ROBOTICS & AUTOMATION

(ME-441)
Muhammad Moeen Sultan
Assistant Professor Mechanical Engineering Department
 Course Curriculum
Robot definition and its types. Robot kinematics. 2D and 3D spatial relationships in Cartesian coordinate systems.
Body fixed and space fixed transformations. Velocity and acceleration analysis of robot manipulators. Manipulate
robot arms: kinematic chains, forward and inverse kinematics, differential kinematics. Eulerian angles and
quaternions. Robot kinetics. Program and navigate mobile robots: robot and map representations, motion
planning. Automation of industrial control systems. Role of discrete control in manufacturing industries.
Input/output devices for discrete data systems. Sensors and actuators. Analog to digital converters. Digital to
analog converters. Computer control/Embedded control (PLC) architecture. Programming in ladder logic or flow
charts. Usage of subroutines, counter, timers, memory section and I/O scanning in PLCs. Scan cycle of PLC.
Interacting of PLC to PC or human machine interface (HMI) for data analysis and control aspects. Case studies for
different machining and assembly processes using a PLC. 21 Industrial communications and its protocols. Sensor
Bus (RS 485, ASI, HART Multidrop), Device Bus (ModBus, ProfiBUS-DP, CANopen, DeviceNet). Control network
(Ethernet ). Introduction to SCADA (supervisory control and data acquisition systems). Interfacing of PLC or control
devices to NC, CNC or robot to form a single station FMS.
Recommended Readings:
1. Introduction to Robotics, Mechanics and Control, by Craig,
2. Industrial Automation and Robotics: An Introduction ,by A.K. Gupta and S.K. Arora,
3. Robotics and Manufacturing Automation by C Ray Asfahl.
4. Automation, Production Systems, and Computer-Integrated Manufacturing by Mikell P. Groover
5. Manufacturing Automation: Metal cutting machines, Machine Tools, Vibrations and CNC design. By Yusuf Altintas.
6. PLC application manuals from Siemens, by Mitsubishi and Allen Bradley

MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
 ROBOTICS
What comes to your mind??

MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
 Robotics History
350 B.C
The Greek mathematician, Archytas builds a mechanical bird
named "the Pigeon" that is propelled by steam.

322 B.C.
The Greek philosopher Aristotle writes;
“If every tool, when ordered, or even of its own accord, could do
the work that befits it... then there would be no need either of
apprentices for the master workers or of slaves for the lords.”...
hinting how nice it would be to have a few robots around.

200 B.C.
The Greek inventor and physicist Ctesibus of Alexandria designs
water clocks that have movable figures on them.
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
 Robotics History

Leonardo’s Robot

MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
 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.

MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
 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.

MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
 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.

MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
 Robotics History
1996
Honda debuts the P3.

MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
 Robotics History
1997
The Pathfinder Mission lands on Mars

1999
SONY releases the AIBO robotic pet.
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
 Robotics History
2000
Honda debuts new humanoid robot ASIMO.

MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
 Industrial Robots

MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
 ROBOT CLASSIFICATION
Classification Based on Physical Configuration:

• 1. Cartesian configuration
• 2. Cylindrical configuration
• 3. Polar configuration
• 4. Joint-arm configuration

MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
 ROBOT CLASSIFICATION
Cartesian Configuration:
• Robots with Cartesian configurations consists of links
connected by linear joints (L). Gantry robots are
Cartesian robots (LLL).

MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
 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

MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
 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.

MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
 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

MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
 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.

MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
 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

MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
 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.

MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
 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.

MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
 ROBOT CLASSIFICATION

MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
 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

MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
 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

MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
 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.
• In a prismatic joint, also known as a sliding or linear joint (L), the links
are generally parallel to one

MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
 The Robotic Joints
Revolute joints permit only angular motion between
links. Their variations include:
• Rotational joint (R)
• Twisting joint (T)
• Revolving joint (V)

MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
 Rotational 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.

MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
 Twisting 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.

MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
 Revolving Joints
A revolving joint (V) is another rotational joint, where the rotation
takes place about an axis that is parallel to one of the adjoining links.
Usually, the links are aligned perpendicular to one another at this kind
of joint. The rotation involves revolution of one link about another.

MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus
MUHAMMAD MOEEN SULTAN Department of Mechanical Engineering UET Lahore KSK Campus