BY:- PREETHISH GUHA

INTRODUCTION
OUTLINE  Robotics is the study of the design , construction
History
Role and use of robots.
Industrial robot
D.O.F  “Robot” is coined from Czech word “Robota”.
Robot configs.
Kinematics
Robot system
Prog. languages  “Robota” means labor.
Applications
Workcell

 Robots are considered as trademarks of science fictions

 The word “robot” was first used in a play.

 INTRODUCTION
OUTLINE  WHAT IS ROBOT ?
History "A reprogrammable, multifunctionalmanipulator designed to
Role
move material, parts,tools, or specialized devices through various
Industrial robot
D.O.F programmed motions for the performance of a variety of tasks" .
Robot configs. -Robot Institute of America, 1979
Kinematics OR
Robot system A mechanical device which performs automated physical tasks,
Prog. languages either according to direct human supervision, a pre-defined program,
Applications or a set of general guidelines using artificial intelligence techniques.
Workcell - WikiPedia
OR
 
“An automatic device that performs functions normally ascribed
to humans or a machine in the form of a human.”
- Webster’s Dictionary
 EARLY HISTORY ….
OUTLINE  1495 , LEONARDO DA VINCI drew plans for a mechanical man .
Introduction
Role
Industrial robot
D.O.F
Robot configs.
Kinematics
Robot system
Prog. languages 1921 , a Czech writer KAREL CAPEK introduced the term “robot” in a play.
Applications
Workcell
 EARLY HISTORY ….
OUTLINE  1956 , the first robot was made called unimate.
Introduction
Role
Industrial robot
D.O.F  1961 , unimate goes to GM automobile factory N.J, USA.
Robot configs.
Kinematics
Robot system
Prog. languages  1963 , first artificial robot controlled by a computer was
Applications
Workcell
designed.

 1974 , Asia’s first robot IRB 6 , developed .

 ROLE OF INDUSTRIAL ROBOTICS

OUTLINE  KEY ROLE IN

Introduction
History Automation
Industrial robot Manufacturing
D.O.F
Assembly operations
Robot configs.
Kinematics Material handling
Robot system
Prog. languages
Applications  Industrial robotics offer numerous advantages over
Workcell
manual industrial labor or fixed automation including
increased speed and the ability to function in harsh
environments. Added flexibility and dexterity offered by
industrial robotics help manufacturers get jobs done
faster, while cutting costs .
 ROLE OF INDUSTRIAL ROBOTICS

OUTLINE INDUSTRIAL ROBOTS

Introduction
1400000
History
Industrial robot 1200000

D.O.F
1000000
Robot configs.
Kinematics 800000
Robot system
600000
Prog. languages
Applications 400000
Workcell
200000

0
1990 1995 2000 2005 2007 2011

Operational stock of industrial robots 1973 to 2011 Source: World

Robotics 2008 (IFR, 2008a).
 WHAT IS AN INDUSTRIAL ROBOT ?

OUTLINE  
Introduction ISO 8373:1994:
History
Role ”A manipulating industrial robot is an
D.O.F automatically controlled,
Robot configs. reprogrammable, multipurpose
Kinematics manipulator programmable in three or
Robot system more axes which may be either fixed in
Prog. languages place or mobile for use in industrial
Applications applications”.
Workcell
OR

A general-purpose, programmable
machine possessing certain
anthropomorphic (human-like)
characteristics.
 DEGREE OF FREEDOM
OUTLINE Each joint, moveable axis, on the arm is considered a
Introduction
History degree of freedom (DOF).
Role
Industrial robot  The number of different
Robot configs.
Kinematics ways in which a robot arm
Robot system can move .In a Three
Prog. languages
Dimensional (3-D) space
Applications
Workcell there are six degrees of
freedom. These consist of
displacement along three
perpendicular axes (X, Y and
Z), and rotation about those
same axes.
 DEGREE OF FREEDOM
 DOF in 3D space are
OUTLINE
Introduction generally identified using the
History following nautical terms:
Role Displacements
Industrial robot Heave: Moving up and down
Robot configs.
Kinematics
Surge: Moving forward and
Robot system backward
Prog. languages Sway: Moving left and right
Applications Rotations
Workcell Yaw: Turning left and right
flight
Roll: Tilting side to side
Pitch: Tilting forward and
backward.
 ROBOT CONFIGURATIONS
(robot anatomy)
OUTLINE
 Prismatic joints (sliding joints)*P:
Introduction
History
Role • Linear joint (L)
Industrial robot
D.O.F • Orthogonal joint (O)
Kinematics
Robot system  Rotary joints *R:
Prog. languages
Applications
• Rotational joint ( R)
Workcell

• Twisting joint ( T)

• Revolving joint ( V)
 ROBOT CONFIGURATIONS

OUTLINE THERE ARE DIFFERENT TYPES OF ROBOT CONFIGURATIONS :-

Introduction
History  CARTESIAN CONFIGURATION(PPP)
Role
Industrial robot Robots with Cartesian configurations
D.O.F consists of links connected by linear
Kinematics joints (L).
Robot system
Prog. languages A robot with 3 prismatic joints – the
Applications axes consistent with a Cartesian
Workcell coordinate system

 Commonly used for:

•pick and place work
•assembly operations
•handling machine tools
•arc welding
 ROBOT CONFIGURATIONS

OUTLINE  CYLINDRICAL CONFIGURATION(RPP)

Introduction
History Robots with cylindrical configuration
Role have one rotary ( R) joint at the base
Industrial robot and linear (L) joints succeeded to
D.O.F connect the links.
Kinematics
Robot system A robot with 2 prismatic joints and a
Prog. languages rotary joint – the axes consistent with a
Applications cylindrical coordinate system.
Workcell
Commonly used for:
•handling at die-casting machines
•assembly operations
•handling machine tools
•spot welding
 ROBOT CONFIGURATIONS

OUTLINE
Introduction  POLAR CONFIGURATION (RRP)
History
Role Polar robots have a work space of
Industrial robot spherical shape. Generally, the arm is
D.O.F connected to the base with a twisting
Kinematics (T) joint and rotatory (R) and linear (L)
Robot system joints follow.
Prog. languages
Applications A robot with 1 prismatic joints and 2
Workcell rotary joint.

Commonly used for:

•Handling of heavy loads.
•Palletising
 ROBOT CONFIGURATIONS

OUTLINE
Introduction  JOINED ARM CONFIGURATION(RRR)
History
Role  The jointed-arm is a combination of
Industrial robot cylindrical and articulated
D.O.F configurations.
Kinematics
Robot system A robot with 3 rotary joints.
Prog. languages
Applications Commonly used for:
Workcell • Spot welding,
• Arc welding ,and
• Surface coating.
 ROBOT CONFIGURATIONS

OUTLINE
Introduction  SCARA CONFIGURATION(RRP)
History
Role  Selective Compliance Assembly Robot
Industrial robot Arm
D.O.F
Kinematics  A robot with at least 2 parallel rotary
Robot system joints.
Prog. languages
Applications
Workcell  Commonly used for:
• pick and place work
• assembly operations
 ROBOT KINEMATICS
OUTLINE
Introduction  Robot kinematics is the study of the motion (kinematics) of robots.
History In a kinematic analysis the position, velocity and acceleration of all the
Role links are calculated without considering the forces that cause this
Industrial robot motion.
D.O.F
Robtot configs Robot kinematics are mainly of the following two types:
Robot system - forward kinematics and
Prog. languages - inverse kinematics
Applications
Workcell  Forward kinematics is also known as direct kinematics. In forward
kinematics, the length of each linkand the angle of each joint is given
and we have to calculate the position of any point in the workvolume
of the robot. In inverse kinematics, the length of each link and position
of the point in workvolume is given and we have to calculate the angle
of each joint.
 ROBOT SYSTEM COMPONENTS

OUTLINE
THERE ARE MAINLY FOLLOWING SYSTEM COMPONENTS ARE :-
Introduction
History  Manipulator
Role
Industrial robot The robot manipulator can be divided
D.O.F into two sections, each with a
Robtot configs different function:
Kinematics
Prog. languages Arm and Body - The arm and body
Applications of a robot are used to move and
Workcell position parts or tools within a work
envelope. They are formed from three
joints connected by large links.

Wrist - The wrist is used to orient the

parts or tools at the work location. It
consists of two or three compact
joints
 ROBOT SYSTEM COMPONENTS

OUTLINE
 Actuator
Introduction
History
An actuator is a mechanism for
Role
activating process control equipment
Industrial robot
by use of pneumatic, hydraulic, or
D.O.F
electronic signals.
Robtot configs
Kinematics
There are several types of actuators in
Prog. languages
robotic arms.
Applications
Workcell
-Synchronous
-Asynchronous
-AC Servo Motors
-Pneumatic
-Hydraulic
 
 ROBOT SYSTEM COMPONENTS

OUTLINE  End Effector

Introduction  
History End-effectors are attached to the end of
Role the robot arm and function much like
Industrial robot robotic hands. Robotic end effectors
D.O.F perform multiple applications.  
Robtot configs • A variety of robotic end effectors
Kinematics exist, each suited for a specific task.
Prog. languages Some examples include: grippers,
Applications welding guns, vacuum pumps,
Workcell blowtorches, and drills.
 End effectors are also known as:
•Robotic accessories
•Robotic peripherals
•Robotic tools
•End of arm tooling
 
 ROBOT SYSTEM COMPONENTS

OUTLINE    Controller
Introduction
History The controller is the processing
Role interface between the robot and its
Industrial robot environment. It provides intelligence
D.O.F and feedback to the robot through the
Robtot configs compilation of the sensor
Kinematics measurements. It also acts as a storage
Prog. languages device, retaining the sensory
Applications information and inputted programs.
Workcell The computation engine is generally
able to process many tasks at one time
and seamlessly changes calculations to
account for sensory information. The
controller includes the hardware that
interfaces with the outside world. It
stores the user interface, which is used
to input various commands.
 ROBOT SYSTEM COMPONENTS

OUTLINE  Sensor
Introduction Sensors are divided into two main
History categories:
Role • physical and
Industrial robot • logical.
D.O.F
Robtot configs Physical sensors handle the raw
Kinematics processing of data.
Prog. languages Logical sensors then extract data for
Applications modules to interpret.
Workcell
Robots utilized sensors in one of three
ways:
Proprioceptive Sensors
Exteroceptive Sensors
Exproprioceptive Sensors
 ROBOT PROGRAMMING LANGUAGES

OUTLINE
Introduction
MHI , the first programming language ,developed at MIT
History
Role
 WAVE, developed at Stanford
Industrial robot
D.O.F
MINI ,developed at MIT
Robtot configs
Kinematics
AL, developed at Stanford
Robot system
Applications
VAL and VALII, developed at Unimation
Workcell
AML ,developed by IBM

DCL ,developed by McDonnell

RAIL, developed by AUTOMATIX

 INDUSTRIAL APPLICATIONS
OUTLINE
Introduction Palletizing and Depalletizing
History Packaging
Role
Industrial robot Machine Tending: Loading and Unloading
D.O.F Sorting
Robtot configs
Kinematics Part Dipping
Robot system Different welding processes
Prog. languages
Workcell Drilling
Fastening
Paint and Compound Spraying
Compound Dispensing
Inspection
 INDUSTRIAL APPLICATIONS
OUTLINE
Introduction
History
Role
Industrial robot
D.O.F
Robtot configs
Kinematics
Robot system
Prog. languages
Workcell
 WORKCELL
OUTLINE  The term “workcell” refers to a grouping of the robot and its
Introduction peripheral equipment to assemble any of a large variety of products
History with little or no human intervention, driven by electronically designed
Role data.
Industrial robot
D.O.F
Robtot configs
Kinematics
Robot system
Prog. languages
Application
 WORKCELL
OUTLINE
Introduction
History
Role
Industrial robot
D.O.F
Robtot configs
Kinematics
Robot system
Prog. languages
Application
 THANK YOU…..

• Any queries?

• ‘’Its important to not to stop

questioning as Curiousness
leads to existence of
intelligence”.
by Albert Einstein