. Therefor it forms a cylindrical coordinate system

ARTICULATED/ANTHROPOMORPHIC (3R)

The articulate or jointed arm robot (or sometime called Anthropomorphic arms) closely resembles the human arm.

The mechanical structure has

three rotary joints which forms a polar coordinate system. 

ROBOT: GEOMETRY

Links are rigid components that provide relative motion between input link and output link.

Joints are the connection between two links.

ROBOT: GEOMETRY

Types of Jointsa) Linear Joint (L-type)b) Orthogonal Joint (O-type)c) Rotational Joint (R-type)d) Twisting Joint (T-type)e) Revolving Joint (V-type)

ROBOT: GEOMETRY

Degree of Freedom (d.o.f):Every mechanical point on a robot, except in the gripper or tool, at which some form of joint induces motion in a robot is called a degree of freedom.

Robots are normally classified according to the number of d.o.f they possess.

ROBOT: GEOMETRYWork envelope/ Work space:

the envelope or space within which the robot can manipulate the end of its wrist.

The extreme positions of the robot axes, describe a boundary for the region, in which the robot operates.

It can be determined by:1. Number of joints2. Types of joints,3. Range of motion of joints,4. Physical size of joints.

IDEAL TASKSTasks which are:

Dangerous Space exploration chemical spill cleanup disarming bombs disaster cleanup

Boring and/or repetitive Welding car frames part pick and place manufacturing parts.

High precision or high speed Electronics testing Surgery precision machining.

ROBOT DRIVESAny device that introduces motion

into a systemMajor three drives in robot system are: Hydraulic drives

Pneumatic drives

Electric drives

HYDRAULIC DRIVESAn actuator that uses pumps, valves, and pressurized liquids to

create mechanical motion. Deliver large power (to joints, tool or gripper) Payload up to 225 pounds For explosion-proof robots

o Heavy costo Require pump, reservoir and valves (for high pressure

work)

Applications: Spray-painting Welding (spot welding) Handling heavy forging and die casting operations.

PNEUMATIC DRIVESAn actuator that uses pressurized air to create mechanical

motion. Least expensive Use of air (conveniently available) Components easily available

o Payload is only 5 poundso Air pressure is approx 90psi

Applications: Pick-and-place operations

ELECTRIC DRIVESAn actuator that uses electricity to create mechanical motion.

More precise and accurate Can be programmed for complicated paths of motion DC stepper motor:

Uses discrete voltage pulses to produce required motion (angle) more accurate to be used in open loop control system (it does not

happen all the time) DC Servo Motor:

Incorporated feedback control loop Sensor like optical encoder continuously monitors the position Continues and smoother movement

Applications: General purpose applications Automatic Assembly operations

Some of the key benefits of robots in industry and society in general are:

Robots can perform many tasks more quickly, safely, accurately and cheaply than human workers.

Robots can work continuously for long periods of time without fatigue or boredom.

A robot can use sensors to gather information about its environment that is not detectable using the human senses.

Robots can be equipped with dexterous capabilities beyond those of humans, in terms of speed, force and / or accuracy.

Robots can work in hazardous or uncomfortable environments.

REFERENCE

https://www.google.com.pk/imghp?hl=en&tab=wi&ei=xT7rVPSwNom1OsWqgJAC&ved=0CA4Qqi4oAg

https://www.wikipedia.org/