FACULTY OF ENGINEERING AND
TECHNOLOGY
DIPLOMA IN ROBOTICS AND AUTOMATION
DESIGN AND MODELLING OF
ROBOTIC SYSTEMS
LAB
SEMESTER: 2nd
ROBOTICS & AUTOMATION ENGINEERING
Laboratory Manual
PARUL UNIVERSITY
FACULTY OF ENGINEERING AND TECHNOLOGY
DEPARTMENT OF MECHATRONICS ENGINEERING
Faculty of Engineering & Technology
Design and Modelling of Robotics Systems ()
Diploma 1st Year
WAGHODIA,VADODARA
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Faculty of Engineering & Technology
Design and Modelling of Robotics Systems ()
Diploma 1st Year
PREFACE
It gives us immense pleasure to present the first edition of DESIGN AND MODELLING
OF ROBOTIC SYSTEMS LAB practical book for the [Link]. 1st year students for PARUL
UNIVERSITY.
The DESIGN AND MODELLING OF ROBOTIC SYSTEMS theory and laboratory courses
at PARUL UNIVERSITY, WAGHODIA, VADODARA are designed in such a way that
students develop the basic understanding of the subject using different Softwares like Auto CAD,
Creo in the Laboratory session the main objective of the DESIGN AND MODELLING OF
ROBOTIC SYSTEMS laboratory course is: Learning DESIGN AND MODELLING OF ROBOTIC
SYSTEMS through Experimentations using software mode. All the experiments are designed to
illustrate various phenomena in different areas of DESIGN AND MODELLING OF ROBOTIC
SYSTEMS and also to expose the students to various analysis and simulation that helps in further
research work for product Development.
The objective of this DESIGN AND MODELLING OF ROBOTIC SYSTEMS Practical Book
is to provide a comprehensive source for all the experiments. It explains all the aspects related to
every experiment such as: basic Sketching, details of Mechanical Modelling, how to use
Advance tools for the desired purpose, Sheet metal, Design and Drafting, Analysis and
simulation etc. It also gives sufficient information on how to interpret and discuss the obtained
results.
We acknowledge the authors and publishers of all the books which we have consulted
while developing this Practical book. Hopefully this DESIGN AND MODELLING OF ROBOTIC
SYSTEMS Practical Book will serve the purpose for which it has been developed.
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Faculty of Engineering & Technology
Design and Modelling of Robotics Systems ()
Diploma 1st Year
Instructions to students
1. The main objective of the DESIGN AND MODELLING OF ROBOTICS SYSTEMS laboratory
is: Learning DESIGN AND MODELLING OF ROBOTICS SYSTEMS through the Software
based tools for modelling and Analysis. All the experiments are designed to illustrate various
phenomena in different areas of DESIGN AND MODELLING OF ROBOTICS SYSTEMS and
also to expose the students to various features and tools and their uses.
2. Every student should have his/her individual copy of the DESIGN AND MODELLING OF
ROBOTICS SYSTEMS Practical Book.
3. Every student have to prepare the notebooks specifically reserved for the DESIGN AND
MODELLING OF ROBOTICS SYSTEMS practical work: “DESIGN AND MODELLING OF
ROBOTICS SYSTEMS Practical Book”
4. Every student has to necessarily bring his/her DESIGN AND MODELLING OF ROBOTICS
SYSTEMS Practical Book, DESIGN AND MODELLING OF ROBOTICS SYSTEMS Practical
Class Notebook and DESIGN AND MODELLING OF ROBOTICS SYSTEMS Practical Final
Notebook, when he/she comes to the Practical to perform the experiment.
5. Do not forget to get the information of your next allotment (the experiment that is to be
performed by you in the next laboratory session) before leaving the laboratory from the Technical
Assistant.
The grades for the DESIGN AND MODELLING OF ROBOTICS SYSTEMS practical course work will
be awarded based on your performance in the laboratory, regularity, recording of experiments in the
DESIGN AND MODELLING OF ROBOTICS SYSTEMS Practical Final Notebook, lab quiz, regular
viva-voce and end-term examination
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Faculty of Engineering & Technology
Design and Modelling of Robotics Systems ()
Diploma 1st Year
CERTIFICATE
This is to certify that
Mr./
Ms.............................................................................
............................with enrolment
no. ................................................................ has
successfully completed his/her laboratory
experiments in the DESIGN AND MODELLING OF
ROBOTICS SYSTEMS from the department
of .............................................................................
........................................ during the academic
year.....................................
Date of Submission:......................... Staff In charge:...........................
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Faculty of Engineering & Technology
Design and Modelling of Robotics Systems ()
Diploma 1st Year
Head of Department:...........................................
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Faculty of Engineering & Technology
Design and Modelling of Robotics Systems ()
Diploma 1st Year
INDEX
Date of Marks
Sr. Page Date of
Experiment Name Assessmen out 0f Sign
No. No. Experiment
t 10
Design of different robot components.
1
Formulate the methods for designing
2 the entire robot assembly
Analyze the performance of robotic
3 manipulator in different conditions.
Create a Robot CAD Model.
4
Use of Modelling techniques for the
5 Robot Design.
Introduction to MATLAB Simulink.
6
Design a Simulink model of robotic
7 manipulator.
Design an end effector trajectory for
8 robotic manipulator.
Apply a controller for trajectory
tracking control of robotic
9
manipulator.
Analyze the design parameters for
10 designing the components of a robot.
EXPERIMENT 1
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Design and Modelling of Robotics Systems ()
Diploma 1st Year
Design of different robot components
AIM: To design a robot component
OBJECTIVE:
1)Find the component of Robot.
2)Design component used in robot.
OUTCOME:
Student able to find the part of Robots and design the same as per Application oriented need.
A robot is typically composed of several key components, each serving a specific function to
enable the robot to perform its tasks effectively. Here are some essential robot components:
1. Controller: The controller is the brain of the robot, responsible for processing information
from sensors and sending commands to the actuators. It manages the overall operation of
the robot.
2. Actuators: Actuators are devices that enable the robot to move or perform actions.
Electric motors, pneumatic cylinders, hydraulic systems, and servos are common types of
actuators used in robotics.
3. Sensors: Sensors provide feedback to the robot about its environment. They can include
cameras, ultrasonic sensors, infrared sensors, tactile sensors, and more. Sensors enable
the robot to perceive and react to its surroundings.
4. Power Supply: Robots require a power source to operate their components. This can be in
the form of batteries, electric power, hydraulic power, or a combination of these,
depending on the type of robot and its application.
5. End Effector: As mentioned earlier, the end effector is the tool or device at the end of the
robot's arm that interacts with the environment to perform specific tasks. Grippers,
welding tools, and sensors are examples of end effectors.
6. Mechanical Structure: The mechanical structure provides the physical framework for the
robot. It includes the robot's frame, joints, and links. The design of the mechanical
structure influences the robot's range of motion and payload capacity.
7. Communication System: Robots often require communication systems to receive
commands and transmit data. This can include wired or wireless communication
protocols depending on the application.
8. Programming Interface: A programming interface allows humans to communicate with the
robot and define its tasks. This interface may involve programming languages, graphical
user interfaces (GUIs), or other means of inputting instructions.
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Design and Modelling of Robotics Systems ()
Diploma 1st Year
9. Safety Features: Safety components are crucial to ensure the well-being of humans
working alongside robots. This may include emergency stop buttons, sensors to detect
obstacles, and compliance with safety standards.
10. Control Software: The control software manages the execution of tasks, coordinates
movements, and processes sensor data. It plays a key role in determining how the robot
responds to its environment.
These components work together to make the robot a versatile and capable system that can be
programmed to perform a wide range of tasks in various industries, including manufacturing,
healthcare, logistics, and more. The specific components and their complexity depend on the
type and purpose of the robot.
Introduction to Robot End Effector:
Definition: Robot End effector is the bridge between the Robot arm and the Environment around
it. A robot end effector is the device or tool at the end of a robotic arm or manipulator that is used
to perform a specific task or function. It is essentially the "hand" of the robot and is designed to
interact with the environment to carry out tasks such as grasping, welding, cutting, painting, or
any other operation depending on the application.
Figure 1.1: Choice of Grip
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The design of the end effector depends on the specific requirements of the task. Some common
types of robot end effectors include:
Grippers: Used for grasping and holding objects. Grippers can have different configurations,
such as two-finger, three-finger, parallel-jaw, or suction cup grippers.
Welding Guns: Designed for welding applications, these end effectors can be equipped with
welding tools and are commonly used in manufacturing.
Cutting Tools: End effectors for cutting applications, such as plasma or laser cutting tools, are
used in industries like metal fabrication.
Painting Tools: Equipped with paint nozzles, these end effectors are used for painting
applications, often seen in automotive assembly lines.
Sensors: Some end effectors are equipped with sensors for tasks like quality control or
inspection. They can be used to measure dimensions, check for defects, or ensure precise
positioning.
Vacuum Cups: Used for handling objects with smooth surfaces, vacuum cups create a suction
force to lift and manipulate items.
Drills and Screwdrivers: End effectors with drilling or screwdriving capabilities are used for
tasks that involve attaching or fastening components.
The choice of the end effector depends on factors such as the nature of the task, the type of
objects being manipulated, precision requirements, and the overall design of the robotic system.
End effectors play a crucial role in the versatility and functionality of robotic systems, enabling
them to perform a wide range of tasks across various industries.
Classification of End Effector:
1)Mechanical Fingers
2)Special Tools
3)Universal Fingers
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Diploma 1st Year
Figure 1.2: Multiple grippers
Using some special tooling action, robot grippers can be designed to retain objects by
electromagnetic action or under the action of vacuum.
Figure 1.3: (a) Internal gripper (b) External grippers
Design Piston – cylinder in Pneumatic Gripper:
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The gripper as shown in the figure is used for holding cartons. A piston which can supply the
actuating force F may be chosen. It is logical to orient the piston device in the gripper such that
this force is supplied on the extension stroke of the piston.
Assume that Air pressure is Pa. We have to calculate Diameter of the piston for same we needed
actuating force F.
Now,
π (D 2∗D 2)
F=Pa X
4
Where, D2=Piston Diameter, mm
Pa=Supply Pressure, Kgf/mm2
4∗F
D 2=√
π∗Pa
Magnetic Grippers:
Figure 1.4 Magnetic gripper (a) Permanent magnet type
( ¿ )∗(¿)
P=
25 Ac ( Ra+ Rm )
IN=Number of amp-turns of coil
Ac=Area of contact of an object with magnet
Ra, Rm=Reluctances of Magnetic path through air and metal respectively.
P≥(a+g) m*FS
a=gripper acceleration
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Design and Modelling of Robotics Systems ()
Diploma 1st Year
g=Gravitational constant
m=mass and FS=Factor of safety
Vacuum Grippers:
Figure 1.5 Vacuum gripper (a) Ventury device for flat surface gripping (b)Gripper for contoured
surface
F=KPA=Kac (Pa-Pres)
F=force Capacity, N
P=Negative Pressure, N/cm2
Ac=Total Effective area of Suction Cup
K=coefficient Depending on atmospheric pressure and conditions of seal
Pa=Atmospheric Pressure, Pres=Residual Pressure in Vacuum cup
Conclusion:
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Design and Modelling of Robotics Systems ()
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EXPERIMENT 2
AIM: Formulate the methods for designing the entire robot assembly (by using Forward
Kinematics of PUMA 560).
OBJECTIVES:
To identify the geometric relationship between input and output motion parameters of
PUMA 560 robot manipulator.
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Diploma 1st Year
Formation of the transformation matrix though which a relationship is established
between different links of the manipulator.
Simulate the robot motion for various inputs of the joint angular value.
To have a brief idea about the workspace through a 3D graph plot of manipulator position
for various inputs.
INTRODUCTION:
The PUMA 560 is a industrial robot arm with six degrees of freedom and all rotational joints.
In this experiment at first a brief theory about PUMA 560 robot is presented in the theory
section. The theory for mathematical computations was obtained from a wide variety of
sources encompassing books, papers and internet. In simulation section a virtual model is
developed in JavaScript program which is used to investigate the forward kinematics
problem. For more information on other aspects of PUMA 560 and robotics visitors are
advised to follow the references.
Figure 1: PUMA 560
THEORY:
Programmable Universal Machine for Assembly, more popularly known as PUMA is an
industrial robot arm developed by Victor Scheinman at Unimation, in the year 1978. PUMA
comes in various makes viz. PUMA 260, PUMA 560, PUMA 761 etc. Figure 2 shows link-frame
assignments in the position corresponding to all joint angles equal to zero. Here the frame {0}
(not shown) is coincident with frame [1} when is zero. Note also that, for this robot, as for many
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Diploma 1st Year
industrial robots, the joint axes of joints 4, 5, and 6 all intersect at a common point, and this point
of intersection coincides with the origin of frames {4}, {5}, and {6}. Furthermore, the joint axes
4, 5, and 6 are mutually orthogonal. This wrist mechanism is illustrated schematically in Fig.4. In
this experiment forward kinematics of PUMA 560 is described through a virtual model. The
forward kinematics problem is concerned with the relationship between the individual joints of
the robot manipulator and the position and orientation of the tool or end effector.
FORWARD KINEMATICS:
Forward kinematics (FK) mainly deals with constructing a Denavit-Hartenberg (D-H)
transformation matrix with Puma's parameters obtained from a D-H parameter table shown
below:
Figure 2: Kinematic parameters and frame assignments for the PUMA 560 manipulator.
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Figure 3: Kinematic parameters and frame assignments for the forearm of the PUMA 560
manipulator.
Figure 4: Schematic of a 3R wrist in which all three axes intersect at a point and are mutually
orthogonal.
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Transformation matrices of six joints for Puma 560 robot
Final Transformation Matrix:
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Puma kinematic diagrams:
Figure 5: Simplified drawing of first three links of Puma 560 with transformation frames
appropriately
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Conclusion:
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EXPERIMENT 3
AIM: Analyze the performance of robotic manipulator in different conditions (by using
Inverse Kinematics of PUMA 560).
OBJECTIVES:
To identify the geometric relationship between input and output motion parameters of
PUMA 560 robot manipulator.
To verify the robot configuration for a particular set of joint solution.
Simulate the robot motion for various inputs of the manipulator position.
INTRODUCTION:
Inverse kinematics problem deals with the determination of joint variables given a desired
position and orientation for the tool. The inverse kinematics problem is significant because
manipulation tasks are usually formulated in terms of the desired tool position and orientation.
Analysis of Inverse Kinematics is in general more difficult and not straightforward like Forward
Kinematics problem. Exact solution of Inverse Kinematics problem for complex configure
manipulator is very difficult. The solution of Inverse Kinematics problem for control of a robot
manipulator is attempted using various methods such as algebraic methods, geometric methods,
and numerical methods. Algebraic methods are used to obtain closed-form solutions, but these
methods, do not guarantee closed form solutions.
THEORY:
Given the end-effector position and orientation from Forward kinematics problem, the inverse
kinematics approach is used to obtain the joint angles. But as stated in the introduction inverse
kinematics is more difficult problem than forward kinematics as its include much complexity.
The relationship between forward and inverse kinematics is shown in Figure 1. In general there
are two main solution techniques for inverse kinematics problem one is analytic approach and
other is numerical method. Analytic approach comprises of geometric and algebraic solutions in
which joint variables are solved analytically according to given configuration data.
Figure 1. The schematic representation of forward and inverse kinematics.
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Design and Modelling of Robotics Systems ()
Diploma 1st Year
Solving the problem of finding the required joint angles to place the tool frame, {T}, relative to
the station frame, {S}, is split into two parts. First, frame transformations are performed to find
the wrist frame, {W}, relative to the base frame, {B}, and then the inverse kinematics are used to
solve for the joint angles.
Which corresponds to position
Solution for Joint 1
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Same we can do for joint 2 to Joint 6.
Conclusion:
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EXPERIMENT 4
AIM: Create a Robot CAD Model.
OBJECTIVES:
To Model Quadruped Robot in Creo
INTRODUCTION:
Quadruped Robots have four legs or limbs and move in a similar way to four-legged animals.
They are able to traverse a variety of terrains in the same way that humans and animals can. This
makes them very versatile and capable of exploring a wide range of environments.
Quadrupeds are the superior choice for legged robots when it comes to mobility and stability of
locomotion. Nature has proven the strength of four legs when it comes to passive stability, or the
ability to remain standing without actively adjusting position. Quadrupeds are also more cost-
effective and simpler to construct than robots with more legs, yet they can still provide stability.
THEORY:
Quadrupeds are the superior choice for legged robots when it comes to mobility and stability of
locomotion. Nature has proven the strength of four legs when it comes to passive stability, or the
ability to remain standing without actively adjusting position. Quadrupeds are also more cost-
effective and simpler to construct than robots with more legs, yet they can still provide stability.
PROCEDURE IN CREO:
Prepare parts as below like
1)Base:
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Design and Modelling of Robotics Systems ()
Diploma 1st Year
2)Pin:
3)Link:
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Assembly of PIN, LINK and BASE parts as below like
Conclusion:
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