INSTITUTION: KENYATTA UNIVERSITY
SCHOOL: ENGINEERING AND TECHNOLOGY
DEPARTMENT: MECHANICAL ENGINEERING
UNIT CODE: EMM 509
UNIT NAME: ROBOTICS AND AUTOMATION
LECTURER: ENG TIROP
ASSIGNMENT
GROUP 3 MEMBERS:
CYNTHIA ANYANGO J79/5663/2016
INNOCENT OICHOE J79/3789/2016
PATRICK KIBET J79/5665/2016
ISMAIL KHAMIS J79/5634/2016
SAMSON OWITI J79/5624/2015
KIPKOECH BWALEI J79/5648/2016
QUESTION 1
Describe the classification of robots joints.
There are five types divided into two groups
i. Those that provide translation motion. These include linear joint and orthogonal joint
ii. Those that provide rotary motion. These include; rotational joint, twisting joint and
revolving joint.
1. Linear joint or Prismatic joint. (Type L)
The relative movement between the input and output link is the translational sliding motion with
the axes of the two links being parallel.
2. Othorgonal joint (O joint)
Is a translational sliding motion but the input and the output link are perpendicular to each other
during the move.
3. Rotational joint (R joint)
This type provides rotational relative motion with the axis of rotation perpendicular to the axis of
the input link.
4. Twisting joint (T joint)
This joint also involves a rotary motion but the axis of rotation is parallel to the axis of two links.
5. Revolving joint (V joint)
The axis of the input is parallel to the axis of the rotation to the joint and the axis of the output
link is perpendicular to the axis of rotation.
5. Revolving joint
Revolving joint (type V joint, V from the "v' in revolving). In this joint type, the axis 0' the
input link is parallel to the axis of rotation of the joint. and the axis of the output link is
perpendicular to the axis of rotation.
QUESTION 2
On what factors does work volume depend on;
i. The number and types of joints in the manipulator (body), arm and wrist.
ii. The range of operations of various joints.
iii. Physical size of the links on the robots.
Draw the work volumes of robots configurations;
1. Cartesian configuration. Has a rectangular work volume as shown below.
2. Spherical configuration. This is because it has a L-Joint, T and R-joints.
3. Cylindrical configuration. It has a T-joint, L-joint and O-joint.
QUESTION 3
Discuss the limitations of robots and explain their advantages and disadvantages.
Limitations;
i. The work volume is constrained when parts of substantial sizes are picked up.
ii. There's limitation of skill of performing in an assembly in terms of dexterity
iii. Its accuracy and repeatability can be constrained to the range of potential application.
iv. The payload compared to the weight ratio is poor and often less than 5%.
Advantages
i. Processing of multiple tasks
ii. Reduction in fatigue
iii. Accuracy of the product
iv. They do not need environmental comfort of performance
v. Robots can handle hazardous or dangerous work in different environments.
vi. Increase in production
vii. Safety and efficiency is improved
viii. Quality of product produced is limited.
Disadvantages
i. Human workers are replaced by robots
ii. In case of emergency robots can't respond due to lack of capability.
iii. It is costly to install, operate and maintain robots.
iv. It has a limited capability in the degree of freedom.
v. Robots do not have dexterity.
vi. Have limited sensority
vii. Without being controlled they have poor real time responses.
QUESTION 4
Explain the various types of industrial robots by citing examples.
i. Sequential industrial robots. Programmed in a sequential manner.
ii. Playback industrial robot. Robots which can be reversed.
iii. Intelligent industrial robots. They can determine their own behavior.
iv. Repeating industrial robot. Manipulator part can repeatedly perform a task.
Describe the term notation as applied and give 3 examples.
The letter symbols for the 5 joint types (L, O, R, T, & V) can be used to define a joint notation
system for the robot manipulation. The manipulator is described as the joints that make up the
body and the arm assembly followed by the joint symbols that make up the wrist. Example;
TLR- represents 5 degree of freedom whose body and arm is made up of twisting, linear and
rotation joint. The wrist consists of two joints T and R.
