INTRODUCTION TO ROBOTICS
Definition of a Robot: The Robot Institute of America defines a robot as "A robot is a
reprogrammable, multifunctional manipulator designed to move material, parts, tools, or
specialized devices, through variable programmed motions for the performance of a variety of
tasks."
Components of a Robot:
Mechanical Platform or Hardware Base: This is the foundational mechanical structure of the
robot, which can take various forms such as a wheeled platform, articulated arm, fixed frame, or
any other structure that enables interaction with the environment and the execution of its tasks.
Sensor System: Positioned on or around the robot, the sensor system provides crucial
environmental information and feedback to the robot's controller. Sensors enable the robot to
perceive its surroundings and make informed decisions.
Joints: Joints are pivotal components that grant versatility to the robot. They are not mere
connectors but enable flexing, rotating, revolving and translating motions. Joints are
fundamental in granting the robot a range of motion and degrees of freedom.
• Controller: Functioning as the robot's "brain," the controller is responsible for executing
programmed instructions and governing the robot's movements and actions. It effectively
manages the robot's memory, logic and decision-making capabilities.
• Power Source: The power source supplies the energy required for the robot's operations. It
can be a battery for direct current, electricity from a power plant, solar energy, hydraulic power,
or gas, depending on the robot's specific needs.
• Artificial Intelligence (AI): Al endows robots with the ability to simulate certain
human thought processes. While modern Al allows robots to mimic some simple aspects of
human thinking, achieving an elevated level of Al sophistication requires advanced
programming, sophisticated controllers and enhanced sensory capabilities.
Actuators: Actuators serve as the "muscles" of the robot, converting control signals into
mechanical motion. They can be pneumatic, hydraulic, or electronic devices that activate
and control various robotic functions. Common types include synchronous actuators like brush
and brushless DC servo motors, stepper motors and asynchronous actuators like AC servo
motors, traction motors, pneumatic and hydraulic systems.
Robot Anatomy: The manipulator or physical structure of an industrial robot is composed of a
series of joints and links. Robot anatomy concerns itself with the types, sizes and configuration
of these joints and links, as well as other aspects of the robot's physical construction. It plays a
crucial role in determining the robot's range of motion and its ability to perform specific tasks
effectively.
Links
In robotics, a link refers to a physical component that connects two or more joints in a robot's
body. Typically, links are used to create a robot's arm, leg, or other body parts that need to move
in multiple directions. Two links, an input link and an output link are connected to each joint. By
moving (e.g., rotating) the joints, the links can be moved and the whole robot can be articulated.
The joints typically contain some kind of motor.
Robot links are like "bones" of the robot's body. They connect and function as a foundation for
the whole system, forming its skeleton. Typically, these links work with joints - the "knuckles" to
create the robot's range of motion.
Links play a key role in determining the robot's overall stability, precision and mobility. They are
made of varied materials based on the requirements of the specific robotic application. They can
be made of various materials from lightweight aluminum or heavy-duty steel and have different
shapes, such as cylinders or boxes, depending on the robot's design and the movement it
needs to perform.
Joint
A joint in an industrial robot bears a resemblance to a joint in the human body, as it facilitates
relative motion between two body parts. Its primary function is to govern controlled relative
movement between the input link and the output link.
In most cases, industrial robots are affixed to a stationary base on the floor. This base, along
with its connection to the initial joint, is designated as "link 0." This serves as the input link for
the first joint, denoted as "joint 1," which is the inaugural component in the series of joints that
comprise the robot's structure. The outcome of this joint, "link 1." then becomes the input link for
the subsequent joint, "joint 2," whose output link is "link 2," and so on.
Robot Joints are pivotal components in a robot, facilitating a diverse range of movements for its
links. Like human body joints, industrial robot joints enable relative motion between two parts.
Most industrial robot joints fall into one of five distinct types: