Introduction to robotics
By
Dr Vishal Jagota
Fundamentals of Mechatronics Systems [Link]@[Link]
(24MCE0100) +91 8683038218
ROBOTICS
Robot
The Robot Institute of America (1969)
defines robot as “a re-programmable,
multi-functional manipulator designed
to move materials, parts, tools or
specialized devices through various
programmed motions for the
performance of a variety of tasks”.
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What is a Robot?
A robot is a machine-
especially one programmable
by a computer-capable of
carrying out a complex series
of actions automatically.
Robots perform basic and repetitive tasks with greater efficiency and accuracy than
humans, making them ideal for industries like manufacturing.
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Robots are consists of
➢ Sensors: Devices that allow robots to perceive their environment.
➢ Sensors can include cameras, LIDAR, ultrasonic sensors, and touch sensors, enabling robots to
gather data about their surroundings.
➢ Actuators: The components responsible for movement.
➢ Actuators can be electric motors, hydraulic systems, or pneumatic systems that translate control
signals into physical motion.
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Robots are consists of
➢ Control Systems: These consist of both software and hardware that interpret data from sensors and
determine the robot's actions accordingly.
➢ Control systems can range from basic feedback mechanisms to sophisticated algorithms that integrate
artificial intelligence.
➢ Power Supply: The means by which a robot receives energy, which may come from batteries, direct
electricity, or sustainable energy sources.
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ROBOTICS
Robotics
Robotics is the intersection of science,
engineering and technology that produces
machines, called robots, that replicate or
substitute for human actions.
Robotics is the interdisciplinary study and practice of the design, construction, operation, and use of robots.
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Types of Joints in Robots
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Types of Joints in Robots
Revolute Joints
➢ Function like a hinge, allowing rotation
around a single axis. This joint type is
prevalent in robotic arms and humanoid
robots.
➢ Applications: Welding, painting, and assembly
tasks.
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Types of Joints in Robots
Prismatic Joints
➢ Allow linear movement along a single axis,
functioning like a sliding mechanism. They are
essential for robots requiring extension and
retraction.
➢ Applications: Automated guided vehicles
(AGVs) and pick-and-place robots.
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Types of Joints in Robots
Cylindrical Joints
➢ Combine rotational and linear movements.
They provide versatility in tasks that
require both types of motion.
➢ Applications: Robotic arms with grippers.
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Types of Joints in Robots
Spherical Joints
➢ Enable movement in multiple directions,
similar to a ball-and-socket joint. This
allows for greater flexibility and
orientation.
➢ Applications: Robotic hands and
advanced manipulators.
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Types of Joints in Robots
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Types of Joints in Robots
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Types of industrial robot configuration
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Types of industrial robot configuration
Orthogonal Cylindrical Spherical SCARA
Working Area Working Area Working Area Robot
SCARA - Selective
Compliance Articulated
Robot Arm
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Types of industrial robot configuration
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Types of industrial robot configuration
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DEGREE OF FREEDOM
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CARTESIAN ROBOTS
Constructional Features
➢ Feature three linear axes (X, Y, Z) and may include rotary axes for additional movement.
➢ Built on a rigid frame, often utilizing linear guides and lead screws for precision.
Operational Mechanism
➢ Movement is straightforward and predictable, making programming simpler.
➢ Can be programmed for specific paths or to follow predefined coordinates.
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CARTESIAN ROBOTS
Advantages
➢ Simple design and control, making them easy to set up and use.
➢ High precision and repeatability for tasks requiring exact positioning.
Specific Applications
➢ CNC Machining: Ideal for milling and drilling operations.
➢ 3D Printing: Commonly used in additive manufacturing due to their precise control.
➢ Pick-and-Place Applications: Efficient in sorting and moving items in production lines.
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CARTESIAN ROBOTS
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CYLINDRICAL ROBOTS
Constructional Features
➢ Feature a rotary joint and two linear joints, providing cylindrical motion.
➢ Typically have a vertical design with a circular workspace.
Operational Mechanism
➢ Allow for movement in a cylindrical coordinate system, useful for certain assembly applications.
➢ Controlled by servos that manage linear and rotary movements.
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CYLINDRICAL ROBOTS
Advantages
➢ Efficient for tasks requiring vertical reach and horizontal positioning.
➢ Often simpler to program compared to fully articulated robots.
Specific Applications
➢ Assembly Operations: Suitable for assembling larger parts in manufacturing.
➢ Material Handling: Can be used for lifting and moving items vertically.
➢ Machine Tending: Often employed to load and unload materials from machines.
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CYLINDRICAL ROBOTS
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ARTICULATED ROBOTS
Constructional Features
➢ Typically have 6 or more joints that can rotate in multiple directions.
➢ Joint types include revolute joints that allow for rotational movement.
➢ End effectors can be customized for various tasks, from grippers to welding torches.
Operational Mechanism
➢ Controlled by servo motors that provide precise joint positioning.
➢ Can be programmed for various paths using software like CAD/CAM systems.
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ARTICULATED ROBOTS
Advantages
➢ High flexibility and reach.
➢ Can perform complex movements and reach difficult angles.
Specific Applications
➢ Assembly Operations: Suitable for assembling larger parts in manufacturing.
➢ Material Handling: Can be used for lifting and moving items vertically.
➢ Machine Tending: Often employed to load and unload materials from machines.
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ARTICULATED ROBOTS
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SCARA ROBOTS
Selective Compliance Articulated Robot Arm
Constructional Features
➢ Have two parallel rotary joints and a vertical linear joint, resembling a “T” shape.
➢ Usually compact with a rigid structure for high-speed operations.
➢ Commonly equipped with tools like suction cups or mechanical grippers.
Operational Mechanism
➢ Utilizes a combination of rotational and linear movement to position items accurately.
➢ Often programmed with teach-and-replay systems for easy setup.
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SCARA ROBOTS
Advantages
➢ High speed and precision in horizontal movements.
➢ Simpler control systems compared to more complex articulated robots.
Specific Applications
➢ Electronics Manufacturing: Ideal for assembling PCBs (Printed Circuit Boards).
➢ Packaging Lines: Effective for quickly packaging products into boxes.
➢ Pharmaceuticals: Used in automated dispensing and assembly.
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SCARA ROBOTS
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DELTA ROBOTS
Constructional Features
➢ Comprise three arms connected to a central platform, allowing for parallel movement.
➢ Lightweight construction typically involves materials like carbon fiber and aluminum.
➢ High-speed capabilities with precision end effectors.
Operational Mechanism
➢ Operate based on parallel kinematics, allowing simultaneous movement of all arms.
➢ Controlled using specialized software to manage rapid motion and position accuracy.
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DELTA ROBOTS
Advantages
➢ Extremely fast and efficient for lightweight operations.
➢ Minimal inertia, allowing for rapid acceleration and deceleration.
Specific Applications
➢ Food Packaging: Used for sorting and packing items quickly and hygienically.
➢ Pharmaceutical Production: For high-speed picking and placing of vials or small components.
➢ Assembly of Small Parts: Efficient in handling delicate items like electronic components.
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DELTA ROBOTS
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SPHERICAL ROBOTS
Constructional Features
➢ Feature two rotary joints and one linear joint, allowing for movement within a spherical space.
➢ Generally more complex in design and programming.
Operational Mechanism
➢ Movement follows a spherical coordinate system, providing flexibility for certain applications.
➢ Typically controlled by sophisticated software for path planning.
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SPHERICAL ROBOTS
Advantages
➢ High mobility within a defined sphere of operation.
➢ Can reach complex positions and orientations.
Specific Applications
➢ Inspection: Used for inspecting items in tight or complex spaces.
➢ Specialized Assembly: Suitable for certain applications requiring unique movements.
➢ Medical Applications: Sometimes used in robotic-assisted surgeries.
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SPHERICAL ROBOTS
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COLLABORATIVE ROBOTS (COBOTS)
Constructional Features
➢ Smaller and lighter than traditional industrial robots, designed to work alongside humans.
➢ Equipped with advanced sensors, vision systems, and force-limiting technology for safety.
Operational Mechanism
➢ Use torque sensors to detect human interaction and adjust movements accordingly.
➢ Often designed for easy programming through intuitive interfaces.
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COLLABORATIVE ROBOTS (COBOTS)
Advantages
➢ Enhanced safety due to collaborative features.
➢ Flexibility to be deployed in various environments without extensive safety barriers.
Specific Applications
➢ Assembly Lines: Used in tasks where humans and robots need to work closely.
➢ Quality Control: Can assist human inspectors in checking products.
➢ Material Handling: Help in carrying materials or tools without taking up much space.
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COLLABORATIVE ROBOTS (COBOTS)
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MOBILE ROBOTS
Constructional Features
➢ Equipped with wheels, tracks, or legs for mobility within environments.
➢ Often include sensors (LIDAR, cameras) for navigation and obstacle detection.
Operational Mechanism
➢ Can navigate autonomously or semi-autonomously, often using algorithms for path planning.
➢ Controlled via remote systems or onboard computers for real-time adjustments.
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MOBILE ROBOTS
Advantages
➢ Increased flexibility for transporting goods in dynamic environments.
➢ Can cover larger areas than fixed robots.
Specific Applications
➢ Logistics and Warehousing: Used for transporting materials and goods in warehouses.
➢ Autonomous Delivery: Employed for delivering items within large facilities.
➢ Inspection and Maintenance: Useful for surveying large areas or inspecting machinery.
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MOBILE ROBOTS
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