MODULE 1

Introduction to ROBOTICS

K.Asha, Asst Prof, AIML 1

ROBOTICS
 What is a robot?

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What is a robot?
• Word robot was coined by
a Czech novelist Karel
Capek in a 1920 play
titled Rassum’s Universal
Robots (RUR). Robot in Karel Capek
Czech is a word for worker
or servant

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 A Robot is:

An electromechanical device that is:

• Reprogrammable

• Multifunctional

• Sensible for environment

• The automatic programmable machines which does the

required job through various programmed motions and
without human interventions are called as robots .
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 A Robot is:

• Schilling defines a robot as a software controlled

mechanical device that uses sensors to guide one or
more of its end-effectors through various
programmed motions in a workspace in order to
manipulate physical objects .
• A robot is also defined as a replica of a human hand .

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 What Can Robots Do: I

Jobs that are dangerous for

humans

Decontaminating Robot
Cleaning the main circulating pump housing in
the nuclear power plant

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 What Can Robots Do: II

Repetitive jobs that are boring,

stressful, or labor-intensive for
humans

Welding Robot

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 Advantages of Robots

 increase productivity, safety, efficiency, quality, and consistency of

products.
 work in hazardous environments without the need.
 need no environmental comfort.
 work continuously without experiencing fatigue of problem.
 repeatable precision at all times.
 much more accurate than human. .
 process multiple stimuli or tasks simultaneously.

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 Disadvantages of Robots

 lack capability to respond in emergencies.

 have limited capabilities in Degree of freedom, Dexterity, Sensors, Vi-
sion system, real time response.
 costly, due to Initial cost of equipment, Installation costs, Need for
Peripherals, Need for training, Need for programming.
 replace human workers creating economic problems

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 History of Robotics - The Origins of Robots

1898 - The first radio-controlled submersible boat was invented by

Nikola Tesla.

1921 - The term "robot" was first used in 1920 in a play called "R.U.R."
Or "Rossum's universal robots" by the Czech writer Karel Capek. The plot
was simple: man makes robot then robot kills man! Many movies that
followed continued to show robots as harmful, menacing machines.
Robot comes from the Czech word robota, which means “servitude,
forced labor.”

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 History of Robotics
1940 - Sparko, the Westinghouse dog, uses both mechanical
and electrical components.

1941 - Isaac Asimov introduced the word 'Robotics' in the

science fiction short story 'Liar!‘

1948 - William Grey Walter builds Elmer and Elsie, two of the
earliest autonomous robots with the appearance of turtles.
The robots used simple rules to produce complex behaviors.

Cybernetics is a discipline that was created in the late 1940’s

by Norbert Wiener, combining feedback control theory,
information sciences and biology to try to explain the
common principles of control and communications in both
animals and machines.

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 History of Robotics
1950`s - Computer technology advances and control machinery is
developed.

1954 - The first silicon transistor was produced by Texas Instruments.

1954 – George Devol replaced the slave manipulator in a teleoperator

with the programmability of the CNC controller, thus creating the first
“industrial robot”, called the “Programmable Article Transfer Device”.

1955 – The Darmouth Summer Research Conference marks the birth of

AI. Marvin Minsky, from the AI lab at MIT defines an intelligent machine
as one that would tend to “build up within itself an abstract model of
the environment in which it is placed.

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 History of Robotics

1956 - Joseph Engleberger, a Columbia physics student buys

the rights to Devol’s robot and founds the Unimation Company
and he is called Father of robotics.

1956 - George Devol applied for a patent for the first

programmable(industrial) robot, later named 'Unimate'.

1957 - Launch of the first artificial satellite, Sputnik 1.

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 History of Robotics

I, Robot

Sputnik I
Turtle robot

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 History of Robotics
• 1960`s - Industrial Robots created. Robotic Industries Association
states that an “industrial robot is a re-programmable, multifunctional
manipulator designed to move materials, parts, tools, or specialized
devices through variable programmed motions to perform a variety of
tasks”.

Robot Institute of America, 1979

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 History of Robotics
• 1961 - The first Unimate robot is installed in a Trenton, NJ General Motors plant.
The key was the reprogrammability and retooling of the machine to perform
different tasks.
• 1962 – 1963 – The introduction of sensors is seen as a way to enhance the
operation of robots. This includes force sensing for stacking blocks (Ernst, 1961),
vision system for binary decision for presence of obstacles in the environment
(McCarthy 1963), pressure sensors for grasping (Tomovic and Boni, 1962).

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 History of Robotics
• 1965 - Gordon E. Moore introduces the concept 'Moore's law', which
predicts the number of components on a single chip would double
every two years.
• 1966 – 1968 'Shakey‘, a mobile robot is developed by SRI (Stanford
Research Institute). 'Shakey' was capable of planning, route-finding
and moving objects. It was placed in a special room with specially
colored objects. A vision system would recognize objects and pushed
objects according to a plan. The robot had pan/tilt and focus for the
camera, and bump sensors.
• 1968 – Kawasaki Heavy Industries in Japan acquires a license for
Unimate.
• 1969 - The Apollo 11 mission, puts the first man on the moon.
Landing was made inside the Lunar Module 'Eagle'.

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 History of Robotics

Unimate 1 Shakey

Moon Walk

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 History of Robotics
• 1977 – Development of mobile robot Hilaire at Laboratoise
d’Automatique et d’Analyse des Systemes (LAAS) in Toulouse,
France. This mobile robot had three wheels and it is still in use.

Two famous robots:

• 1978- Puma (Programmable Universal Machine for Assembly),
by Unimation.
• 1979 - SCARA (Selective Compliant Articulated Robot for
Assembly) introduced in Japan and the US (by Adept
Technologies).
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History of Robotics - PUMA

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History of Robotics - SCARA

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 History of Robotics
• 1980’s – Innovation in improving the performance of robot arms –
commercialization of robots by a large number of companies: KUKA
(Germany), IBM 7535, Adept Robot (USA), Hitachi, Seiko (Japan).

• Early 1980’s – Multi-fingered hands developed, Utah-MIT arm (16

DOF) developed by Steve Jacobsen, Salisbury’s hand (9 dof).

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 History of Robotics
• 1984 -1991 – Hogg, Martin and Resnick at MIT create mobile
robots using LEGO blocks (precursor to LEGO Mindstorms).
Rodney Brooks at MIT creates first insect robots at MIT AI Lab
– birth of behavioral robotics

• 1986 - Honda starts work on its first humanoid,

robot named 'E0' (later to become ASIMO).

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 History of Robotics
• 1988 - SCAMP designed as the first robot pet with emotions.
• 1989 - Mark Tilden introduces BEAM robotics, beam being an
acronym for Biology, Electronics, Aesthetics, and Mechanics.
• ‘90: modifiable robots for assembly. Mobile autonomous
robots. Vision controlled robots. Walking robots.
• 1991 - First HelpMate mobile autonomous robot used in
hospitals.
(service Robot)

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 History of Robotics
• 1990’s – Humanoid robots – Cog, Kismet (MIT), Wasubot,
WHL-I – Japan, Honda P2 (1.82m, 210kg), and P3 (1.6m,
130kg), ASIMO.

• 1990’s – Entertainment and Education Robots – SARCOS

(“Jurassic Park”), Sony AIBO, LEGO Mindstorms, Khepera,
Parallax.

• ROBOCUP, the competition simulating the game of soccer

played by two teams of robots having been held around the
world since 1997 (Osaka) . Competition pushes advances in
technologies.

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 History of Robotics

• 1997 - Sojourner becomes the first rover to land on

Mars as part of the Mars Pathfinder mission.
• 1998 - Lego enters the robotics market with its first
version of Lego Mindstorms.
• 1999 - Sony introduces AIBO, an autonomous robotic
dog capable of seeing, walking and interacting with
its environment.

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 History of Robotics
• 2000 - Honda unveils ASIMO, the first non-prototype
release of its humanoid robot.
• 2002 - iRobot introduces Roomba, a personal robotic vacuum
cleaner.
• 2003 - Osaka University unveils their first 'Actroid', the term
given for a humanoid robot with strong visual human
characteristics.
• 2004 - The first DARPA Grand challenge is help. Sponsored by
the US department of defence, the challenge is designed to
create autonomous vehicles for warfare.
• 2010 - NASA and General Motors join forces to develop
Robonaut-2, the new version of NASA's humanoid robot
astronaut.

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 History of Robotics

Lunokhod 1 Intel 4004 R2-D2 and C-3PO

Asimo Sojourner Lego Mindstorms

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 History of Robotics

Sony AIBO
MQ-1 Predator

Sony QRIO

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 History of Robotics

Actroid

Robonaut-2

Mars Exploration Rover

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 History of Robotics
Robots need not look like humanoids, but they make use of:

Strong & precise articulated arms to accomplish tasks that were

performed by humans – “articulated robots”, or “manipulators”.
Fear that they will replace human laborers.

Use of mobility to reposition the robot from one location to

another, “mobile robots”. This can be done by locomotion like
humans do (“legged robots”), but most likely it will use other
means such as wheels (“wheeled robots”).

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 Automation and its types

It is defined as a technology that is aimed at replacing human beings with

automatic machines called as robots in a industrial plant in order to
manufacture a particular product , i.e., capable of working without
human intervention.
5 Types of Automation
1. Hard Automation (HA)
Fixed Automation (FA)
2. Soft Automation (SA)
Programmable Automation (PA)
3. Flexible Automation (Flex A)
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 Automation and its types

Examples of Automation
• Mechanical assembly lines
• Feedback control systems
• Automatic assembly process
• Computer System for weather forecasting
• Computer System for decision making
• Robots
• Assembly line automation
• Automated manufacturing
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 Automation and its types
1.Hard Automation (HA)
Periodic modification of the production hardware is required in
order to manufacture new and new generation of products , this
type of automation is called as hard automation .
It is used when a particular product has to be manufactured in
huge quantities .
Fixed Automation (FA)
Since , the sequence of operations required in order to
manufacture a particular product is fixed ( also , hardware is
fixed ) , this type of automation is called as fixed automation.
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 Automation and its types
If a new product has to be manufactured , the entire physical set up
of the system has to be changed or the hardware has to be
retooled in order to manufacture the new product .
Hence , it is also called as hard automation .
Ex. : Manufacturing of soap , soft-drinks , cigarettes
Advantage being products are
Manufactured in bulk
Cost per unit is less
Production volume is increased .

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 Automation and its types

Disadvantages of fixed automation include:

High initial cost
Difficult to accommodate changes
This type of automation is best suited for: High demand and
generic products that require no change.
Coca Cola continues to use this automation in their factories.

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 Automation and its types
3. Soft Automation (SA)
Manufacturing of a variety of products of different sizes , shapes
and volumes
- just changing the control software
- not changing the physical set-up of the system.
The same mechanical set up is used to manufacture a variety of
products by just changing the software .
In SA , in order to manufacture a particular product , a program is
entered and the product is manufactured .

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 Automation and its types

 If another new product has to be manufactured , another new

program has to be entered and the physical set up of the system
need not be changed , unlike that of the hard automation .
In SA , automatic machines called as robots are used which can
be programmed to do a variety of tasks and to manufacture
different products .

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 Automation and its types
4. Programmable Automation (PA)
Manufacturing of a variety of products of different sizes , shapes
and volumes by changing the control software and without
changing the physical set-up of the system , but only one product at
a time is called as programmable automation .
Enter 1 program to manufacture product 1. To manufacture the
second product , stop the system , enter the second program , run
it , test it , execute it , if the program is working well , then only
start the manufacturing of product 2 .

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 Automation and its types
During these course of actions , between the switch over from one
product to another , the machine goes out of service , operator’s valuable
time is lost , production time is lost , which is an inherent factor in the
industries . PA has less flexibility.
Advantages include:
Flexibility to change products if needed
Suitable if batch production is required
Disadvantages include:
Expensive for equipment
Lower production levels
Often time-consuming to change products
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 Automation and its types
5. Flexible Automation (Flex A)
Manufacturing of a variety of products of different sizes , shapes
and volumes by changing the control software and without changing
the physical set-up of the system , but many products at a time using
the same mechanical set-up is called as flexible automation .
 It is the extension of PA . A flexible automated system is defined as
one that is capable of producing a variety of products with virtually
no production time loss for change over from one product to
another .

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 Automation and its types
The time required for programming the next job does not
interrupt the production of the current job .
When the first product is in the manufacturing stage , the second
product can be designed on the computer using graphic
simulations , tested offline and kept ready .
The moment , manufacturing of the first product is over ,
immediately , the manufacturing of the second product starts ,
thus saving the time in between the products .

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 Automation and its types

Advantages include:
Flexibility of products
No time lost with new changes to production
Disadvantages include:
High custom machinery/automation cost
Higher cost per unit

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 Robotic Manipulators- Robot Arms

Robotic Manipulator /mechanical manipulator/robotic arm – mechanical

device that is capable of moving in different directions(B, S,E,Y,P,R)
Base- Bolted to the floor. Arm attached to the base. End effector is attached
to the end of the arm.
The technical term for entire base-arm-EE structure is called as Robotic
Manipulators
Perform number of tasks- Painting, drilling, grinding, pick and place of
objects.
Two types of EE- gripper and tools

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Robotic Manipulators- Robot Arms

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 Manipulators- Links and Joints
A robot joint is a mechanism that permits relative movement
between parts of a robot arm.
The joints of a robot are designed to enable the robot to move its
end-effector along a path from one position to another as desired.
Pitch(bend), Yaw And Roll(swivel)
Pitch is rotation around the X axis, yaw is around the Y axis, and
roll is around the Z axis. Yaw is side to side swinging around an axis.
Pitch is up and down movement about an axis and roll is rotatory
motion about an axis.
 https://www.youtube.com/watch?v=EjvdpkX9fD8
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Manipulators- Links and Joints

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Manipulators- Links and Joints

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Manipulators- Links and Joints

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 Links and Joints
The basic movements required for a desired motion of most
industrial robots are:
1. Rotational movement: This enables the robot to place its arm in
any direction on a horizontal plane.
2. Radial movement: This enables the robot to move its end-
effector radially to reach distant points.
3. Vertical movement: This enables the robot to take its end-
effector to different heights.
These degrees of freedom, independently or in combination with
others, define the complete motion of the end-effector.
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 Types of Joints

The Robot Joints is the important element in a robot

which helps the links to travel in different kind of
movements. There are five major types of joints such as:
• Rotational joint
• Linear joint
• Twisting joint
• Orthogonal joint
• Revolving joint
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 Types of Joints

https://youtu.be/SMcqUjQ2Swo?si=B5kFwMZ4dQWegiHw

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 Types of Joints
Rotational Joint:
• represented as R –Joint.
• will allow the joints to move in a rotary motion along the axis,
which is vertical to the arm axes.

Linear Joint:
• indicated by the letter L –Joint.
• can perform both translational and sliding movements.
• The two links should be in parallel axes for achieving the linear
movement.

Twisting Joint:
• will be referred as T –Joint.
• makes twisting motion among the output and input link.
• the output link axis will be vertical to the rotational axis.
• The output link rotates in relation to the input link.
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 Types of Joints
Orthogonal Joint:

• The O –joint
• Similar to the linear joint. The only difference is that the
output and input links will be moving at the right angles.

Revolving Joint:

• known as V –Joint.
• the output link axis is perpendicular to the rotational axis, and
the input link is parallel to the rotational axes.
• As like twisting joint, the output link spins about the input
link.

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 Generations of the Robot

Robotics First Generation

•The first robots, those developed in the beginning of the second half of the 20th
century.
•They are called as “manipulator robots”.
•Their system is quite simple, they perform programmed repetitive tasks that are
executed manually or in a fixed sequential manner.
•These tasks are usually to pick up and place elements in a certain place, with
great limitations in their movements.
•As they have no knowledge of the environment, they are classified as open-loop
systems, since they do not have that feedback to verify results or errors.
•These types of robots still exist and are used in many industries.

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 Generations of the Robot
Robotics Second Generation

They are Known as the first learning robots, being able to memorize
sequences of movements previously performed by a human operator.
They are characterized by having the ability to move (fixed positions)
and being able to perceive part of their environment, by means of
specialized sensors.
Because of this, they became closed-loop systems, with a basic feedback
system, being able to verify part of their results.
At present they are also used, mainly in the automotive industry,
performing tasks of painting, transfer and assembly of parts in the
assembly lines.
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 Generations of the Robot

Robotics Third Generation

They were referred to as the generation of sensorized control

robots.
they can be reprogrammed through computers,
allowing them to see (artificial vision) and touch using sensors
and programming languages.
This generation has greater knowledge of the environment
allowing it to modify its work or displacement strategy, so the
control system is closed loop.
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 Generations of the Robot
Fourth Robotics Generation

intelligent robots - ability to make decisions in real time and freedom of

movement or to complete their tasks.
 The processing of information collected by increasingly accurate sensors was
far superior to previous generations.
Its development was determined, for the most part, by the use of analysis
models with fuzzy logic and neural networks, which were key at that time, the
end of the 20th century and the beginning of the 21st century, where the
growth of computing and electronics was exponential.
They were used in many activities in all possible sectors, from industrial
applications to services and entertainment

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 Generations of the Robot

Fifth Robotics Generation

 The latest generation of robotics.

The fundamental characteristic is the use of
 advanced artificial intelligence with automatic learning,
 without human intervention,
 being able to imitate and develop models of performance,
 reasoning and behavior, in the most dynamic and unknown environments.
This breaks with the false limitation that robots can only be used in repetitive
tasks.

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 Types of Robots
Robots come in various types, each designed for specific tasks and
functions. Here are some common types of robots:
1.Industrial Robots:
1. Application: Used in manufacturing and production lines for
tasks like welding, assembly, painting, and material handling.
2. Characteristics: Programmable, precise, and often operate in
controlled environments.
2.Service Robots:
1. Application: Provide services to humans in various settings,
such as healthcare, hospitality, and customer service.
2. Examples: Social robots, cleaning robots, telepresence robots.
3.Medical Robots:
1. Application: Assist in medical procedures, surgery, diagnostics,
and rehabilitation.
2. Examples: Surgical robots, robotic prosthetics, teleoperated
robots for remote surgery.
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 Types of Robots
4. Military Robots:
1. Application: Used for defense and military purposes, including
reconnaissance, bomb disposal, and surveillance.
2. Examples: Unmanned Aerial Vehicles (UAVs), bomb disposal
robots.
5.Agricultural Robots:
3. Application: Designed for agricultural tasks such as planting,
harvesting, and monitoring crops.
4. Examples: Agricultural drones, robotic harvesters.
6.Autonomous Vehicles:
5. Application: Vehicles capable of navigating and operating without
human intervention.
6. Examples: Self-driving cars, autonomous drones, unmanned
underwater vehicles.
7.Domestic Robots:
7. Application: Assist with household tasks and chores.
8. Examples: Robot vacuum cleaners, smart home devices.
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 Types of Robots
8. Educational Robots:
1. Application: Designed for educational purposes to teach
programming, robotics, and problem-solving skills.
2. Examples: Programmable robots for educational use.
9.Humanoid Robots:
3. Application: Resemble humans in appearance and
movement, designed for human interaction.
4. Examples: ASIMO, Pepper, Atlas.
10.Research Robots:
5. Application: Used in laboratories and research institutions
for scientific experiments and studies.
6. Examples: Robots designed for exploring various aspects
of robotics and artificial intelligence.

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 Types of Robots
11.Entertainment Robots:
1. Application: Designed for entertainment purposes,
including interactive exhibits and performances.
2. Examples: Animatronics, robot companions.
12. Space Robots:
3. Application: Used in space exploration for tasks like
planetary exploration, satellite repair, and space station
maintenance.
4. Examples: Mars rovers, robotic arms on spacecraft.

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CLASSIFICATION OF ROBOTS
Robotic manipulators ( Robotic arms ) can be classified according to the
following types .
 Based on drive technology employed ( type of actuator / motors
used ) .
 Based on the Work Space Envelope / Work Envelope / Work Volume /
Work Space .
 Based on the type of motion control used .
 Based on function or performance .
 Based on intelligence
 Robot Classification According to Drive Technology

 Actuators are the source of power that is used to drive the joints of the
robot .
 The input to the actuator is electrical / fluid ( hydraulic ) / air ( pneumatic )
and the output is always mechanical ; either linear (d) or rotary (θ) .
 The actuator alone will not move the joint . It has to be driven by a drive .
 The drive acts as a interface between the computing system and the
mechanical system (robot).
 Robot Classification According to Drive Technology

 A suitable buffer is required as the interface between the computer

and the robot .
 Since , the output port of the computer is of TTL logic ( 5 V , μA
capacity ) and the actuators are of amperes rating , this small
voltage is not sufficient to move the actuator .
 Hence , to control and guide the joints of the robot to a particular
position in the 3D space , a drive system is very essential .
Typical drive is show in below .
There are six types of drives, Electrical drives , Hydraulic drives ,
Electro-hydraulic drives , Pneumatic drives , Electro - pneumatic
drives , Electro - pneumatic - hydraulic drives .
 Electric Drives:
Robots which make use of electric drives are called as electric robots .
 Actuators (motors) are the devices which furnish electric power to the robot
joints for movement .
 Electric motors are used to actuate both the types of joints ; viz., prismatic
and revolte .
 The various types of electric motors used in the robots today are AC / DC
servomotors , Stepper motors , DC motors , Brushless DC motors , AC
induction motors, Tape motors , Synchronous motors .
 The advantages of electric robots are :
 Accuracy and repeatability of electric robots are very good ,
 Electric robots are smaller in size , require less space ,
 Used for precise work , cost less ,
 Possible to apply sophisticated control techniques , electrical energy can be
stored easily .
 The disadvantages of electric robots are :
 Picks up low pay load and has lower power to weight ratio ,
 Need to convert from rotary motion to linear motion (since output of motor
is rotary motion ) ,
 Have to be combined with gear trains to reduce speed and to increase the
torque , gear backlash limits precision , sparking takes place .
 Hydraulic Drives -
● Robots which make use of hydraulic drives are called as hydraulic robots .
● Hydraulic robots are used in places where heavy load is to lifted such as in
big industrial plants , automobile industry , excavation work and in the
construction sites .
● Advantages of hydraulic robots are:
 They provide the robot with good precision and accuracy.
 Higher power to weight ratio.
 Heavy pay load lifting .
 Disadvantages of hydraulic robots are :
● They consume lot of floor space , leakage of oil is a problem ,
● lack of cleanliness , expensive , bulkier , fire hazards , requires more number
of hydraulic accessories .
 Pneumatic Drives -
● Robots which make use of pneumatic drives are called as pneumatic robots .
● These robots are operated from compressed air and they are nothing but air
activated tools .

The advantages of pneumatic drive systems are:

● Used to pick up light and delicate objects such as paper , tin sheets ,
aluminium foils and glass .
 The disadvantages of these air activated tools are:
● They exhibit built in compliance in grasping objects and the problem of
sponginess occurs , speed control is very difficult , requires lot of pneumatic
accessories such as compressors , valves , regulators and are expensive .
 Robot Classification Based on the Work Space

 Work space is defined as the area in which the robot can do useful work or
can do pick and place of objects and depends on the sequence of the joints
used by the major axis .
 The work space environment is the boundary of the work space . Based on
the work space, the robots are classified into four major types as follows .
FOUR MAJOR TYPES

Cartesian Cylindrical
coordinate robots coordinate robots .

Spherical
Articulated robots
coordinate robots
 Cartesian Coordinate Robots :
● Also called as xyz Robots
● ( x , y , z ) ----- Notation : PPP
● These types of robots consists of three linear orthogonal or perpendicular
motions or axes along their joint axes as shown in the Figure.
It can move along x , y and z-axes . The WS is a rectangular box .
The three links move perpendicular to each other and the volume = l b h .

Rectangular robot WS of xyz

 Cylindrical Coordinate Robots : ( r , θ , z ) ….. Notation : RPP
● It consists of two linear orthogonal motions and a rotary type of motion as
shown in the Figure.
● It consists of two links which can move the arm up / down ( z motion) ,
move the arm in / out ( r motion - radial extension ) and a third axis which
can rotate about the base (θ) .
● Work space is the volume between two concentric cylinders , volume = π
( {router )2 – (rinner )2 } h .
Cylindrical Coordinate Robots : ( r , θ , z ) ….. Notation : RPP

Cylindrical
WS
Spherical Coordinate or Polar Coordinate Robots : ( r , θ , φ ) ……. Notation : RRP

● It consists of two rotary motions and a single sliding (prismatic) motion . and
is shown in the Figure The work space is a hemisphere or a sphere .
● The three joints corresponds to : 1st revolute joint - swings the arm up /
down (rotary motion θ) ; 2nd revolute joint - rotates the system in horizontal
plane , φ ; Prismatic joint (r) -moves the wrist in and out along a radial axis ,
work volume =2/3 πr3 or 4/3 πr3 hemisphere or a sphere .
● In this case , all the 3 joint axes are perpendicular to each other .
Polar / spherical WS
SCARA Robot …… Notation : RRP
is an example of spherical coordinate robot
● SCARA Robot is the abbreviation for Selective Compliance Assembly
Robot Arm . It is a type of polar / spherical coordinate robot.
● 1 SCARA robot has got four axes , viz., base (1) , elbow (2) , vertical
extension (3), tool roll (4) as shown in Figure. All the four joint axis are
vertical ,
● parallel to each other and ⊥r to the work surface .
SCARA robot
Workspace of SCARA robot
Articulated Arm or Jointed Arm or Revolute Robots ( θ , φ , ψ ) …… Notation : RRR

 Robots resemble the replica of a human hand. It consists of two straight

links as shown in Figure corresponding to the upper arm and the forearm of
our human hand and is mounted on a vertical rotating pedestal called as the
base .
 The two links are connected by 3 rotary joints corresponding to the
shoulder , elbow and the wrist .
 A end-effector ( tool / gripper ) with three types of motions ( yaw , pitch ,
roll ) is attached at the end of the arm .
Figure: Articulated
 Classification of Robots Based on Motion Control

When controlled motion of the end-effector is considered , the robots are

divided into three types .

Pick and place Point-point Continuous path

 Pick & Place Robots ( PNP )

● A PNP robot just picks up objects from one place and keeps it at another
place as shown in Figure.
● Ex. : Robots used in machine loading and unloading , PNP operations ,
picking of IC components and inserting onto the PCB .

Figure PNP robot

 Point To Point Robots ( PTP )
These type of robots allows the user to specify the set of points ( known as the
knot points between the source and destination ) between which the robot is to
move , i.e., the robot moves through a discrete set of points specified by the user
as shown in Figure.
Ex. : Robots used for performing spot welds or drilling on a automobile .
Continuous Path Robots(CP)
These type of robots allow the user to specify the path
along which the robot should move .

Figure PTP robot

 Continuous Path Robots(CP)

Once the path is specified by the user , the robot moves continuously along the
desired path as shown in Figure.
When the robot is moving continuously along the
path , care has to be taken to see that all the
joint angles are controlled properly , Figure CP robot
otherwise it will not move along the specified path ( may deviate from the path )
Hence the name , controlled path motion .
Ex. : Robots used for spray - painting , line welding , arc welding , inspection
along a particular path .
 Classification Based on the Function Performed by the Robot

Manual manipulator Fixed sequence robots Variable sequence robots

Numerically controlled Tele operational robots

Playback robots
robots
Manual manipulator - Operated manually by the human being .
Fixed sequence robots - Sequence of operations cannot be changed , i.e., fixed
 Variable sequence robots - Sequence of operations to do a particular task can
be varied .
Playback robots - First the task is taught to robot . During the teaching
period , the robot memorizes the task , stores the taught instructions in memory
and then plays back the operations taught by the user . Hence the name
playback robot .
Numerically controlled robots - Robots operating on numbers ( NC machine )
Tele operational robots - Robots operated by remote control , extra - terrestrial
robots ( uses telecommunication links ) .
 Classification based on intelligence

Robots are classified based on the intelligence into four types , viz., first ,
second , third and fourth generation robots and are equipped with a huge
number of sensors.
These robots work on AI , vision , thinking , speech , parallel processing and
has decision making techniques and has good sensing power .
Example : walking mechanisms (androids) , humanoids , single legged robots
, bipeds ( 2 legged , 4 legged , 6 legged ) , bio - bots , microbots , nanobots ,
flexible robots , flexibots , bio - mechanisms , medical robots .
END OF MODULE 1

K.Asha, Asst Prof, AIML 122

ROBOTICS