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Robot Technology
Dr. PRASHANT S HUMNABAD

Robot Introduction
 General purpose (perform a variety of
functions independently)
 Programmable (Sequence, repetition,
decision making
 Anthropomorphic characteristics
Perform specific functions like machine
loading, spot welding, spray painting,
assembly, etc.

Laws of Robotics
• Law 1: A robot may not injure a human being
• Law 2: A robot must obey orders given to it by
human beings, except where such orders would
conflict with a higher order law
• Law 3: A robot must protect its own existence as
long as such protection does not conflict with a
higher order law

Robot Physical Configurations
 Industrial Robots come in a variety of shapes and
sizes
 On this base they are distinguished
 Polar coordinate configuration
 Cylindrical coordinate configuration
 Joined arm configuration
 Cartesian coordinate configuration

Polar coordinate configuration
 Spherical coordinates (Partial sphere)
• Rotary base
• Pivot used to raise and lower an arm
• In-out movement

Cylindrical coordinate configuration
 Swivels about a vertical axis
 Up-down movement
 In-out movement

Jointed Arm configuration
 Similar in appearance to
human arm
 Rotated base, shoulder
joint, elbow joint, wrist
joint.

Cartesian coordinate configuration
 Three orthogonal slides
 �ݺ�ߣs are parallel to the
x,y,z axis.

Purpose of a Robot
 Purpose of a robot is to perform
useful task
 End-effector
The tool, gripper, or other device mounted at the end of
a manipulator, for accomplishing useful tasks
 Hand

Degrees-of-Freedom (DOF):
The number of independent motions
a device can make. (Also called
mobility)
five degrees of
freedom

Degree of Freedom
 Six basic motions for a robot to
move in a required sequence of
motions
 Not all robots are equipped with it
 Three arm and body movement and
three wrist movements.

Six Degree of Freedom

Motion Systems
 Point-to-point (PTP)
Moves from one point location to
another. Can adopt any path.
Examples: loading unloading, pick and place,
spot welding

Motion Systems
 Contouring (Continuous Path)
Move on a Smooth compound curve
Complete path is remembered
Examples:
Paint spray, continuous welding.

Other technical features
 Determine its efficiency, effectiveness
 Some of the technical features are
• Work volume
• Precision of movement
• Speed of movement
• Weight carrying capacity
• Types of drive system

Technical features
 Work volume
• Space within which a robot can operate.
• Determined by its configuration, size
and the limits of its arms.
 Polar coordinates – partial sphere
 Cylindrical coordinates – cylindrical
 Cartesian - rectangular
 Jointed arm - irregular

Technical features
 Precision of movement
The precision with which the robot can
move the end of its wrist.
1. Spatial resolution
2. Accuracy
3. Repeatability

Technical features
 Spatial resolution
• Smallest increment of motion
• Depends on the control system and
feedback
Control resolution= range
control increments

Technical features
 Accuracy
• The ability of a robot to go to the specified
position without making a mistake.
• Closely related to spatial resolution

Technical features
 Repeatability
• Ability to position a wrist back to the
previously visited point.

Technical features
 Speed of movement
• The amount of distance per unit time at
which the robot can move.
• Speed of the end effectors
• Determined by the weight of the object
Weight carrying capacity
• Lifting over 1000 lb

Types of Drive system
 Hydraulic (mechanical, high strength)
 Electric motor (stepper, servo, less
strength, better accuracy and repeatability
 Pneumatic (quick, less strength)

End effectors
 Grippers
 Tools

Grippers

Tools as end effectors
 Spot welding
 Spray painting
 Drilling
 Grinders
 Heating torches

Robotic sensors
 Vision
 Tactile and proximity
 Voice
Sensors in Robots.pdf:
/omkara12/sensors-in-robotics
http://www.robotplatform.com/knowledge/sensors/types_of_
robot_sensors.html
https://www.youtube.com/watch?v=f15uUSdVkKQ

Programming The Robot
 Programming Methods
• Manual Method
• Walkthrough Method
• Lead through Method
• Off-line Programming

 Manual Method
Mechanical stops, cams, switches or
relays
Uses: short work cycle like pick and place
operation
video

 Walkthrough Method
• Manually moves the robot arm
• Each movement is recorded
• No worry about the cycle time
• Getting the position and sequence
correct
Uses: spray painting, arc welding

 Lead through Method
• Use of small hand held devices
• Switches, dials
• Each motion is recorded in memory

 Off-line programming
• Similar to NC
• Computer terminal
• No loss of production time (no teaching)
• Can be programmed when still in
production

Work Cell Control
 Work with other things
• Processing equipments, work parts, conveyors,
tools and human operators
 Coordinating all the activities within the
robot workstation
 Sequencing and simultaneous activities
 Work cell controller

Work Cell Control
 Example
• Robotic arm
• Machine tool
• Two conveyors

Work Cell Control
 Operate Sequentially
 Certain steps are completed before
next operation
• Picking, proper location of the piece
• Start, by Loading the work piece
• Machining complete

Interlocks
 Sequence continues until a certain
condition or set of conditions has
been satisfied
 Incoming
 Outgoing

Interlocks
 Limit switches
 Pressure switches
 Photoelectric devices

Applications
https://www.slideserve.com/taima
/robotics-history

RESEARCH TOPICS

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Robot Technology - Dr. Prashant S Humnabad, SIR MVIT, BANGALORE, KARNATAKA, INDIA

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Robot Technology - Dr. Prashant S Humnabad, SIR MVIT, BANGALORE, KARNATAKA, INDIA