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1. Explain the basic Components of Robot with neat Diagram.
Manipulator
A manipulator is the robot's arm. It has:
Major links – These are the large parts of the arm, called the robot body. They help the
robot reach the right location.
Minor links – These are smaller parts near the end, called the wrist or flange. They help
position the end effector (the tool or gripper at the end).
The whole arm is mounted on a base, which can be fixed or movable.
Sensor Devices
Sensors give feedback to help the robot know what it’s doing and adjust actions. There are
two main types:
(a) Tactile Sensors (Contact Sensors)
These touch the object directly.
They detect force, pressure, position, etc.
Examples: Force sensors, torque sensors, position sensors.
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(b) Non-Tactile Sensors (Contactless Sensors)
These work without touching the object.
They use signals from a distance.
Examples: Proximity sensors, infrared sensors, range sensors, electro-optical sensors.
Types of Robotic Arms
1. Cartesian Arm
o Moves in straight lines along 3 axes (X, Y, Z).
o Looks like a crane.
2. Cylindrical Arm
o Moves in a circular and up-down direction.
o Combines rotation and linear motion.
3. (Others may include SCARA, Spherical, Articulated, etc., if needed)
Controller
The controller is like the robot's brain. It does these jobs:
Gets data from sensors
Decides what action to take
Sends signals to the robot’s parts (actuators) to move
Controller includes:
Memory – Stores programs
Computation unit – Processes info
Hardware – Connects sensors to actuators
User interface – Lets a person control the robot.
Power Conversion Unit
This part converts digital signals (computer instructions) into physical movement for the
robot.
It helps the actuators (robotic motors) understand and carry out tasks.
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2. Explain Classification of Robotics by Control Systems and Classification of
Robots by Coordinate Systems
Classification of Robotics by Control Systems
Robots can be classified based on how they are controlled. The two main categories are:
1. Non-Servo Controlled Robots
Also called open-loop robots.
These robots do not use sensors or feedback to monitor movement.
They simply follow pre-set instructions.
Example: Pick-and-place robots with fixed paths.
Limitation: No accuracy check. If something goes wrong, the robot won’t know or correct itself.
2. Servo Controlled Robots
Also called closed-loop robots.
These robots use sensors and feedback to monitor and adjust their movements.
Much more accurate and flexible.
Servo-controlled robots are further divided into:
a) Point-to-Point (PTP) Control
Robot moves from one fixed point to another.
It does not care about the path taken, just the start and end positions.
Used in tasks like spot welding, pick-and-place, etc.
b) Continuous Path (CP) Control
Robot moves along a continuous, smooth path.
Every point on the path is important.
Used in tasks like painting, welding, or drawing.
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Classification of Robots by Coordinate Systems
Robots are also classified based on the shape of their working area (workspace), which
depends on the type of joints and link arrangements used. These are called robot coordinate
systems.
1. Cartesian Coordinate Robot
Moves in straight lines along the X, Y, and Z axes (like a 3D printer).
Uses linear (prismatic) joints.
Shape of workspace: Rectangular box.
Advantages: Simple control, high accuracy.
Applications: Pick-and-place, CNC machines.
2. Cylindrical Coordinate Robot
One rotary joint at the base + linear joints.
Moves vertically, rotates around base, and extends outwards.
Shape of workspace: Cylinder.
Advantages: Good for vertical stacking or storage.
Applications: Assembly, handling at machine tools.
3. Spherical (or Polar) Coordinate Robot
Has a rotating base, an elevation joint, and a telescoping arm.
Moves like a crane.
Shape of workspace: Part of a sphere.
Advantages: Wide working area with fewer movements.
Applications: Material handling, die casting.
4. Articulated Robot (Revolute or Jointed-arm)
Like a human arm – uses multiple rotary joints.
Most flexible and common industrial robot.
Shape of workspace: Irregular, rounded.
Advantages: High flexibility, can reach around objects.
Applications: Welding, painting, complex assembly.
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5. SCARA Robot (Selective Compliance Assembly Robot Arm)
Has 2 rotary joints + 1 vertical movement.
Stiff in vertical direction, flexible in horizontal.
Shape of workspace: Donut-like.
Advantages: Fast, precise, great for assembly.
Applications: Electronics, light assembly tasks.
6. Delta Robot
Uses parallel arms connected to a single base.
Very fast and precise.
Shape of workspace: Dome or cone-shaped.
Advantages: High-speed picking.
Applications: Packaging, food industry.
3. What are different types of joints used in robots. Explain with Neat Diagrams.
Prismatic Joint (Linear Motion)
Revolute Joint (Rotational Motion)
Screw Joint (Linear and Rotational Motion)
Spherical Joint
Planar Joint
Cylindrical Joint
wisting Joint
PRISMATIC JOINT (Linear Motion):
* These are called as Sliders.
* They constitute purely linear motion along the joint axis.
* The joint slides in either direction along the singular axis.
* This type of motion is common in Hydraulic and pneumatic cylinders.
* Since there is no rotation, Degree of Freedom will be One
* Known as Translation.
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REVOLUTE JOINT (Rotational Motion)
* Revolute joins constitute purely rotational motion along the joint axis.
* These joints are most commonly found in industrial robots.
* The degree of freedom is 1 and there is no translation motion.
SCREW JOINT (BOTH LINEAR AND ROTATIONAL):
* A screw joint combines rotational and linear motion simultaneously along the same
joint axis.
* It works like a screw thread, where turning the joint causes movement along the axis
(like a bolt moving through a nut).
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* These joints are more commonly used in robot tools or end effectors rather than as
main motion joints for the robot arm itself.
* The linear movement is directly linked to the amount of rotation, providing precise
control over position.
* This design is ideal when you need controlled, smooth motion with the ability to hold a
position firmly due to the screw mechanism.
SPHERICAL JOINT:
* Spherical joints allow rotational movement in multiple directions around a fixed point,
much like a ball-and-socket.
* They provide three degrees of freedom, enabling pitch, yaw, and roll motions.
* These joints are highly versatile and are among the most commonly used joints in
robotic arms due to their flexibility.
* They enable the end effector or robot segment to move freely in various orientations.
* Because of their design, spherical joints are ideal for tasks requiring complex positioning
and orientation.
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PLANAR JOINT:
* The mechanism consists of three degrees of freedom, comprising one rotational (rotary)
motion and two translational (sliding) motions, as illustrated in the figure.
* This combination allows versatile movement along and around different axes, making it
suitable for applications requiring both positioning and orientation control.
CYLINDRICAL JOINT:
* A cylindrical joint provides two degrees of freedom: one rotational (rotary) motion
around the axis of the cylinder and one translational (sliding) motion along the same
axis.
* This joint allows the connected parts to rotate and slide independently, making it
suitable for robotic arms that need both turning and extending movements.
* It is often used in robot manipulators where a combination of turning and linear
positioning is required.
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TWISTING JOINT:
* The twisting joint allows rotational motion between two connected parts, typically
around a single axis.
* It provides one degree of freedom, enabling the robot part to twist or rotate without
any linear movement.
* This joint is commonly used in robotic wrists or tools where precise rotational
adjustment is needed.
