Dr.

Mohamed Atef Elsharif

 Course Outlines

Introduction - Robot arm kinematics (forward and inverse kinematics problems) -

Jacobian and Static force analysis - Robot arm dynamics (Lagrange-Euler formulation) -
Robot arm dynamics (Newton-Euler formulation) - Trajectory planning - Introduction to
manipulator control.

Textbook

Introduction to Robotics, Mechanics and Control

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 20%
Student Activities
40%
Mid-Term Exam

Lab Activities
20%
Final Exam

20%

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Introduction to Robotics

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Electronic Control
Systems system

Mechanical
Computer
systems

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-The finite difference between mechatronics and robotics is that robotic systems are re-programmable.
-In general Robotics is a subfield of mechatronics, on other words the mechatronics is the superset of robotics.
-A robot can be considered as an example of a mechatronics project. Other examples like cars, automation
systems, etc.

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• Robotics researchers and engineers will touch the following disciplines:
 Mechanical Engineering – concerned with manipulator/mobile robot mechanical design,
kinematics and dynamics.

 Electrical Engineering – concerned with robot sensors, actuators, electronic interfacing

and communicating to computers, control algorithms and power supply.

 Computer Science – concerned primarily with robot programming, planning and

intelligent behavior.

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A robot is an electromechanical device that performs functions:

• Reprogrammable

• Multifunctional

• Sensible for environment

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Human beings have constantly attempted to seek alternatives that would be able to mimic
their behavior with the following specs.

 Higher productivity
 Repeatability and accuracy
 Reliability
 Heavy payloads
 Flexibility
 Better quality of products
 Improve quality of human life
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Recent situation and the future of the market size of the personal and service
robots according to Japan Robotics Association.

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 Robot evolution

Evolutionary robotics is
done with many different
objectives in several
decades with different
types.

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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.”

1940 - Sparko, the Westinghouse dog, uses

both mechanical and electrical components.

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”.
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1978- Puma (Programmable Universal Machine for Assembly).

2000 - Honda unveils ASIMO, the first non-prototype PUMA

release of its humanoid robot.

Asimo

2004 - The Mars rovers Spirit and Opportunity land on Mars.

Mars Exploration Rover

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 Main types of Mobile Robots
Unmanned Ground Vehicle

Legged Track

Humanoid

Surface Wheeled
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Unmanned Arial Vehicle

Aerial

Unmanned Underwater Vehicle

Underwater

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 Industrial robots

Countless manufacturers use industrial robots to automate tasks, enhance worker safety, and increase overall
production output while reducing waste and operating costs. With industrial robots becoming more prevalent in
manufacturing environments, there has been an increased demand for numerous different types of industrial robots
to fit specific applications and industries.
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Industrial Manipulator
A reprogrammable multi-functional manipulator designed to move material, parts, tools
or specialized devices through variable programmed motions for the performance of
variety of tasks.

Applications examples

• Spot welding • Inspection

• Arc welding • Space technology
• Spray painting • Hospitals
• Assembly • Cooking

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Manipulator Mobility

 The manipulator’s mobility is ensured by the presence of Prismatic joints and Revolute
joints.
 A prismatic joint creates a relative translational motion between the two links, whereas
a revolute joint creates a relative rotational motion between two links.
Revolute Prismatic

2D

3D

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Degree of Freedom
 Degrees of freedom, in a
mechanics, are specific,
defined modes in which a
mechanical device or system
can move.
 The number of degrees of
freedom is equal to the total
number of independent
displacements or aspects of
motion.
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Manipulator Degree of Freedom

In an open kinematic
chain, each prismatic or
revolute joint provide the
structure with a single
degree of freedom
(DOF).

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Classification of Industrial Manipulators
Manipulators are classified according to:
 Type of system
- Point-To-Point robotic systems (PTP)
- Continuous-Path robotic systems (CP)
 Type of control
- Open loop
- Closed loop
 Structure of the manipulator
- Cartesian (PPP)
- Cylindrical (RPP)
- Spherical (RRP)
- SCARA (RRP)
- Anthropomorphic (Articulated) (RRR)
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Classification of Industrial Manipulators
 Type of system
Point-To-Point robotic systems (PTP)
The robot moves to a numerically defined location
and then the motion is stopped.
Ex. Spot welding robot

Continuous-Path robotic systems (CP)

All axes of motion may move simultaneously, each
at a different velocity under control to trace the
required path.
Ex. Arc welding robot
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Classification of Industrial Manipulators
 Type of control
Open loop
The output has no effect on the input
Input Output
Controller Process

Closed loop
The output affects the input. The actual position and velocity of each axis are measured and compared
with the desired values. The difference is the error, the strategy is designed to eliminate this error.
Input Output
+
Controller Process
-

Feedback

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Classification of Industrial Manipulators
 Structure of the manipulator

Cartesian robot manipulator (PPP)

 Cartesian or linear robots work on three linear
axes (X, Y, and Z) with high flexibility in their Working Space
configurations, giving the ability to adjust the
robot’s speed, precision, stroke length and size.
 It is one of the most commonly used type for
industrial applications which often employed
for CNC machines, 3D printing and pick and
place operations. Dr. Mohamed Atef 29
Classification of Industrial Manipulators
 Structure of the manipulator

Cylindrical robot manipulator (RPP)

 The first joint is revolute around the base,
Working Space
whereas the second and third joints are prismatic.
The robots have a cylindrical-shaped work
envelop and often used in tight workspaces.
 Its Rigid structure, allows large payloads and
good repeatability often used in simple assembly,
material transfer and coating applications.
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Classification of Industrial Manipulators
 Structure of the manipulator

Spherical robot manipulator (RRP)

 The first and second joint of polar robots, or
Working Space
spherical robots are revolute and the third joint
is prismatic thus a spherical work envelope is
formed.
 Spherical robot considered one of the earliest
manipulator design. They are commonly used
for die casting, injection molding, welding, and
material handling. Dr. Mohamed Atef 31
Classification of Industrial Manipulators
 Structure of the manipulator

SCARA robot manipulator (RRP)

 SCARA robots excel in lateral movements and
Working Space
are commonly faster moving and have easier
integration than Cartesian robots. The first and
second joint are revolute and the third joint is
prismatic.
 Typically, SCARA robots are used for assembly
and palletizing, as well as bio-med application.
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Classification of Industrial Manipulators
 Structure of the manipulator

Anthropomorphic (Articulated) robot manipulator (RRR)

 The articulated geometry is realized by three revolute
joints; the revolute axis of the first joint is orthogonal to Working Space

the axes of the other two which are parallel. The second
joint is called the shoulder joint and the third joint is the
elbow joint.
 Typical applications for Articulated Robots are
assembly, arc welding, material handling, machine
tending and packaging. Dr. Mohamed Atef 33
 Manipulators

Cartesian: PPP Cylindrical: RPP Spherical: RRP

Hand coordinate:
a: approach vector, normal to the tool mounting plate
SCARA: RRP Articulated: RRR n: normal vector; s: sliding vector;
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The Workspace

The workspace of a manipulator is the total volume swept

out by the end-effector as the manipulator executes all
possible motions.

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Accuracy and Repeatability

 The accuracy of a manipulator is a measure

of how close the manipulator can come to a

given point within its workspace.

 Repeatability is a measure of how close a

manipulator can return to a previously

taught point.

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Basic components of Industrial Robot

 Manipulator
The mechanical moving structure which consists of a set of rigid bodies (links), connected
by means of articulations (joints). Links and joints can also be described in terms of an arm
(for mobility), a wrist (for dexterity) and an end effector (for performing the task).
 Drives and sensing units
Actuators: These set the robot in motion through actuation of its joints, and are typical
electric or hydraulic.
Sensors: which measure the status of the manipulator.

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Basic components of Industrial Robot

 Control system
Computer: This enables control and supervision of the robot by a storage program or via
network or by a remote controller, and it can be equipped with a graphical user interface.

 Power supply
Robots need a power supply to move the actuators, operate the sensors and the robots
controllers. It could be only electric or combined with hydraulic or pneumatic.

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Peripherals components of Industrial Robot

 Spherical wrist

The axes of rotation of the spherical wrist are typically denoted, roll, pitch and
yaw and intersect at a point called the wrist center point.

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Peripherals components of Industrial Robot
 Grippers

 Two fingered parallel jaw gripper

 Two jaw angular gripper

 Scissor-type gripper

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Peripherals components of Industrial Robot
 Grippers

 Vertical gripper

 Hand gripper

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Peripherals components of Industrial Robot
 Grippers

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 Discuss advantages and disadvantages of
industrial manipulators types according to
the structure of the manipulator

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